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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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 
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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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 
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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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 
 	 S l o t M o t o r   =   S l o t _ M o t o r M Z 
 
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 
 	 S p e e d S e a r c h   =   + 0 . 2 
 
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 
 	 D e c l a r e d S w i t c h P o s   =   9 5 
 
 	 I n i t i a l P o s i t i o n   =   9 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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 
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 
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 
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 
 	 S p e e d S e a r c h   =   + 0 . 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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 
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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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 
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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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 
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 
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 
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 
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 
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 
 	 S l o t ( S l o t M o t o r )   =   I n i t i a l P o s i t i o n 
 
 	 W a i t A l l M o t o r s 
 
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 
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 
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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%  W A I T   A L L   M O T O R   -   W a i t   u n t i l   m o t o r s   s t o p p e d   Q%
 
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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   W A M 1 
 
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 
 	 	 I f   A b s ( S l o t ( S l o t _ M o t o r M 1   +   1 ) )   <   0 . 0 1 
 
 	 	 	 I f   A b s ( S l o t ( S l o t _ M o t o r M 2   +   1 ) )   <   0 . 0 1 
 
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 
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 
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 	 	 W a i t   S e c o n d s   0 . 0 1 
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 
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 
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 
 '   Q%    J O G   w i t h   k e y b o a r d                                                   Q%
 
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 
 L a b e l   E x e c K e y s 
 
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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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 
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 
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 
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 
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 
 	 P r i n t V a l u e s 
 
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 
 	 ' Y e l l o w O n 
 
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 
 
 
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 
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 
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 
 L a b e l   J o y 
 
 	 E n a b l e M o t o r s 
 
 	 v 3   =   S l o t ( 1 3 ) 
 
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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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 
 	 	 S l o t ( 5 )   =   S l o t ( 5 )   -   ( v 3   -   5 5 0 )   *   0 . 0 0 1   	 ' i n c r e m e n t a l   m o v e 
 
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 
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 
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 
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 
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 
 	 E n d I f 
 
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 
 	 	 R e t u r n 
 
 	 E n d I f 
 
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 
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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%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%P%P%P%P%P%P%P%P%P%]%
 
 '   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%  E N A B L E   /   D I S A B L E   M O T O R S                                         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%]%
 
 '   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%  E N A B L E   /   D I S A B L E   P U M P                                             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 t a r t P u m p 
 
 	 S l o t ( S l o t _ S i g n a l S c o p e )   =   1 0 0 0 
 
 	 W a i t   S e c o n d s   0 . 1 
 
 	 S l o t ( S l o t _ P u m p )   =   1 0 0 0 
 
 	 B u t t o n   S t a r t P u m p   D i s a b l e d 
 
 	 B u t t o n   S t o p P u m p   E n a b l e 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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 
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 
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 
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 
 	 '   - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 
 
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 
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 
 	 	 '   - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 
 
 	 	 S e q u e n c e C m d   =   G e t S e p a r a t e d S t r i n g ( S e q u e n c e ,   S e q u e n c e I n d e x ,   C R L F ) 
 
 	 	 S e q u e n c e C m d   =   R e p l a c e ( S e q u e n c e C m d ,   C h r ( 9 ) ,   "   " )   ' T A B S   t o   S P A C E S 
 
 	 	 '   - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -   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   ' ' 
 
 	 	 I f   G e t S e p a r a t e d S t r i n g C o u n t ( S e q u e n c e C m d ,   " ' ' " )   <   2 
 
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 
 	 	 E n d I f 
 
 	 	 '   - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -   T r i m   a n d   r e m o v e   c o m m e n t s 
 
 	 	 S e q u e n c e C m d   =   T r i m ( R e m o v e C o m m e n t s ( S e q u e n c e C m d ) ) 
 
 	 	 '   - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 
 
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 
 	 	 	 S e l e c t   G e t S e p a r a t e d S t r i n g ( S e q u e n c e C m d ,   0 ) 
 
                         	 '   - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -   E n d   s e q u e n c e 
 
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 
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 
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 
 	 	 	 	 	 E x i t F r o m S e q u e n c e L o o p   =   1 
 
