        radix   dec
        ; Code bank 0; Start address: 0; End address: 4095
        org     0

        ; Define start addresses for data regions
shared___globals equ 112
globals___0 equ 32
globals___1 equ 160
globals___2 equ 288
globals___3 equ 416
__indf equ 0
__pcl equ 2
__status equ 3
__fsr equ 4
__c___byte equ 3
__c___bit equ 0
__z___byte equ 3
__z___bit equ 2
__rp0___byte equ 3
__rp0___bit equ 5
__rp1___byte equ 3
__rp1___bit equ 6
__irp___byte equ 3
__irp___bit equ 7
__pclath equ 10
__cb0___byte equ 10
__cb0___bit equ 3
__cb1___byte equ 10
__cb1___bit equ 4

        ; # Copyright (c) 2000-2004 by Wayne C. Gramlich & William T. Benson.
        ; # All rights reserved.

        ; buffer = 'dualmotor1amp'
        ; line_number = 6
        ; library _robobricks_pic16f688 entered

        ; # Copyright (c) 2000-2005 by Wayne C. Gramlich and Bill Benson
        ; # All rights reserved.

        ; buffer = '_robobricks_pic16f688'
        ; line_number = 6
        ; library _pic16f688 entered
        ; # Copyright (c) 2004 by Wayne C. Gramlich
        ; # All rights reserved.

        ; buffer = '_pic16f688'
        ; line_number = 5
        ; processor pic16f688
        ; line_number = 6
        ; configure_address 0x2007
        ; line_number = 7
        ;  configure_fill 0x3000
        ; line_number = 8
        ;  configure_option fcmen: on = 0x800
        ; line_number = 9
        ;  configure_option fcmen: off = 0x000
        ; line_number = 10
        ;  configure_option ieso: on = 0x400
        ; line_number = 11
        ;  configure_option ieso: off = 0x000
        ; line_number = 12
        ;  configure_option boden: on = 0x300
        ; line_number = 13
        ;  configure_option boden: partial = 0x200
        ; line_number = 14
        ;  configure_option boden: sboden = 0x100
        ; line_number = 15
        ;  configure_option boden: off = 0x000
        ; line_number = 16
        ;  configure_option cpd: on = 0x00
        ; line_number = 17
        ;  configure_option cpd: off = 0x80
        ; line_number = 18
        ;  configure_option cp: on = 0x00
        ; line_number = 19
        ;  configure_option cp: off = 0x40
        ; line_number = 20
        ;  configure_option mclre: on = 0x20
        ; line_number = 21
        ;  configure_option mclre: off = 0x20
        ; line_number = 22
        ;  configure_option pwrte: on = 0x00
        ; line_number = 23
        ;  configure_option pwrte: off = 0x10
        ; line_number = 24
        ;  configure_option wdte: on = 8
        ; line_number = 25
        ;  configure_option wdte: off = 0
        ; line_number = 26
        ;  configure_option fosc: rc_clk = 7
        ; line_number = 27
        ;  configure_option fosc: rc_no_clk = 6
        ; line_number = 28
        ;  configure_option fosc: int_clk = 5
        ; line_number = 29
        ;  configure_option fosc: int_no_clk = 4
        ; line_number = 30
        ;  configure_option fosc: ec = 3
        ; line_number = 31
        ;  configure_option fosc: hs = 2
        ; line_number = 32
        ;  configure_option fosc: xt = 1
        ; line_number = 33
        ;  configure_option fosc: lp = 0

