, z/ SOUNDh? ?PR?_SOUND?SOUND ?C_INITSEG ?DT?SOUND _SOUNDSOUNDZ$ SOUND.C " _ICE_DUMMY_A".CCF2CCF3CCF4P1P3T0ACT1T2EAECCFFEIEP1_0CEX0CEX1CEX2CEX3CRCEX4EXF2RDESIPRIINT0CYTIINT1PST2EXCCONOV"motorsoutputs  state# 1"C_T2WRRCLKTCLKSCONTCONIE0IE1CP_RL2ET0ET1TF0ET2TF1TF2RB8EX0IT0TB8EX1IT1PSM0ECISM1SM2PT0PT1RS0PT2TR0RS1TR1TR2PX0PX1EXEN2PPCRENT2CON!_SoundRXDTXDF0PSWCCF0CCF1J _SOUND" state pҐ""4     _SOUNDSOUNDWr _SOUND SOUNDc DELAY?PR?_DELAY?DELAY _DELAYDELAYt$ DELAY.C" _ICE_DUMMY_A  count# )"!_DelayY _DELAY" count"ijӔ@ "/      _DELAYDELAYqr _DELAY DELAY| DISPLAY?PR?INITIALIZEDISPLAY?DISPLAY$?PR?_WRITESTRING?DISPLAY"?DT?_WRITESTRING?DISPLAY ?CO?DISPLAY ?C_INITSEG ?DT?DISPLAY' ?C?CLDOPTR* _WRITESTRINGINITIALIZEDISPLAY DISPLAY$ DISPLAY.C>/Initialized@ " _ICE_DUMMY_A"$CCF2CCF3CCF4P1P3T0ACT1T2EAECCFFEIECEX0CEX1CEX2CEX3CRCEX4EXF2RDESIPRIINT0CYTIINT1PST2EXCCONOVX"motorsoutputs (  str# !# |"C_T2WRRCLKTCLKSBUFPCONSCONTMODTCONIE0IE1CP_RL2ET0ET1TF0ET2TF1TF2RB8EX0IT0TH1TB8EX1IT1PSM0ECISM1SM2PT0PT1RS0PT2TR0RS1TR1TR2PX0PX1EXEN2PPCRENT2CON" _WriteStringRXDTXD#InitializeDisplayF0PSWCCF0CCF1INITIALIZEDISPLAYu uu@u@ҙ{zy+4    INITIALIZEDISPLAY _WRITESTRING ("  strR P" posr!u` 0™[#"C !"#$%!&!'#( _WRITESTRING DISPLAYr& _WRITESTRINGINITIALIZEDISPLAY DISPLAY IOPORTSy ?PR?INITIALIZEIO?IOPORTS&?PR?_READP1?IOPORTS ?CO?IOPORTS ?C_INITSEG ?DT?IOPORTS _WRITESTRING _READP1 INITIALIZEIO. IOPORTS$ IOPORTS.C$/PORT 1 READ ERROR5 " _ICE_DUMMY_A"8CCF2CCF3CCF4P1P3T0ACT1T2EAECCFFEIECEX0P1_1CEX1P1_2CEX2CEX3CRCEX4EXF2RDESIPRIINT0CYTIINT1PST2EXCCONOV"motorsoutputs # num#!"C_T2WRRCLKTCLK InitializeIOSCONTCONIE0IE1CP_RL2ET0ET1TF0ET2TF1TF2RB8EX0IT0TB8EX1IT1PSM0ECISM1SM2PT0PT1RS0PT2TR0RS1TR1TR2PX0PX1"_ReadP1EXEN2PPCRENT2CONRXDTXDF0PSWCCF0CCF1i INITIALIZEIOItґҒ"  C INITIALIZEIOF _READP1" numu* "" ""{zy"y!t/ !"##%$ _READP1 IOPORTSr, INITIALIZEIO_READP1 _WRITESTRINGZ IOPORTS MOTOR` 3?PR?PWMINTERRUPT?MOTOR?PR?INITIALIZEMOTORS?MOTOR?PR?ALLSTOP?MOTOR?PR?_SETMOTOR?MOTOR"?DT?