 	 	 	 	 	 E x i t 
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 	 	         	 '   - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -   A C T I O N S 
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 
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 
 	 	 	 	 '   - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -   E n a b l e / D i s a b l e   m o t o r s 
 
 	 	 	 	 C a s e   " E n a b l e M o t o r s " 
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 
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 
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 	 	 	 	 	 H o m e M Z 
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 	 	 	 	 	 H o m e M 2 
 
 	                         '   - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -   W i t h   p a r a m e t e r s 
 
 	 	 	 	 C a s e   " W r i t e S l o t " 
 
 	 	 	 	 	 N 1   =     G e t S e p a r a t e d S t r i n g ( S e q u e n c e C m d ,   1 ) 
 
 	 	 	 	 	 S l o t ( N 1 )   =   G e t S e p a r a t e d S t r i n g ( S e q u e n c e C m d ,   2 ) 
 
 	 	 	 	 C a s e   " R e s e t S t e p p e r " 
 
 	 	 	 	 	 N 1   =     G e t S e p a r a t e d S t r i n g ( S e q u e n c e C m d ,   1 ) 
 
 	 	 	 	 	 S l o t ( N 1 )   =   R e s e t 
 
 	 	 	 	 	 W a i t   S e c o n d s   0 . 0 5 
 
 	 	 	 	 	 S l o t ( N 1 )   =   G e t S e p a r a t e d S t r i n g ( S e q u e n c e C m d ,   2 ) 
 
 	 	 	 	 	 W a i t   S e c o n d s   0 . 0 5 
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 	 	 	 	 	 S l o t ( N 1 )   =   G e t S e p a r a t e d S t r i n g ( S e q u e n c e C m d ,   3 ) 
 
 	 	 	 	 C a s e   " M o v e _ M Z " 
 
 	 	 	 	 	 S l o t ( S l o t _ M o t o r M Z )   =   G e t S e p a r a t e d S t r i n g ( S e q u e n c e C m d ,   1 ) 
 
 	 	 	 	 	 W a i t A l l M o t o r s 
 
 	 	 	 	 C a s e   " M o v e _ M 1 " 
 
 	 	 	 	 	 S l o t ( S l o t _ M o t o r M 1 )   =   G e t S e p a r a t e d S t r i n g ( S e q u e n c e C m d ,   1 ) 
 
 	 	 	 	 	 W a i t A l l M o t o r s 
 
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 
 	 	 	 	 	 S l o t ( S l o t _ M o t o r M 2 )   =   G e t S e p a r a t e d S t r i n g ( S e q u e n c e C m d ,   1 ) 
 
 	 	 	 	 	 W a i t A l l M o t o r s 
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 	 	 	 	 	 S l o t ( S l o t _ M o t o r M 1 )   =   G e t S e p a r a t e d S t r i n g ( S e q u e n c e C m d ,   1 ) 
 
 	 	 	 	 	 S l o t ( S l o t _ M o t o r M 2 )   =   G e t S e p a r a t e d S t r i n g ( S e q u e n c e C m d ,   2 ) 
 
 	 	 	 	 	 W a i t A l l M o t o r s 
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 	 	 	 	 	 S l o t ( S l o t _ M o t o r M 1 )   =   G e t S e p a r a t e d S t r i n g ( S e q u e n c e C m d ,   1 ) 
 
 	 	 	 	 	 S l o t ( S l o t _ M o t o r M 2 )   =   G e t S e p a r a t e d S t r i n g ( S e q u e n c e C m d ,   2 ) 
 
 	 	 	 	 	 ' W a i t   S e c o n d s   0 . 0 0 5 
 
 	 	 	 	 	 S l o t ( S l o t _ M o t o r M Z )   =   G e t S e p a r a t e d S t r i n g ( S e q u e n c e C m d ,   3 ) 
 
 	 	 	 	 	 W a i t A l l M o t o r s 
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 	 	 	 	 	 W a i t   S e c o n d s   G e t S e p a r a t e d S t r i n g ( S e q u e n c e C m d ,   1 ) 
 
