( PWMA0 & PWMA1 -> RIGHT H-BRIDGE INPUTS
( PWMA2 & PWMA4 -> LEFT H-BTIDGE INPUTS
( PB0 -> SWITCH TO GROUND
( PWMA0 ON PWMA1 OFF RIGHTSIDE FORWARD
( PWMA2 ON PWMA3 OFF LEFT SIDE FORWARD

: RFWD PWMA0 ON PWMA1 OFF ; EEWORD
: LFWD PWMA2 ON PWMA3 OFF ; EEWORD

: RBRK PWMA0 OFF PWMA1 OFF ; EEWORD
: LBRK PWMA2 OFF PWMA3 OFF ; EEWORD

: RREV PWMA0 OFF PWMA1 ON ; EEWORD
: LREV PWMA2 OFF PWMA3 ON ; EEWORD

DECIMAL
LOOPINDEX 2SEC 
  2SEC 100 END EEWORD
LOOPINDEX HALFSEC 
  HALFSEC 25 END EEWORD


HEX

MACHINE SPINDANCE EEWORD
 ON-MACHINE SPINDANCE
   APPEND-STATE W.F.B.      EEWORD ( WAIT FOR BUTTON
   APPEND-STATE FORWARD     EEWORD
   APPEND-STATE FOR2BCK     EEWORD
   APPEND-STATE BACKWARD    EEWORD
   APPEND-STATE BCK2SPIN    EEWORD
   APPEND-STATE SPIN-RIGHT  EEWORD
   APPEND-STATE SPIN2SPIN   EEWORD
   APPEND-STATE SPIN-LEFT   EEWORD
   APPEND-STATE SPIN2CURVE  EEWORD
   APPEND-STATE CURVE-RIGHT EEWORD
   APPEND-STATE CURVE2CURVE EEWORD
   APPEND-STATE CURVE-LEFT  EEWORD

IN-STATE
  W.F.B. 
CONDITION
  PB0 OFF?
CAUSES
  REDLED OFF
  YELLED OFF
  RFWD
  LFWD
THEN-STATE
  FORWARD
TO-HAPPEN IN-EE

IN-STATE
  FORWARD 
CONDITION
  2SEC COUNT
CAUSES
  REDLED ON
  GRNLED OFF
  RBRK
  LBRK
THEN-STATE
  FOR2BCK
TO-HAPPEN IN-EE

IN-STATE
  FOR2BCK 
CONDITION
  HALFSEC COUNT
CAUSES
  REDLED ON
  GRNLED OFF
  RREV
  LREV
THEN-STATE
  BACKWARD
TO-HAPPEN IN-EE

IN-STATE
  BACKWARD 
CONDITION
  2SEC COUNT
CAUSES
  REDLED OFF
  YELLED ON
  GRNLED ON
  RBRK
  LBRK
THEN-STATE
  BCK2SPIN
TO-HAPPEN IN-EE

IN-STATE
  BCK2SPIN 
CONDITION
  HALFSEC COUNT
CAUSES
  REDLED OFF
  YELLED ON
  GRNLED ON
  RFWD
  LREV
THEN-STATE
  SPIN-RIGHT
TO-HAPPEN IN-EE

IN-STATE
  SPIN-RIGHT 
CONDITION
  2SEC COUNT
CAUSES
  REDLED ON
  YELLED ON
  GRNLED OFF
  RBRK
  LBRK
THEN-STATE
  SPIN2SPIN
TO-HAPPEN IN-EE

IN-STATE
  SPIN2SPIN 
CONDITION
  HALFSEC COUNT
CAUSES
  REDLED ON
  YELLED ON
  GRNLED OFF
  RREV
  LFWD
THEN-STATE
  SPIN-LEFT
TO-HAPPEN IN-EE

IN-STATE
  SPIN-LEFT 
CONDITION
  2SEC COUNT
CAUSES
  REDLED ON
  YELLED ON
  GRNLED OFF
  RBRK
  LBRK
THEN-STATE
  SPIN2CURVE
TO-HAPPEN IN-EE

IN-STATE
  SPIN2CURVE 
CONDITION
  HALFSEC COUNT
CAUSES
  REDLED ON
  YELLED ON
  GRNLED OFF
  RFWD
  LBRK
THEN-STATE
  CURVE-RIGHT
TO-HAPPEN IN-EE

IN-STATE
  CURVE-RIGHT 
CONDITION
  2SEC COUNT
CAUSES
  REDLED ON
  YELLED ON
  GRNLED OFF
  RBRK
  LBRK
THEN-STATE
  CURVE2CURVE
TO-HAPPEN IN-EE

IN-STATE
  CURVE2CURVE 
CONDITION
  HALFSEC COUNT
CAUSES
  REDLED ON
  YELLED ON
  GRNLED OFF
  RBRK
  LFWD
THEN-STATE
  CURVE-LEFT
TO-HAPPEN IN-EE

IN-STATE
  CURVE-LEFT 
CONDITION
  2SEC COUNT
CAUSES
  REDLED ON
  YELLED ON
  GRNLED ON
  RBRK
  LBRK
THEN-STATE
  W.F.B.
TO-HAPPEN IN-EE

: STARTUP
  W.F.B. SET-STATE
  EVERY C350 CYCLES SCHEDULE-RUNS SPINDANCE 
; EEWORD

  AUTOSTART STARTUP
  SAVE-RAM