        ; line_number = 35
        ;  code_bank 0x0 : 0xfff
        ; line_number = 36
        ;  data_bank 0x0 : 0x7f
        ; line_number = 37
        ;  data_bank 0x80 : 0xff
        ; line_number = 38
        ;  data_bank 0x100 : 0x17f
        ; line_number = 39
        ;  data_bank 0x180 : 0x1ff
        ; line_number = 40
        ;  global_region 0x20 : 0x6f
        ; line_number = 41
        ;  global_region 0xa0 : 0xef
        ; line_number = 42
        ;  global_region 0x120 : 0x16f
        ; line_number = 43
        ;  global_region 0x1a0 : 0x1ef
        ; line_number = 44
        ;  shared_region 0x70 : 0x7f
        ; line_number = 45
        ;  interrupts_possible
        ; line_number = 46
        ;  packages pdip=14, soic=14, tssop=14
        ; line_number = 47
        ;  pin vdd, power_supply
        ; line_number = 48
        ; pin_bindings pdip=1, soic=1, tssop=1
        ; line_number = 49
        ; pin ra5_in, ra5_nc, ra5_out, t1cki, osc1, clkin
        ; line_number = 50
        ; pin_bindings pdip=2, soic=2, tssop=2
        ; line_number = 51
        ;  bind_to _porta@5
        ; line_number = 52
        ;  or_if ra5_in _trisa 32
        ; line_number = 53
        ;  or_if ra5_nc _trisa 32
        ; line_number = 54
        ;  or_if ra5_out _trisa 0
        ; line_number = 55
        ; pin ra4_in, ra4_nc, ra4_out, t1g, osc2, an3, clkout
        ; line_number = 56
        ; pin_bindings pdip=3, soic=3, tssop=3
        ; line_number = 57
        ;  bind_to _porta@4
        ; line_number = 58
        ;  or_if ra4_in _trisa 16
        ; line_number = 59
        ;  or_if ra4_nc _trisa 16
        ; line_number = 60
        ;  or_if ra4_out _trisa 0
        ; line_number = 61
        ;  or_if an3 _trisa 8
        ; line_number = 62
        ;  or_if ra4_in _ansel 0
        ; line_number = 63
        ;  or_if ra4_out _ansel 0
        ; line_number = 64
        ;  or_if an3 _ansel 8
        ; line_number = 65
        ;  or_if ra4_in _adcon0 0
        ; line_number = 66
        ;  or_if ra4_out _adcon0 0
        ; line_number = 67
        ;  or_if an3 _adcon0 1
        ; line_number = 68
        ; pin ra3_in, ra3_nc, mclr, vpp
        ; line_number = 69
        ; pin_bindings pdip=4, soic=4, tssop=4
        ; line_number = 70
        ;  bind_to _porta@4
        ; line_number = 71
        ;  or_if ra3_in _trisa 8
        ; line_number = 72
        ;  or_if ra3_nc _trisa 8
        ; line_number = 73
        ; pin rc5_in, rc5_nc, rc5_out, rx, dt
        ; line_number = 74
        ; pin_bindings pdip=5, soic=5, tssop=5
        ; line_number = 75
        ;  bind_to _portc@5
        ; line_number = 76
        ;  or_if rc5_in _trisc 32
        ; line_number = 77
        ;  or_if rc5_nc _trisc 32
        ; line_number = 78
        ;  or_if rc5_out _trisc 0
        ; line_number = 79
        ;  or_if rx _trisc 32
        ; line_number = 80
        ; pin rc4_in, rc4_nc, rc4_out, c2out, tx, ck
        ; line_number = 81
        ; pin_bindings pdip=6, soic=6, tssop=6
        ; line_number = 82
        ;  bind_to _portc@4
        ; line_number = 83
        ;  or_if rc4_in _trisc 16
        ; line_number = 84
        ;  or_if rc4_nc _trisc 16
        ; line_number = 85
        ;  or_if rc4_out _trisc 0
        ; # The UART documentation says TX must be marked as in input:
        ; line_number = 87
        ;  or_if tx _trisc 16
        ; line_number = 88
        ; pin rc3_in, rc3_nc, rc3_out, an7
        ; line_number = 89
        ; pin_bindings pdip=7, soic=7, tssop=7
        ; line_number = 90
        ;  bind_to _portc@3
        ; line_number = 91
        ;  or_if rc3_in _trisc 8
        ; line_number = 92
        ;  or_if rc3_nc _trisc 8
        ; line_number = 93
        ;  or_if rc3_out _trisc 0
        ; line_number = 94
        ;  or_if an7 _trisc 8
        ; line_number = 95
        ;  or_if rc3_in _ansel 0
        ; line_number = 96
        ;  or_if rc3_out _ansel 0
        ; line_number = 97
        ;  or_if an7 _ansel 128
        ; line_number = 98
        ;  or_if rc3_in _adcon0 0
        ; line_number = 99
        ;  or_if rc3_out _adcon0 0
        ; line_number = 100
        ;  or_if an7 _adcon0 1
        ; line_number = 101
        ; pin rc2_in, rc2_nc, rc2_out, an6
        ; line_number = 102
        ; pin_bindings pdip=8, soic=8, tssop=8
        ; line_number = 103
        ;  bind_to _portc@2
        ; line_number = 104
        ;  or_if rc2_in _trisc 4
        ; line_number = 105
        ;  or_if rc2_nc _trisc 4
        ; line_number = 106
        ;  or_if rc2_out _trisc 0
        ; line_number = 107
        ;  or_if an6 _trisc 4
        ; line_number = 108
        ;  or_if rc2_in _ansel 0
        ; line_number = 109
        ;  or_if rc2_out _ansel 0
        ; line_number = 110
        ;  or_if an6 _ansel 64
        ; line_number = 111
        ;  or_if rc2_in _adcon0 0
        ; line_number = 112
