' T%P%P%P%P%P%P%P%P%P%P%P%P%P%P%P%P%P%P%P%P%P%P%P%P%P%P%P%P%P%P%P%P%P%P%P%P%P%P%P%P%P%P%P%P%P%P%P%P%P%P%P%P%P%P%P%P%P%P%P%W%
 
 ' Q%          N a m e :   T _ J Z E R A _ a r m _ M a s t e r _ 1 0 . t x t           D a t e :   2 0   J u l   2 0 2 4   Q%
 
 ' Q%      A u t h o r :   T h e r e m i n o   T e a m   /   L e o n a r d o                                               Q%
 
 ' Q%        S c o p e :   T e s t   s t e p p e r   m o t o r   s e q u e n c e s   a n d   c l o c h e                   Q%
 
 ' `%P%P%P%P%P%P%P%P%P%P%P%P%P%P%P%P%P%P%P%P%P%P%P%P%P%P%P%P%P%P%P%P%P%P%P%P%P%P%P%P%P%P%P%P%P%P%P%P%P%P%P%P%P%P%P%P%P%P%P%c%
 
 ' Q%H a r d w a r e :   M A s t e r   V 5                                                                                 Q%
 
 ' _% % % % % % % % % % % % % % % % % % % % % % % % % % % % % % % % % % % % % % % % % % % % % % % % % % % % % % % % % % % %b%
 
 ' Q%    M 1   -   L E F T   A R M                                                                                         Q%
 
 ' Q%    S t e p p e r   D r i v e r :   S L 2 2 3 6 A       2 5 : 1                                                       Q%
 
 ' Q%      1       2       3       4           m i c r o s t e p                                                           Q%
 
 ' Q%    O N     O N     O F F   O F F         4 0 0   S t e p / r u n         s t e p / m m   =   2 8                     Q%
 
 ' _% % % % % % % % % % % % % % % % % % % % % % % % % % % % % % % % % % % % % % % % % % % % % % % % % % % % % % % % % % % %b%
 
 ' Q%    M 2   -   R I G H T   A R M                                                                                       Q%
 
 ' Q%    S t e p p e r   D r i v e r :   S L 2 2 3 6 A       2 5 : 1                                                       Q%
 
 ' Q%      1       2       3       4           m i c r o s t e p                                                           Q%
 
 ' Q%    O N     O N     O F F   O F F         4 0 0   S t e p / r u n         s t e p / m m   =   2 8                     Q%
 
 ' _% % % % % % % % % % % % % % % % % % % % % % % % % % % % % % % % % % % % % % % % % % % % % % % % % % % % % % % % % % % %b%
 
 ' Q%    M 3   -   H E A D                                                                                                 Q%
 
 ' Q%    S t e p p e r   D r i v e r :   S L 2 2 3 6 A       2 5 : 1                                                       Q%
 
 ' Q%      1       2       3       4           m i c r o s t e p                                                           Q%
 
 ' Q%      x       x       x       x F         x x   S t e p / r u n           s t e p / m m   =   x x                     Q%
 
 ' _% % % % % % % % % % % % % % % % % % % % % % % % % % % % % % % % % % % % % % % % % % % % % % % % % % % % % % % % % % % %b%
 
 ' Q%  P o w e r :   1 2   V                                                                                               Q%
 
 ' Q%      5       6       7       8                                                                                       Q%
 
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 
 ' _% % % % % % % % % % % % % % % % % % % % % % % % % % % % % % % % % % % % % % % % % % % % % % % % % % % % % % % % % % % %b%
 
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 
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 
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 
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 
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 
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 
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 
 ' Z%P%P%P%P%P%P%P%P%P%P%P%P%P%P%P%P%P%P%P%P%P%P%P%P%P%P%P%P%P%P%P%P%P%P%P%P%P%P%P%P%P%P%P%P%P%P%P%P%P%P%P%P%P%P%P%P%P%P%P%]%
 
 O p t i o n   S p e e d   8 
 
 B e e p   " 2 5 0 0   2 0 ,   1 5 0 0   1 0 0 " 
 
