END                                          ' Stop executing until reset.

' -----[ Subroutine - Forward ]-----------------------------------------------

Forward:                                     ' Forward subroutine.
  FOR pulseCount = 1 TO 64                   ' Send 64 forward pulses.
    PULSOUT 13, 850                          ' 1.7 ms pulse to left servo.
    PULSOUT 12, 650                          ' 1.3 ms pulse to right servo.
    PAUSE 20                                 ' Pause for 20 ms.
  NEXT
  RETURN                                     ' Return to Main Routine loop.

' -----[ Subroutine - Backward ]----------------------------------------------

Backward:   FOR pulseCount = 1 TO 64                   ' Send 64 backward pulses.
    PULSOUT 13, 650                          ' 1.3 ms pulse to left servo.
    PULSOUT 12, 850                          ' 1.7 ms pulse to right servo.
    PAUSE 20                                 ' Pause for 20 ms.
  NEXT
  RETURN                                     ' Return to Main Routine loop.

' -----[ Subroutine - Left_Turn ]---------------------------------------------

Left_Turn:                                   ' Left turn subroutine.
  FOR pulseCount = 1 TO 24                   ' Send 24 left rotate pulses.
    PULSOUT 13, 650                          ' 1.3 ms pulse to left servo.
    PULSOUT 12, 650                          ' 1.3 ms pulse to right servo.
    PAUSE 20                                 ' Pause for 20 ms.
  NEXT
  RETURN                                     ' Return to Main Routine loop.

' -----[ Subroutine – Right_Turn ]--------------------------------------------

Right_Turn:                                  ' right turn subroutine.
  FOR pulseCount = 1 TO 24                   ' Send 24 right rotate pulses.
    PULSOUT 13, 850                          ' 1.7 ms pulse to left servo.
    PULSOUT 12, 850                          ' 1.7 ms pulse to right servo.
    PAUSE 20                                 ' Pause for 20 ms.
  NEXT
  RETURN                                     ' Return to Main Routine section.