        ;  or_if rc2_out _adcon0 0
        ; line_number = 113
        ;  or_if an6 _adcon0 1
        ; line_number = 114
        ; pin rc1_in, rc1_nc, rc1_out, an5, c2in_minus
        ; line_number = 115
        ; pin_bindings pdip=9, soic=9, tssop=9
        ; line_number = 116
        ;  bind_to _portc@1
        ; line_number = 117
        ;  or_if rc1_in _trisc 2
        ; line_number = 118
        ;  or_if rc1_nc _trisc 2
        ; line_number = 119
        ;  or_if rc1_out _trisc 0
        ; line_number = 120
        ;  or_if rc1_in _cmcon0 7
        ; line_number = 121
        ;  or_if rc1_out _cmcon0 7
        ; line_number = 122
        ;  or_if an5 _trisc 2
        ; line_number = 123
        ;  or_if rc1_in _ansel 0
        ; line_number = 124
        ;  or_if rc1_out _ansel 0
        ; line_number = 125
        ;  or_if an5 _ansel 32
        ; line_number = 126
        ;  or_if rc1_in _adcon0 0
        ; line_number = 127
        ;  or_if rc1_out _adcon0 0
        ; line_number = 128
        ;  or_if an5 _adcon0 1
        ; line_number = 129
        ; pin rc0_in, rc0_nc, rc0_out, an4, c2in_plus
        ; line_number = 130
        ; pin_bindings pdip=10, soic=10, tssop=10
        ; line_number = 131
        ;  bind_to _portc@0
        ; line_number = 132
        ;  or_if rc0_in _trisc 1
        ; line_number = 133
        ;  or_if rc0_nc _trisc 1
        ; line_number = 134
        ;  or_if rc0_out _trisc 0
        ; line_number = 135
        ;  or_if rc0_in _cmcon0 7
        ; line_number = 136
        ;  or_if rc0_out _cmcon0 7
        ; line_number = 137
        ;  or_if an4 _trisc 1
        ; line_number = 138
        ;  or_if rc0_in _ansel 0
        ; line_number = 139
        ;  or_if rc0_out _ansel 0
        ; line_number = 140
        ;  or_if an4 _ansel 16
        ; line_number = 141
        ;  or_if rc0_in _adcon0 0
        ; line_number = 142
        ;  or_if rc0_out _adcon0 0
        ; line_number = 143
        ;  or_if an4 _adcon0 1
        ; line_number = 144
        ; pin ra2_in, ra2_nc, ra2_out, an2, c1out, t0cki, int
        ; line_number = 145
        ; pin_bindings pdip=11, soic=11, tssop=11
        ; line_number = 146
        ;  bind_to _porta@2
        ; line_number = 147
        ;  or_if ra2_in _trisa 4
        ; line_number = 148
        ;  or_if ra2_nc _trisa 4
        ; line_number = 149
        ;  or_if ra2_out _trisa 0
        ; line_number = 150
        ;  or_if an2 _trisa 4
        ; line_number = 151
        ;  or_if ra2_in _ansel 0
        ; line_number = 152
        ;  or_if ra2_out _ansel 0
        ; line_number = 153
        ;  or_if an2 _ansel 4
        ; line_number = 154
        ;  or_if ra2_in _adcon0 0
        ; line_number = 155
        ;  or_if ra2_out _adcon0 0
        ; line_number = 156
        ;  or_if an2 _adcon0 1
        ; line_number = 157
        ; pin ra1_in, ra1_nc, ra1_out, an1, c1in_minus, vref, icspclk
        ; line_number = 158
        ; pin_bindings pdip=12, soic=12, tssop=12
        ; line_number = 159
        ;  bind_to _porta@1
        ; line_number = 160
        ;  or_if ra1_in _trisa 2
        ; line_number = 161
        ;  or_if ra1_nc _trisa 2
        ; line_number = 162
        ;  or_if ra1_out _trisa 0
        ; line_number = 163
        ;  or_if ra1_in _cmcon0 7
        ; line_number = 164
        ;  or_if ra1_out _cmcon0 7
        ; line_number = 165
        ;  or_if an1 _trisa 2
        ; line_number = 166
        ;  or_if ra1_in _ansel 0
        ; line_number = 167
        ;  or_if ra1_out _ansel 0
        ; line_number = 168
        ;  or_if an1 _ansel 2
        ; line_number = 169
        ;  or_if ra1_in _adcon0 0
        ; line_number = 170
        ;  or_if ra1_out _adcon0 0
        ; line_number = 171
        ;  or_if an1 _adcon0 1
        ; line_number = 172
        ; pin ra0_in, ra0_nc, ra0_out, an0, c1in_plus, icspdat, ulpwu
        ; line_number = 173
        ; pin_bindings pdip=13, soic=13, tssop=13
        ; line_number = 174
        ;  bind_to _porta@0
        ; line_number = 175
        ;  or_if ra0_in _trisa 1
        ; line_number = 176
        ;  or_if ra0_nc _trisa 1
        ; line_number = 177
        ;  or_if ra0_out _trisa 0
        ; line_number = 178
        ;  or_if ra0_in _cmcon0 7
        ; line_number = 179
        ;  or_if ra0_out _cmcon0 7
        ; line_number = 180
        ;  or_if an0 _trisa 1
        ; line_number = 181
        ;  or_if ra0_in _ansel 0
        ; line_number = 182
        ;  or_if ra0_out _ansel 0
        ; line_number = 183
        ;  or_if an0 _ansel 1
        ; line_number = 184
        ;  or_if ra0_in _adcon0 0
        ; line_number = 185
        ;  or_if ra0_out _adcon0 0
        ; line_number = 186
        ;  or_if an0 _adcon0 1
        ; line_number = 187
        ; pin vss, ground
        ; line_number = 188
        ; pin_bindings pdip=14, soic=14, tssop=14