 L o a d   i m a g e s \ T _ J Z E R A _ A R M _ M a s t e r . j p g 
 
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 
 s 1   =   T T S v o i c e s 
 
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 
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 
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 
 ' T T S   S p e a k   " T h e r e m i n o   A u t o m a t i o n   p r o g r a m m i n g   l a n g u a g e   i s   r u n n i n g . " 
 
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 
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 
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 
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 
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 
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 
 V a r i a b l e   N u m e r i c   S l o t _ E x t e r n a l C o m m a n d s             =   5 3 
 
 ' V a r i a b l e   N u m e r i c   S l o t _ R e s p o n s e s F r o m Q R D e c o d e   =   5 4 
 
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 '   T%P%P%P%P%P%P%P%P%P%P%P%P%P%P%P%P%P%P%P%P%P%P%P%P%P%P%P%P%P%P%P%P%P%P%P%P%P%P%P%P%P%P%P%P%W%  %%%%  %      %%%%  %%%%%
 
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 
 '   Z%P%P%P%P%P%P%P%P%P%P%P%P%P%P%P%P%P%P%P%P%P%P%P%P%P%P%P%P%P%P%P%P%P%P%P%P%P%P%P%P%P%P%P%P%]%  %%%%  %%%  %%%%      %
 
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 
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 
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 
 
 
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 
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 
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 
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 
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 
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 
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 
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 
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 
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 
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 
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 
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 
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 
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 
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 
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 
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 
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 B u t t o n   8   L a b e l   A r b i t r a r y H e a d 
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 
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 
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 
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 
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 
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 
 '     C O M M A N D S   t o   C o b o t 
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 
 L a b e l   E x e c C o b o t 
 
 	 S e n d C o m m a n d ( S l o t _ C o m m a n d s T o C o b o t ) ( " E n a b l e R e p e a t " ) 
 
 	 S e n d C o m m a n d ( S l o t _ C o m m a n d s T o C o b o t ) ( " S e l e c t L i n e   1 " ) 
 
 	 S e n d C o m m a n d ( S l o t _ C o m m a n d s T o C o b o t ) ( " S t a r t E x e c u t i o n " ) 
 
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 
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 
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 
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 L a b e l   A r r o w U p C o b o t 
 
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 
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 
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 
 	 S e n d C o m m a n d ( S l o t _ C o m m a n d s T o C o b o t ) ( " S t a r t E x e c u t i o n " ) 
 
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 '   T%P%P%P%P%P%P%P%P%P%P%P%P%P%P%P%P%P%P%P%P%P%P%P%P%P%P%P%P%P%P%P%P%P%P%P%P%P%P%P%P%P%P%P%P%W%  %%%%  %    %  %%%
 
 '   Q%    S   U   B   R   O   U   T   I   N   E       A   R   E   A                           Q%  %%%%  %    %  %%%%
 
 '   Z%P%P%P%P%P%P%P%P%P%P%P%P%P%P%P%P%P%P%P%P%P%P%P%P%P%P%P%P%P%P%P%P%P%P%P%P%P%P%P%P%P%P%P%P%]%  %%%%  %%%%  %%%%
 
 L a b e l   R e c o g n i z e E n c o d e r 
 
 	 S l o t ( 0 )   =   R e c o g n i z e 
 
 R e t u r n 
 
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 
 L a b e l   E n a b l e M o t o r B T N 
 
 	 ' S l o t ( S l o t _ S i g n S c o p e )   =   1 0 0 0 
 
 	 
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 	 I f   S l o t ( E n a b l e _ M o t o r )   =   1 0 0 0 
 
 	 	 S l o t ( E n a b l e _ M o t o r )   =   0 
 
 	 	 B u t t o n   E n a b l e M o t o r B T N   T e x t   " M o t o r   O N " 
 
 	 	 B u t t o n   E n a b l e M o t o r B T N   C o l o r   F l a s h i n g   L i m e   L i g h t G r e e n 
 