_SETMOTOR?MOTOR ?CO?MOTOR ?C_INITSEG ?DT?MOTOR_ABS _WRITESTRINGE _SETMOTORALLSTOPINITIALIZEMOTORS PWMINTERRUPTMOTORR$ MOTOR.C/MOTOR NUM ERRORe " _ICE_DUMMY_A  motorIDspeed# # A"CCF2CCF3CCF4P1M1selectP3M2selectT0ACM3selectT1M4selectT2EAECCFFEIECEX0CCAP0HCEX1CCAP1HCEX2CCAP2HCEX3CCAP3HCRCEX4EXF2RDCCAPM0CCAPM1ESCCAPM2CCAPM3IPRIINT0CYTIINT1! _SetMotor"InitializeMotorsPST2EXCMODCCONOV("motorsoutputs # # }"C_T2WRRCLKTCLKSCONTCONIE0IE1 AllStopCP_RL2! PWMInterruptET0ET1TF0ET2TF1TF2RB8EX0IT0TB8EX1IT1PSM0ECISM1SM2PT0PT1RS0PT2TR0RS1TR1TR2PX0PX1IPHEXEN2PPCRENT2CONRXDTXDF0PSWCCF0CCF1F3 PWMINTERRUPTS@2T"()a PWMINTERRUPTINITIALIZEMOTORSuu@u@u@u"/+,.12 5 689INITIALIZEMOTORS ALLSTOP”“–•" /@ABCDEG HI  ALLSTOP  _SETMOTOR"motorIDspeed D"shift realSpeedt%ӔPp {zyӔ@ut3RdPt3Bd@t3B`H$``#`.$pbҔuBtTғuBtFҖuBt8ҕuBt*$```$p”“ –•@   "$'*14BEMZ_ckxz~I"GKLMNP#Q#R,S/U/W6X9[I\R]c^p_bcdefghijklmnopqrstuvwxyz{}~  _SETMOTORMOTOROrU_ABS _SETMOTORINITIALIZEMOTORSALLSTOP PWMINTERRUPT _WRITESTRING MOTORZATOD??PR?_GETATOD?ATOD ?C_INITSEG?DT?ATODK_GETATODkATOD$ ATOD.C2 " _ICE_DUMMY_A"$CCF2CCF3CCF4P1P3T0ACT1T2EAECCFFEIECEX0CEX1CEX2CEX3CRCEX4EXF2RDESIPRIINT0CYTIINT1PST2EXCCONOVX"motorsoutputs  channel# }"C_T2WRRCLKTCLKSCONTCONIE0IE1CP_RL2ET0ET1TF0ET2TF1TF2RB8EX0IT0TB8EX1IT1PSM0ECISM1SM2PT0PT1RS0PT2TR0RS1TR1TR2PX0PX1notDoneEXEN2PPCRENT2CON!_GetAtoDRXDTXDF0PSWCCF0CCF1" _GETATODt"channelDҵ ">%    0 _GETATODqATODr _GETATOD. ATODBEEPS%?PR?_BEEP?BEEP"?DT?_BEEP?BEEP ?C_INITSEG?DT?BEEP_DELAY_SOUND  _BEEP]BEEP$ BEEP.C> " _ICE_DUMMY_A"$CCF2CCF3CCF4P1P3T0ACT1T2EAECCFFEIECEX0CEX1CEX2CEX3CRCEX4EXF2RDESIPRIINT0CYTIINT1PST2EXCCONOVX"motorsoutputs  duration# "C_T2WRRCLKTCLKSCONTCONIE0IE1CP_RL2ET0ET1TF0ET2TF1TF2RB8EX0IT0TB8EX1IT1PSM0ECISM1SM2PT0PT1RS0PT2TR0RS1TR1TR2PX0PX1!_BeepEXEN2PPCRENT2CONRXDTXDF0PSWCCF0CCF1_BEEPf"durationYd" jb&ÕP:9 $"4      $_BEEPcBEEPr_DELAY_BEEP_SOUND. BEEP INPORTS}?PR?_READINPUTPORT?INPORTS"?DT?_READINPUTPORT?INPORTS ?CO?INPORTS ?C_INITSEG ?DT?INPORTS _WRITESTRING_READINPUTPORTv INPORTS$ INPORTS.C%/INPUT NUM ERRORi " _ICE_DUMMY_A  num# "8CCF2CCF3CCF4P1P3T0ACT1T2EAECCFFEIECEX0CEX1CEX2CEX3CRCEX4EXF2RDESIP!