        ; # Register/bit bindings:

        ; # Databank 0 (0x0 - 0x7f):

        ; line_number = 197
        ; register _indf = 
_indf equ 0

        ; line_number = 199
        ; register _tmr0 = 
_tmr0 equ 1

        ; line_number = 201
        ; register _pcl = 
_pcl equ 2

        ; line_number = 203
        ; register _status = 
_status equ 3
        ; line_number = 204
        ; bind _irp = _status@7
_irp___byte equ _status
_irp___bit equ 7
        ; line_number = 205
        ; bind _rp1 = _status@5
_rp1___byte equ _status
_rp1___bit equ 5
        ; line_number = 206
        ; bind _rp0 = _status@5
_rp0___byte equ _status
_rp0___bit equ 5
        ; line_number = 207
        ; bind _to = _status@4
_to___byte equ _status
_to___bit equ 4
        ; line_number = 208
        ; bind _pd = _status@3
_pd___byte equ _status
_pd___bit equ 3
        ; line_number = 209
        ; bind _z = _status@2
_z___byte equ _status
_z___bit equ 2
        ; line_number = 210
        ; bind _dc = _status@1
_dc___byte equ _status
_dc___bit equ 1
        ; line_number = 211
        ; bind _c = _status@0
_c___byte equ _status
_c___bit equ 0

        ; line_number = 213
        ; register _fsr = 
_fsr equ 4

        ; line_number = 215
        ; register _porta = 
_porta equ 5
        ; line_number = 216
        ; register _ra = 
_ra equ 5
        ; line_number = 217
        ; bind _ra5 = _porta@5
_ra5___byte equ _porta
_ra5___bit equ 5
        ; line_number = 218
        ; bind _ra4 = _porta@4
_ra4___byte equ _porta
_ra4___bit equ 4
        ; line_number = 219
        ; bind _ra3 = _porta@3
_ra3___byte equ _porta
_ra3___bit equ 3
        ; line_number = 220
        ; bind _ra2 = _porta@2
_ra2___byte equ _porta
_ra2___bit equ 2
        ; line_number = 221
        ; bind _ra1 = _porta@1
_ra1___byte equ _porta
_ra1___bit equ 1
        ; line_number = 222
        ; bind _ra0 = _porta@0
_ra0___byte equ _porta
_ra0___bit equ 0

        ; line_number = 224
        ; register _portc = 
_portc equ 7
        ; line_number = 225
        ; register _rc = 
_rc equ 7
        ; line_number = 226
        ; bind _rc5 = _portc@5
_rc5___byte equ _portc
_rc5___bit equ 5
        ; line_number = 227
        ; bind _rc4 = _portc@4
_rc4___byte equ _portc
_rc4___bit equ 4
        ; line_number = 228
        ; bind _rc3 = _portc@3
_rc3___byte equ _portc
_rc3___bit equ 3
        ; line_number = 229
        ; bind _rc2 = _portc@2
_rc2___byte equ _portc
_rc2___bit equ 2
        ; line_number = 230
        ; bind _rc1 = _portc@1
_rc1___byte equ _portc
_rc1___bit equ 1
        ; line_number = 231
        ; bind _rc0 = _portc@0
_rc0___byte equ _portc
_rc0___bit equ 0

        ; line_number = 233
        ; register _pclath = 
_pclath equ 10

        ; line_number = 235
        ; register _intcon = 
_intcon equ 11
        ; line_number = 236
        ; bind _gie = _intcon@7
_gie___byte equ _intcon
_gie___bit equ 7
        ; line_number = 237
        ; bind _peie = _intcon@6
_peie___byte equ _intcon
_peie___bit equ 6
        ; line_number = 238
        ; bind _t0ie = _intcon@5
_t0ie___byte equ _intcon
_t0ie___bit equ 5
        ; line_number = 239
        ; bind _inte = _intcon@4
_inte___byte equ _intcon
_inte___bit equ 4
        ; line_number = 240
        ; bind _raie = _intcon@3
_raie___byte equ _intcon
_raie___bit equ 3
        ; line_number = 241
        ; bind _t0if = _intcon@2
_t0if___byte equ _intcon
_t0if___bit equ 2
        ; line_number = 242
        ; bind _intf = _intcon@1
_intf___byte equ _intcon
_intf___bit equ 1
        ; line_number = 243
        ; bind _raif = _intcon@0
_raif___byte equ _intcon
_raif___bit equ 0