 	 	 W a i t   S e c o n d s   0 . 1 
 
 	 E l s e 
 
 	 	 S l o t ( E n a b l e _ M o t o r )   =   1 0 0 0 
 
 	 	 B u t t o n   E n a b l e M o t o r B T N   T e x t   " M o t o r   O F F " 
 
 	 	 B u t t o n   E n a b l e M o t o r B T N   C o l o r   F l a s h i n g   R e d     R e d 4 
 
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 
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 
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 
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 
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 
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 V a r i a b l e   N u m e r i c   S t o p O n l i m i t 
 
 L a b e l   G o T o 1 8 0 
 
 	 F o r   S t o p O n l i m i t   =   1   T o   1 8 0 
 
 	 	 I f   S l o t ( S l o t _ L i m i t _ M 1 )   <   5 0 0 
 
 	 	 	 S l o t ( S l o t _ M 1 _ D e s t i n a t )   =   S l o t ( S l o t _ M 1 _ D e s t i n a t )   +   1 
 
 	 	 	 W a i t   S e c o n d s   0 . 0 1 
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 	 	 E l s e 
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 
 	 	 	 S l o t ( S l o t _ M 1 _ D e s t i n a t )   =   R e s e t 
 
 	 	 	 W a i t   S e c o n d s   0 . 1 
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 	 	 	 S l o t ( S l o t _ M 1 _ D e s t i n a t )   =   0 
 
 	 	 	 W a i t   S e c o n d s   0 . 1 
 
 	 	 	 S l o t ( S l o t _ M 1 _ D e s t i n a t )   =   S l o t ( S l o t _ M 1 _ D e s t i n a t )   -   5 
 
 	 	 	 R e t u r n 
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 
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 V a r i a b l e   N u m e r i c   W a d d l i n g 
 
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 
 	 M 1 _ H o m e 
 
 	 F o r   W a d d l i n g   =   1   T o   1 0 
 
 	 	 S l o t ( S l o t _ M 1 _ D e s t i n a t )   =   0 
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 	 	 W a i t M o t o r ( S l o t _ M 1 _ D e s t i n a t ) 
 
 	 	 S l o t ( S l o t _ M 2 _ D e s t i n a t )   =   0 
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 	 	 W a i t M o t o r ( S l o t _ M 2 _ D e s t i n a t ) 
 
 	 	 
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 	 	 S l o t ( S l o t _ M 1 _ D e s t i n a t )   =   5 0 
 
 	 	 W a i t M o t o r ( S l o t _ M 1 _ D e s t i n a t ) 
 
 	 	 S l o t ( S l o t _ M 2 _ D e s t i n a t )   =   5 0 
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 	 	 W a i t M o t o r ( S l o t _ M 2 _ D e s t i n a t ) 
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 
 	 S l o t ( S l o t _ M 2 _ D e s t i n a t )   =   2 6 
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 '   - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -   A R B I T R A R Y   L E F T 
 
 V a r i a b l e   N u m e r i c   A L 1 
 
 V a r i a b l e   N u m e r i c   A L 2 
 
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 
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 
 	 A L 1   =   I n p u t   " I n s e r t   D e s t i n a t i o n   v a l u e   i n   d e g r e e : "   +   M 1 _ M i n   +   " . . . "   +   M 1 _ M a x 
 
 	 A L 1   =   L i m i t ( A L 1 ,   M 1 _ M i n ,   M 1 _ M a x ) 
 
 	 I f   A L 1   >   S l o t ( S l o t _ M 1 _ D e s t i n a t ) 
 
 	 	 A L 2   =   M 1 _ M a x 
 
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 
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 	 	 A L 2   =   M 1 _ M i n 
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 	 S l o t ( S l o t _ M 1 _ D e s t i n a t )   =   A L 1 
 
 	 W a i t   S e c o n d s   0 . 1 
 
 	 F o r   S t o p O n l i m i t   =   S l o t ( S l o t _ M 1 _ D e s t i n a t )   T o   I n f i n i t y 
 