_ReadInputPortRIINT0CYTIINT1PST2EXCCONOV"motorsoutputs"C_T2WRRCLKTCLKSCONTCONIE0IE1CP_RL2ET0ET1TF0ET2TF1TF2RB8EX0IT0TB8EX1IT1PSM0ECISM1SM2PT0PT1RS0PT2TR0RS1TR1TR2PX0PX1EXEN2PPCRENT2CONRXDTXDF0PSWCCF0CCF1_READINPUTPORT" numyd" shift~ӔP@Ӕ@p {zy"ӔP't~33]p""$t~33]pyU%,/SW|"Va# & & & --2TTTZ|||K_READINPUTPORT| INPORTSr#_READINPUTPORT _WRITESTRINGA INPORTS OUTPORTS[Y?PR?_SETOUTPUTPORT?OUTPORTS"?DT?_SETOUTPUTPORT?OUTPORTS$ ?CO?OUTPORTS ?C_INITSEG ?DT?OUTPORTSA _WRITESTRING_SETOUTPUTPORTE OUTPORTSM$ OUTPORTS.C(/OUTPUT NUM ERROR/OUTPUT DIR ERROR, " _ICE_DUMMY_A"$CCF2CCF3CCF4P1P3T0ACT1T2EAECCFFEIECEX0CEX1CEX2CEX3CRCEX4EXF2RDESIPRIINT0CYTIINT1PST2EXCCONOVX"motorsoutputs  num direction# +"C_T2WRRCLKTCLKSCONTCONIE0IE1CP_RL2ET0ET1TF0!_SetOutputPortET2TF1TF2RB8EX0IT0TB8EX1IT1PSM0ECISM1SM2PT0PT1RS0PT2TR0RS1TR1TR2PX0PX1EXEN2PPCRENT2CONRXDTXDF0PSWCCF0CCF1_SETOUTPUTPORTN"num directionf" shiftZ$Ô @Ӕ@ {zy4p3Rt3B {zyc!.27DJLNTX"zH    "38IRRX_SETOUTPUTPORTK OUTPORTSJr#_SETOUTPUTPORT _WRITESTRINGOUTPORTSU WRITECHAR@K ?PR?_WRITECHAR?WRITECHAR ?C_INITSEG ?DT?WRITECHAR _WRITECHAR WRITECHAR2$ WRITECHAR.C " _ICE_DUMMY_A"$CCF2CCF3CCF4P1P3T0ACT1T2EAECCFFEIECEX0CEX1CEX2CEX3CRCEX4EXF2RDESIPRIINT0CYTIINT1PST2EXCCONOVX"motorsoutputs ch# "C_T2WRRCLKTCLKSBUFSCONTCONIE0IE1CP_RL2ET0ET1TF0ET2TF1TF2RB8EX0IT0TB8EX1IT1PSM0ECISM1SM2PT0PT1RS0PT2TR0RS1TR1TR2PX0PX1EXEN2PPCRENT2CON! _WriteCharRXDTXDF0PSWCCF0CCF1  _WRITECHAR" ch@™"    }  _WRITECHAR  WRITECHAR/r _WRITECHAR WRITECHAR; WRITEINTu|8?PR?_WRITEINT?WRITEINT"?DT?_WRITEINT?WRITEINT ?C_INITSEG ?CO?WRITEINT ?DT?WRITEINTM _WRITECHAR _WRITEINT WRITEINTg$ WRITEINT.C0123456789ABCDEF? " _ICE_DUMMY_A  number# "3CCF2CCF3CCF4P1P3T0ACT1T2EAECCFFEIECEX0CEX1CEX2CEX3CRCEX4EXF2RDESIP! _WriteIntRIINT0CYTIINT1PST2EXCCONOV"motorsoutputs"C_T2WRRCLKTCLKSCONTCONIE0IE1CP_RL2ET0ET1TF0ET2TF1TF2RB8EX0IT0TB8EX1IT1PSM0ECISM1SM2PT0PT1RS0PT2TR0RS1TR1TR2PX0PX1EXEN2PPCRENT2CONRXDTXDF0PSWCCF0CCF1  _WRITEINT"number9 "" hexchar8~Tx΢$t>~T$49"&+2 # 8 9  _WRITEINT WRITEINTdr _WRITEINT _WRITECHARWRITEINTo(QSOUNDDELAYDISPLAYIOPORTSMOTORATODBEEPINPORTSOUTPORTS WRITECHARWRITEINTQ&- h 9j$:RC6MQZf:o3*_SOUND_DELAY _WRITESTRINGINITIALIZEDISPLAY_READP1 INITIALIZEIO _SETMOTORALLSTOPINITIALIZEMOTORS PWMINTERRUPT_GETATOD_BEEP_READINPUTPORT_SETOUTPUTPORT _WRITECHAR _WRITEINTK