        ; line_number = 245
        ; register _pir1 = 
_pir1 equ 12
        ; line_number = 246
        ; bind _eeif = _pir1@7
_eeif___byte equ _pir1
_eeif___bit equ 7
        ; line_number = 247
        ; bind _adif = _pir1@6
_adif___byte equ _pir1
_adif___bit equ 6
        ; line_number = 248
        ; bind _rcif = _pir1@5
_rcif___byte equ _pir1
_rcif___bit equ 5
        ; line_number = 249
        ; bind _c2if = _pir1@4
_c2if___byte equ _pir1
_c2if___bit equ 4
        ; line_number = 250
        ; bind _c1if = _pir1@3
_c1if___byte equ _pir1
_c1if___bit equ 3
        ; line_number = 251
        ; bind _osfif = _pir1@2
_osfif___byte equ _pir1
_osfif___bit equ 2
        ; line_number = 252
        ; bind _txif = _pir1@1
_txif___byte equ _pir1
_txif___bit equ 1
        ; line_number = 253
        ; bind _tmr1if = _pir1@0
_tmr1if___byte equ _pir1
_tmr1if___bit equ 0

        ; line_number = 255
        ; register _tmr1l = 
_tmr1l equ 14

        ; line_number = 257
        ; register _tmr1h = 
_tmr1h equ 15

        ; line_number = 259
        ; register _t1con = 
_t1con equ 16
        ; line_number = 260
        ; bind t1ginv = _t1con@7
t1ginv___byte equ _t1con
t1ginv___bit equ 7
        ; line_number = 261
        ; bind _tmr1ge = _t1con@6
_tmr1ge___byte equ _t1con
_tmr1ge___bit equ 6
        ; line_number = 262
        ; bind _t1ckps1 = _t1con@5
_t1ckps1___byte equ _t1con
_t1ckps1___bit equ 5
        ; line_number = 263
        ; bind _t1ckps0 = _t1con@4
_t1ckps0___byte equ _t1con
_t1ckps0___bit equ 4
        ; line_number = 264
        ; bind _t1oscen = _t1con@3
_t1oscen___byte equ _t1con
_t1oscen___bit equ 3
        ; line_number = 265
        ; bind _t1sync = _t1con@2
_t1sync___byte equ _t1con
_t1sync___bit equ 2
        ; line_number = 266
        ; bind _tmr1cs = _t1con@1
_tmr1cs___byte equ _t1con
_tmr1cs___bit equ 1
        ; line_number = 267
        ; bind _tmr1on = _t1con@0
_tmr1on___byte equ _t1con
_tmr1on___bit equ 0

        ; line_number = 269
        ; register _baudctl = 
_baudctl equ 17
        ; line_number = 270
        ; bind _abdovf = _baudctl@7
_abdovf___byte equ _baudctl
_abdovf___bit equ 7
        ; line_number = 271
        ; bind _rcidl = _baudctl@6
_rcidl___byte equ _baudctl
_rcidl___bit equ 6
        ; line_number = 272
        ; bind _sckp = _baudctl@4
_sckp___byte equ _baudctl
_sckp___bit equ 4
        ; line_number = 273
        ; bind _brg16 = _baudctl@3
_brg16___byte equ _baudctl
_brg16___bit equ 3
        ; line_number = 274
        ; bind _wue = _baudctl@1
_wue___byte equ _baudctl
_wue___bit equ 1
        ; line_number = 275
        ; bind _abden = _baudctl@0
_abden___byte equ _baudctl
_abden___bit equ 0

        ; line_number = 277
        ; register _spbrgh = 
_spbrgh equ 18

        ; line_number = 279
        ; register _spbrg = 
_spbrg equ 19

        ; line_number = 281
        ; register _rcreg = 
_rcreg equ 20

        ; line_number = 283
        ; register _txreg = 
_txreg equ 21

        ; line_number = 285
        ; register _txsta = 
_txsta equ 22
        ; line_number = 286
        ; bind _csrc = _txsta@7
_csrc___byte equ _txsta
_csrc___bit equ 7
        ; line_number = 287
        ; bind _tx9 = _txsta@6
_tx9___byte equ _txsta
_tx9___bit equ 6
        ; line_number = 288
        ; bind _txen = _txsta@5
_txen___byte equ _txsta
_txen___bit equ 5
        ; line_number = 289
        ; bind _sync = _txsta@4
_sync___byte equ _txsta
_sync___bit equ 4
        ; line_number = 290
        ; bind _sendb = _txsta@3
_sendb___byte equ _txsta
_sendb___bit equ 3
        ; line_number = 291
        ; bind _brgh = _txsta@2
_brgh___byte equ _txsta
_brgh___bit equ 2
        ; line_number = 292
        ; bind _trmt = _txsta@1
_trmt___byte equ _txsta
_trmt___bit equ 1
        ; line_number = 293
        ; bind _tx9d = _txsta@7
_tx9d___byte equ _txsta
_tx9d___bit equ 7