 	 	 I f   S l o t ( S l o t _ L i m i t _ M 1 )   >   5 0 0 
 
 	 	 	 W a i t   S e c o n d s   0 . 2 
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 	 	 	 S l o t ( S l o t _ M 1 _ D e s t i n a t )   =   R e s e t 
 
 	 	 	 W a i t   S e c o n d s   0 . 2 
 
 	 	 	 S l o t ( S l o t _ M 1 _ D e s t i n a t )   =   A L 2 
 
 	 	 	 W a i t   S e c o n d s   0 . 2 
 
 	 	 	 S l o t ( S l o t _ M 1 _ D e s t i n a t )   =   A L 3 
 
 	 	 	 W a i t A l l M o t o r s 
 
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 
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 
 	 	 	 E x i t 
 
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 '   - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -   A R B I T R A R Y   R I G H T 
 
 V a r i a b l e   N u m e r i c   A R 1 
 
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 
 V a r i a b l e   N u m e r i c   A R 3 
 
 L a b e l   A r b i t r a r y R i g h t 
 
 	 A R 1   =   I n p u t   " I n s e r t   D e s t i n a t i o n   v a l u e   i n   d e g r e e : "   +   M 2 _ M i n   +   " . . . "   +   M 2 _ M a x 
 
 	 A R 1   =   L i m i t ( A R 1 ,   M 2 _ M i n ,   M 2 _ M a x ) 
 
 	 I f   A R 1   >   S l o t ( S l o t _ M 2 _ D e s t i n a t ) 
 
 	 	 A R 2   =   M 2 _ M a x 
 
 	 	 A R 3   =   M 2 _ M a x   -   5 
 
 	 E l s e 
 
 	 	 A R 2   =   M 2 _ M i n 
 
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 
 	 E n d I f 
 
 	 S l o t ( S l o t _ M 2 _ D e s t i n a t )   =   A R 1 
 
 	 W a i t   S e c o n d s   0 . 1 
 
 	 F o r   S t o p O n l i m i t   =   S l o t ( S l o t _ M 2 _ D e s t i n a t )   T o   I n f i n i t y 
 
 	 	 I f   S l o t ( S l o t _ L i m i t _ M 2 )   >   5 0 0 
 
 	 	 	 W a i t   S e c o n d s   0 . 2 
 
 	 	 	 S l o t ( S l o t _ M 2 _ D e s t i n a t )   =   R e s e t 
 
 	 	 	 W a i t   S e c o n d s   0 . 2 
 
 	 	 	 S l o t ( S l o t _ M 2 _ D e s t i n a t )   =   A R 2 
 
 	 	 	 W a i t   S e c o n d s   0 . 2 
 
 	 	 	 S l o t ( S l o t _ M 2 _ D e s t i n a t )   =   A R 3 
 
 	 	 	 W a i t A l l M o t o r s 
 
 	 	 E n d I f 
 
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 
 	 	 	 E x i t 
 
 	 	 E n d I f 
 
 	 N e x t 
 
 R e t u r n 
 
 
 
 L a b e l   S e q u e n c e 
 
 	 E n a b l e M o t o r 
 
 	 ' 	 R e c o g n i z e E n c o d e r 
 
 	 ' T T S   S p e a k   " S t a r t   e x e c u t i o n   o f   a   t e s t " 
 
 	 S e n d C o m m a n d ( S l o t _ C o m m a n d s T o C o b o t ) ( " D i s a b l e R e p e a t " ) 
 
 	 S e n d C o m m a n d ( S l o t _ C o m m a n d s T o C o b o t ) ( " L o a d S e q u e n c e   S e q u e n c e . t x t " ) 
 
 	 S e n d C o m m a n d ( S l o t _ C o m m a n d s T o C o b o t ) ( " S e l e c t L i n e   1 " ) 
 
 	 ' S e n d C o m m a n d ( S l o t _ C o m m a n d s T o C o b o t ) ( " S t a r t E x e c u t i o n " ) 
 
