Stan 1.0

An early version of the code used in Stan 1.0 and Stan 4.0.

#include "UserAPI.h"

int end = 0; 
int flag; 
int pend; 
int bump1; 
int bump2; 
int limit1; 
int limit2; 
int direction = 0; 

void main ( void )
{
      while ( end < 1 )
      {
            //  read inputs
            bump1 = GetDigitalInput ( 5 ) ;
            bump2 = GetDigitalInput ( 6 ) ;
            limit1 = GetDigitalInput ( 7 ) ;
            limit2 = GetDigitalInput ( 8 ) ;
            //  set direction
            if ( bump1 < 1 )
            {
                  direction = 1 ;
            }
            if ( bump2 < 1 )
            {
                  direction = -1 ;
            }
            if ( limit1 < 1 )
            {
                  if ( direction < 0 )
                  {
                        direction = 0 ;
                  }
            }
            if ( limit2 < 1 )
            {
                  if ( direction > 0 )
                  {
                        direction = 0 ;
                  }
            }
            //  determine outputs based on direction
            if ( direction > 0 )
            {
                  flag = 200 ;
                  pend =255 ;
            }
            else
            {
                  if ( direction < 0 )
                  {
                        flag = 50 ;
                        pend = 0 ;
                  }
                  else
                  {
                        flag = 125 ;
                        pend = 127 ;
                  }
            }
            //  flag controls position of the feedback flag
            SetServo ( 1 , flag ) ;
            //  pend controls movement of the inverted pendulum
            SetMotor ( 4 , pend ) ;
      }
}