        ; line_number = 295
        ; register _rcsta = 
_rcsta equ 23
        ; line_number = 296
        ; bind _spen = _rcsta@7
_spen___byte equ _rcsta
_spen___bit equ 7
        ; line_number = 297
        ; bind _rx9 = _rcsta@6
_rx9___byte equ _rcsta
_rx9___bit equ 6
        ; line_number = 298
        ; bind _sren = _rcsta@5
_sren___byte equ _rcsta
_sren___bit equ 5
        ; line_number = 299
        ; bind _cren = _rcsta@4
_cren___byte equ _rcsta
_cren___bit equ 4
        ; line_number = 300
        ; bind _adden = _rcsta@3
_adden___byte equ _rcsta
_adden___bit equ 3
        ; line_number = 301
        ; bind _ferr = _rcsta@2
_ferr___byte equ _rcsta
_ferr___bit equ 2
        ; line_number = 302
        ; bind _oerr = _rcsta@1
_oerr___byte equ _rcsta
_oerr___bit equ 1
        ; line_number = 303
        ; bind _rx9d = _rcsta@0
_rx9d___byte equ _rcsta
_rx9d___bit equ 0

        ; line_number = 305
        ; register _wdtcon = 
_wdtcon equ 24
        ; line_number = 306
        ; bind _wdtps3 = _wdtcon@4
_wdtps3___byte equ _wdtcon
_wdtps3___bit equ 4
        ; line_number = 307
        ; bind _wdtps2 = _wdtcon@3
_wdtps2___byte equ _wdtcon
_wdtps2___bit equ 3
        ; line_number = 308
        ; bind _wdtps1 = _wdtcon@2
_wdtps1___byte equ _wdtcon
_wdtps1___bit equ 2
        ; line_number = 309
        ; bind _wdtps0 = _wdtcon@1
_wdtps0___byte equ _wdtcon
_wdtps0___bit equ 1
        ; line_number = 310
        ; bind _swdten = _wdtcon@0
_swdten___byte equ _wdtcon
_swdten___bit equ 0

        ; line_number = 312
        ; register _cmcon0 = 
_cmcon0 equ 25
        ; line_number = 313
        ; bind _c1out = _cmcon0@7
_c1out___byte equ _cmcon0
_c1out___bit equ 7
        ; line_number = 314
        ; bind _c2out = _cmcon0@6
_c2out___byte equ _cmcon0
_c2out___bit equ 6
        ; line_number = 315
        ; bind _c1inv = _cmcon0@5
_c1inv___byte equ _cmcon0
_c1inv___bit equ 5
        ; line_number = 316
        ; bind _c2inv = _cmcon0@4
_c2inv___byte equ _cmcon0
_c2inv___bit equ 4
        ; line_number = 317
        ; bind _cis = _cmcon0@3
_cis___byte equ _cmcon0
_cis___bit equ 3
        ; line_number = 318
        ; bind _cm2 = _cmcon0@2
_cm2___byte equ _cmcon0
_cm2___bit equ 2
        ; line_number = 319
        ; bind _cm1 = _cmcon0@1
_cm1___byte equ _cmcon0
_cm1___bit equ 1
        ; line_number = 320
        ; bind _cm0 = _cmcon0@0
_cm0___byte equ _cmcon0
_cm0___bit equ 0

        ; line_number = 322
        ; register _cmcon1 = 
_cmcon1 equ 26
        ; line_number = 323
        ; bind _t1gss = _cmcon1@0
_t1gss___byte equ _cmcon1
_t1gss___bit equ 0
        ; line_number = 324
        ; bind _c2sync = _cmcon1@1
_c2sync___byte equ _cmcon1
_c2sync___bit equ 1

        ; line_number = 326
        ; register _adresh = 
_adresh equ 30

        ; line_number = 328
        ; register _adcon0 = 
_adcon0 equ 31
        ; line_number = 329
        ; bind _adfm = _adcon0@7
_adfm___byte equ _adcon0
_adfm___bit equ 7
        ; line_number = 330
        ; bind _vcfg = _adcon0@6
_vcfg___byte equ _adcon0
_vcfg___bit equ 6
        ; line_number = 331
        ; bind _chs2 = _adcon0@4
_chs2___byte equ _adcon0
_chs2___bit equ 4
        ; line_number = 332
        ; bind _chs1 = _adcon0@3
_chs1___byte equ _adcon0
_chs1___bit equ 3
        ; line_number = 333
        ; bind _chs0 = _adcon0@2
_chs0___byte equ _adcon0
_chs0___bit equ 2
        ; line_number = 334
        ; bind _go = _adcon0@1
_go___byte equ _adcon0
_go___bit equ 1
        ; line_number = 335
        ; bind _adon = _adcon0@0
_adon___byte equ _adcon0
_adon___bit equ 0

        ; # Data bank 1 (0x80-0xff):