 R e t u r n 
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 '   T%P%P%P%P%P%P%P%P%P%P%P%P%P%P%P%P%P%P%P%P%P%P%P%P%P%W%    %%%%  %%%%  %%  %%      %%%    %%%%  %%%%  %%%
 
 '   Q%    C O M M A N D S   F R O M   C O B O T         Q%    %        %    %  %  %  %      %%      %        %    %  %%%%
 
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 
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 
 	 '   - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -   D o   n o t   p r i n t   l i n e s   c o n t a i n i n g   ' ' 
 
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 
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 
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 
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 
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 
 	 	 	 P r i n t   C R L F   +   "   U n r e c o g n i z e d   c o m m a n d :   "   +   C o m m a n d T e x t   +   C R L F 
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 
 '   Q%    S A Y                                                                               Q%  %%%%  %%%%    %%%
 
 '   Z%P%P%P%P%P%P%P%P%P%P%P%P%P%P%P%P%P%P%P%P%P%P%P%P%P%P%P%P%P%P%P%P%P%P%P%P%P%P%P%P%P%P%P%P%]%  %%%%  %    %      %
 
 L a b e l   S a y 
 
 	 T T S   S e l e c t V o i c e   " E N G F " 
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 
 	 W a i t   T T S r e a d y 
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 
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 	 T T S   S p e a k   " y_0a0o0 N}k0Bf0NT0Y0n0g00Neo0W0D0eg0Y00" 
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 
 '   Q%  M o t o r                                                                     Q%  %  %  %  %    %      %      %    %  %%%%
 
 '   Z%P%P%P%P%P%P%P%P%P%P%P%P%P%P%P%P%P%P%P%P%P%P%P%P%P%P%P%P%P%P%P%P%P%P%P%P%P%P%P%P%]%  %      %  %%%%      %      %%%%  %  %%
 
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 V a r i a b l e   N u m e r i c   M 1 _ M i n   =   0 0 2 
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 V a r i a b l e   N u m e r i c   M 1 _ M a x   =   1 3 5 
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 V a r i a b l e   N u m e r i c   M 2 _ M i n   =   0 0 2 
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 V a r i a b l e   N u m e r i c   M 2 _ M a x   =   1 4 0 
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 '   = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = 
 
 '     H O M E     M 1   -   M 2   -   M 3 
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 	 S p e e d S e a r c h   =   - 0 . 1 
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 	 S p e e d R e t u r n   =   + 0 . 0 1 
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 	 D e t a c h F r o m S e n s o r   =   + 1 
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 
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 
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 	 D e t a c h F r o m S e n s o r   =   + 1 
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 
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 
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 
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 
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 
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 
 V a r i a b l e   N u m e r i c   I n i t i a l P o s i t i o n 
 
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 
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 
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 
 	 '   - - - - - - - - - - - - - - - - - - - - - - - - -   d e t a c h   i f   s e n s o r   i s   a c t i v e 
 
 	 I f   S l o t ( S l o t L i m i t )   >   5 0 0   O r   K e y ( " C T R L " ) 
 
 	 	 S l o t ( S l o t D e s t )   =   S l o t ( S l o t D e s t )   +   S p e e d R e t u r n 
 
 	 E n d I f 
 
         '   - - - - - - - - - - - - - - - - - - - - - - - - -   s e a r c h   t h e   s e n s o r 
 
 L a b e l   S e a r c h H o m e 
 
 	 S l o t ( S l o t D e s t )   =   S l o t ( S l o t D e s t )   +   S p e e d S e a r c h 
 
 	 W a i t   S e c o n d s   0 . 0 0 1 
 
 	 I f   S l o t ( S l o t L i m i t )   >   5 0 0   O r   K e y ( " C T R L " ) 
 
 	 	 S l o t ( S l o t D e s t )   =   R e s e t 
 
 	 	 W a i t   S e c o n d s   0 . 1 
 
 	 	 S l o t ( S l o t D e s t )   =   0 
 
 	 	 W a i t   S e c o n d s   0 . 1 
 
 	 	 G o t o   D e t a c h S e n s o r 
 
 	 E n d I f 
 
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