 	 	 	 	 C a s e E l s e 
 
 	 	 	 	 	 C o n t r o l s   O p e n T e x t B o x 
 
 	 	 	 	 	 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 :   "   +   S e q u e n c e C m d   +   C R L F 
 
 	 	 	 	 	 B e e p 
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 	 	 E n d I f 
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 	 N e x t 
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 	 P r i n t   C h a r s ( " - " ,   6 3 )   +   C R L F   +   " S e q u e n c e   "   +   G e t F i l e N a m e W i t h o u t P a t h ( S e q u e n c e T o E x e c u t e ) 
 
 	 P r i n t   "   e x e c u t e d   i n   "   +   F o r m a t ( E l a p s e d T i m e   -   E x e c S e q u e n c e S t a r t T i m e ,   " 0 . 0 0 " )   +   "   s e c "   +   C R L F 
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 '   = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = 
 
 '     P R I N T   C O O R D I N A T E S 
 
 '   = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = 
 
 L a b e l   P r i n t V a l u e s 
 
 	 s 1   =               " M Z = "   +   F o r m a t ( S l o t ( S l o t _ M o t o r M Z ) ,   " 0 . 0 0 0 " ) 
 
 	 s 1   =   s 1   +   "   M 1 = "   +   F o r m a t ( S l o t ( S l o t _ M o t o r M 1 ) ,   " 0 . 0 0 0 " ) 
 
 	 s 1   =   s 1   +   "   M 2 = "   +   F o r m a t ( S l o t ( S l o t _ M o t o r M 2 ) ,   " 0 . 0 0 0 " ) 
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 	 P r i n t   C R L F   +   s 1 
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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 P O K E N   M E S S A G E S                                                       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 P o w e r S w I s O n 
 
 	 S e l e c t   T T S l a n g u a g e 
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 
 	 	 	 T T S   S p e a k   " P o w e r   s w i t c h   i s   o n ? " 
 
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 	 	 	 T T S   S p e a k   " L ' i n t e r r u p t e u r   d ' a l i m e n t a t i o n   e s t   a l l u m    ? " 
 
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 
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 	 	 	 T T S   S p e a k   " 5un _sQ/f&TSb _" 
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 	 E n d S e l e c t 
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 	 W a i t   T T S r e a d y 
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 L a b e l   S t a r t R o b o t O p e r a t i o n s 
 
 	 S e l e c t   T T S l a n g u a g e 
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 	 	 	 T T S   S p e a k   " S t a r t   r o b o t   o p e r a t i o n s . " 
 
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 	 	 	 T T S   S p e a k   " D  m a r r e z   l e s   o p  r a t i o n s   d u   r o b o t . " 
 
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 
 	 	 	 T T S   S p e a k   " A v v i a t a   l a   d i s p o n i b i l t a   d e l   r o b o t . " 
 
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 
 	 	 	 T T S   S p e a k   " /TR:ghVNR\O^R0" 
 
 	 E n d S e l e c t 
 
 	 ' W a i t   T T S r e a d y 
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 
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 L a b e l   S a y S t a r t B a l l R o u t i n e 
 
 	 S e l e c t   T T S l a n g u a g e 
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 
 	 	 	 T T S   S p e a k   " S t a r t   s e q u e n c e   o f   p i c k   a n d   p l a c e   o f   p i n g   p o n g   b a l l . " 
 
 	 	 C a s e   " F R A " 
 
 	 	 	 T T S   S p e a k   " C o m m e n c e z   l a   s  q u e n c e   d e   s  l e c t i o n   e t   d e   p l a c e m e n t   d e   l a   b a l l e   d e   p i n g - p o n g . " 
 
 	 	 C a s e   " I T A " 
 
 	 	 	 T T S   S p e a k   " A v v i a   l a   s e q u e n z a   d i   p r e l i e v o   e   p o s i z i o n a m e n t o   d e l l a   p a l l i n a   d a   p i n g   p o n g . " 
 
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 	 T T S   S p e a k   " s(W /f-Ne" 
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 ' W A T C H   N e w   w a t c h 
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 
 ' E X E C   E x i t F r o m S e q u e n c e L o o p   =   1 
 
 