        ; line_number = 339
        ; register _option_reg = 
_option_reg equ 129
        ; line_number = 340
        ; bind _rapu = _option_reg@7
_rapu___byte equ _option_reg
_rapu___bit equ 7
        ; line_number = 341
        ; bind _intedg = _option_reg@6
_intedg___byte equ _option_reg
_intedg___bit equ 6
        ; line_number = 342
        ; bind _t0cs = _option_reg@5
_t0cs___byte equ _option_reg
_t0cs___bit equ 5
        ; line_number = 343
        ; bind _t0se = _option_reg@4
_t0se___byte equ _option_reg
_t0se___bit equ 4
        ; line_number = 344
        ; bind _psa = _option_reg@3
_psa___byte equ _option_reg
_psa___bit equ 3
        ; line_number = 345
        ; bind _ps2 = _option_reg@2
_ps2___byte equ _option_reg
_ps2___bit equ 2
        ; line_number = 346
        ; bind _ps1 = _option_reg@1
_ps1___byte equ _option_reg
_ps1___bit equ 1
        ; line_number = 347
        ; bind _ps0 = _option_reg@0
_ps0___byte equ _option_reg
_ps0___bit equ 0

        ; line_number = 349
        ; register _trisa = 
_trisa equ 133
        ; line_number = 350
        ; bind _trisa5 = _trisa@5
_trisa5___byte equ _trisa
_trisa5___bit equ 5
        ; line_number = 351
        ; bind _trisa4 = _trisa@4
_trisa4___byte equ _trisa
_trisa4___bit equ 4
        ; line_number = 352
        ; bind _trisa3 = _trisa@3
_trisa3___byte equ _trisa
_trisa3___bit equ 3
        ; line_number = 353
        ; bind _trisa2 = _trisa@2
_trisa2___byte equ _trisa
_trisa2___bit equ 2
        ; line_number = 354
        ; bind _trisa1 = _trisa@1
_trisa1___byte equ _trisa
_trisa1___bit equ 1
        ; line_number = 355
        ; bind _trisa0 = _trisa@0
_trisa0___byte equ _trisa
_trisa0___bit equ 0

        ; line_number = 357
        ; register _trisc = 
_trisc equ 135
        ; line_number = 358
        ; bind _trisc5 = _trisc@5
_trisc5___byte equ _trisc
_trisc5___bit equ 5
        ; line_number = 359
        ; bind _trisc4 = _trisc@4
_trisc4___byte equ _trisc
_trisc4___bit equ 4
        ; line_number = 360
        ; bind _trisc3 = _trisc@3
_trisc3___byte equ _trisc
_trisc3___bit equ 3
        ; line_number = 361
        ; bind _trisc2 = _trisc@2
_trisc2___byte equ _trisc
_trisc2___bit equ 2
        ; line_number = 362
        ; bind _trisc1 = _trisc@1
_trisc1___byte equ _trisc
_trisc1___bit equ 1
        ; line_number = 363
        ; bind _trisc0 = _trisc@0
_trisc0___byte equ _trisc
_trisc0___bit equ 0

        ; line_number = 365
        ; register _pie1 = 
_pie1 equ 140
        ; line_number = 366
        ; bind _eeie = _pie1@7
_eeie___byte equ _pie1
_eeie___bit equ 7
        ; line_number = 367
        ; bind _adie = _pie1@6
_adie___byte equ _pie1
_adie___bit equ 6
        ; line_number = 368
        ; bind _rcie = _pie1@5
_rcie___byte equ _pie1
_rcie___bit equ 5
        ; line_number = 369
        ; bind _c2ie = _pie1@4
_c2ie___byte equ _pie1
_c2ie___bit equ 4
        ; line_number = 370
        ; bind _c1ie = _pie1@3
_c1ie___byte equ _pie1
_c1ie___bit equ 3
        ; line_number = 371
        ; bind _osfie = _pie1@2
_osfie___byte equ _pie1
_osfie___bit equ 2
        ; line_number = 372
        ; bind _txie = _pie1@1
_txie___byte equ _pie1
_txie___bit equ 1
        ; line_number = 373
        ; bind _tmr1ie = _pie1@0
_tmr1ie___byte equ _pie1
_tmr1ie___bit equ 0

        ; line_number = 375
        ; register _pcon = 
_pcon equ 142
        ; line_number = 376
        ; bind _ulpwue = _pcon@5
_ulpwue___byte equ _pcon
_ulpwue___bit equ 5
        ; line_number = 377
        ; bind _sboden = _pcon@4
_sboden___byte equ _pcon
_sboden___bit equ 4
        ; line_number = 378
        ; bind _por = _pcon@1
_por___byte equ _pcon
_por___bit equ 1
        ; line_number = 379
        ; bind _bod = _pcon@0
_bod___byte equ _pcon
_bod___bit equ 0

        ; line_number = 381
        ; register _osccon = 
_osccon equ 143
        ; line_number = 382
        ; bind _ircf2 = _osccon@6
_ircf2___byte equ _osccon
_ircf2___bit equ 6
        ; line_number = 383
        ; bind _ircf1 = _osccon@5
_ircf1___byte equ _osccon
_ircf1___bit equ 5
        ; line_number = 384
        ; bind _ircf0 = _osccon@4
_ircf0___byte equ _osccon
_ircf0___bit equ 4
        ; line_number = 385
        ; bind _osts = _osccon@3
_osts___byte equ _osccon
_osts___bit equ 3
        ; line_number = 386
        ; bind _hts = _osccon@2
_hts___byte equ _osccon
_hts___bit equ 2
        ; line_number = 387
        ; bind _lts = _osccon@3
_lts___byte equ _osccon
_lts___bit equ 3
        ; line_number = 388
        ; bind _scs = _osccon@2
_scs___byte equ _osccon
_scs___bit equ 2

