symbol direction	= b0	'0=Clockwise, 1=Anti-clockwise
symbol inner	= b1
symbol magpulse	= b2
main:
	pins = %00000000
	gosub find_start
nextride:
	pause 5000
	gosub oscillate_start
	direction = 1
	gosub full_speed
	direction = 0
	gosub full_speed
	gosub oscillate_stop
	pause 10000
	goto nextride

oscillate_start:
	direction = 0
	gosub speed_0
	gosub speed_1
	gosub speed_2
	gosub speed_2
	gosub speed_1
	gosub speed_0
	pause 300
	'
	direction = 1
	gosub speed_0
	gosub speed_1
	gosub speed_2
	gosub speed_2
	gosub speed_3
	gosub speed_3
	gosub speed_3
	gosub speed_2
	gosub speed_1
	gosub speed_0
	pause 500
	'	
	direction = 0
	gosub speed_0
	gosub speed_1
	gosub speed_2
	gosub speed_3
	gosub speed_4
	gosub speed_4
	gosub speed_4
	gosub speed_3
	gosub speed_2
	gosub speed_1
	gosub speed_0
	pause 1000
	'	
	direction = 1
	gosub speed_0
	gosub speed_1
	gosub speed_2
	gosub speed_3
	gosub speed_4
	gosub speed_6
	gosub speed_4
	gosub speed_3
	gosub speed_3
	gosub speed_2
	gosub speed_1
	gosub speed_1
	gosub speed_1
	gosub speed_0
	pause 2000
	return

oscillate_stop:
	direction = 1
	gosub speed_1
	gosub speed_2
	gosub speed_3
	gosub	speed_4
	gosub speed_3
	gosub speed_2
	gosub speed_1
	pause 300
	'	
	direction = 0
	gosub speed_1
	gosub speed_2
	gosub speed_2
	gosub speed_2
	gosub speed_1
	gosub speed_1
	gosub speed_1
	pause 300
	'	
	direction = 1
	do while pin2 = 0	'wait for magnet to trigger reed switch
		pins = %00000010
		pause 1
		pins = %00000000
		pause 2
	loop
	gosub speed_0
	gosub speed_0
	gosub speed_0
	gosub speed_0
	pause 300
	'
	return
	
full_speed:
	gosub speed_0
	gosub speed_1
	gosub speed_2
	gosub speed_3
	gosub speed_4
	gosub speed_6
	gosub speed_8
	if direction = 0 then
		pins = %00000001
	else
		pins = %00000010
	endif
	magpulse = 0
	do while magpulse < 4
		if pin2 = 1 then
			inc magpulse
			pause 500
		endif
	loop
	gosub speed_3
	gosub speed_2
	gosub speed_1
	gosub speed_0
	pause 500
	return
	
speed_0:
	for inner = 1 to 10
		if direction = 0 then
			pins = %00000001
			pause 1
			pins = %00000000
			pause 2
		else
			pins = %00000010
			pause 1
			pins = %00000000
			pause 2
		endif
	next inner
	return
	
speed_1:
	for inner = 1 to 100
		if direction = 0 then
			pins = %00000001
			pause 1
			pins = %00000000
			pause 1
		else
			pins = %00000010
			pause 1
			pins = %00000000
			pause 1
		endif
	next inner
	return

speed_2:
	for inner = 1 to 100
		if direction = 0 then
			pins = %00000001
			pause 2
			pins = %00000000
		else
			pins = %00000010
			pause 2
			pins = %00000000
		endif
	next inner
	return

speed_3:
	for inner = 1 to 100
		if direction = 0 then
			pins = %00000001
			pause 4
			pins = %00000000
		else
			pins = %00000010
			pause 4
			pins = %00000000
		endif
	next inner
	return
	
speed_4:
	for inner = 1 to 100
		if direction = 0 then
			pins = %00000001
			pause 6
			pins = %00000000
		else
			pins = %00000010
			pause 6
			pins = %00000000
		endif
	next inner
	return

speed_6:
	for inner = 1 to 100
		if direction = 0 then
			pins = %00000001
			pause 6
			pins = %00000000
		else
			pins = %00000010
			pause 6
			pins = %00000000
		endif
	next inner
	return

speed_8:
	for inner = 1 to 100
		if direction = 0 then
			pins = %00000001
			pause 8
			pins = %00000000
		else
			pins = %00000010
			pause 8
			pins = %00000000
		endif
	next inner
	return

find_start:
	'check that Seating Platform is in Loading/Unloading position
	do while pin2 = 0	'wait for magnet to trigger reed switch
		pins = %00000001
		pause 4
		pins = %00000000
	loop
	gosub speed_0
	return