        ; line_number = 390
        ; register _osctune = 
_osctune equ 144
        ; line_number = 391
        ; bind _tun4 = _osctune@4
_tun4___byte equ _osctune
_tun4___bit equ 4
        ; line_number = 392
        ; bind _tun3 = _osctune@3
_tun3___byte equ _osctune
_tun3___bit equ 3
        ; line_number = 393
        ; bind _tun2 = _osctune@2
_tun2___byte equ _osctune
_tun2___bit equ 2
        ; line_number = 394
        ; bind _tun1 = _osctune@1
_tun1___byte equ _osctune
_tun1___bit equ 1
        ; line_number = 395
        ; bind _tun0 = _osctune@0
_tun0___byte equ _osctune
_tun0___bit equ 0
        ; line_number = 396
        ; constant _osccal_lsb = 1
_osccal_lsb equ 1

        ; line_number = 398
        ; register _ansel = 
_ansel equ 145
        ; line_number = 399
        ; bind _ans7 = _ansel@7
_ans7___byte equ _ansel
_ans7___bit equ 7
        ; line_number = 400
        ; bind _ans6 = _ansel@6
_ans6___byte equ _ansel
_ans6___bit equ 6
        ; line_number = 401
        ; bind _ans5 = _ansel@5
_ans5___byte equ _ansel
_ans5___bit equ 5
        ; line_number = 402
        ; bind _ans4 = _ansel@4
_ans4___byte equ _ansel
_ans4___bit equ 4
        ; line_number = 403
        ; bind _ans3 = _ansel@3
_ans3___byte equ _ansel
_ans3___bit equ 3
        ; line_number = 404
        ; bind _ans2 = _ansel@2
_ans2___byte equ _ansel
_ans2___bit equ 2
        ; line_number = 405
        ; bind _ans1 = _ansel@1
_ans1___byte equ _ansel
_ans1___bit equ 1
        ; line_number = 406
        ; bind _ans0 = _ansel@0
_ans0___byte equ _ansel
_ans0___bit equ 0

        ; line_number = 408
        ; register _wpua = 
_wpua equ 149
        ; line_number = 409
        ; bind _wpua5 = _wpua@5
_wpua5___byte equ _wpua
_wpua5___bit equ 5
        ; line_number = 410
        ; bind _wpua4 = _wpua@4
_wpua4___byte equ _wpua
_wpua4___bit equ 4
        ; line_number = 411
        ; bind _wpua2 = _wpua@2
_wpua2___byte equ _wpua
_wpua2___bit equ 2
        ; line_number = 412
        ; bind _wpua1 = _wpua@1
_wpua1___byte equ _wpua
_wpua1___bit equ 1
        ; line_number = 413
        ; bind _wpua0 = _wpua@0
_wpua0___byte equ _wpua
_wpua0___bit equ 0

        ; line_number = 415
        ; register _ioca = 
_ioca equ 150
        ; line_number = 416
        ; bind _ioca5 = _ioca@5
_ioca5___byte equ _ioca
_ioca5___bit equ 5
        ; line_number = 417
        ; bind _ioca4 = _ioca@4
_ioca4___byte equ _ioca
_ioca4___bit equ 4
        ; line_number = 418
        ; bind _ioca3 = _ioca@3
_ioca3___byte equ _ioca
_ioca3___bit equ 3
        ; line_number = 419
        ; bind _ioca2 = _ioca@2
_ioca2___byte equ _ioca
_ioca2___bit equ 2
        ; line_number = 420
        ; bind _ioca1 = _ioca@1
_ioca1___byte equ _ioca
_ioca1___bit equ 1
        ; line_number = 421
        ; bind _ioca0 = _ioca@0
_ioca0___byte equ _ioca
_ioca0___bit equ 0

        ; line_number = 423
        ; register _eedath = 
_eedath equ 151

        ; line_number = 425
        ; register _eeadrh = 
_eeadrh equ 152

        ; line_number = 427
        ; register _vrcon = 
_vrcon equ 153
        ; line_number = 428
        ; bind _vren = _vrcon@7
_vren___byte equ _vrcon
_vren___bit equ 7
        ; line_number = 429
        ; bind _vrr = _vrcon@5
_vrr___byte equ _vrcon
_vrr___bit equ 5
        ; line_number = 430
        ; bind _vr3 = _vrcon@3
_vr3___byte equ _vrcon
_vr3___bit equ 3
        ; line_number = 431
        ; bind _vr2 = _vrcon@2
_vr2___byte equ _vrcon
_vr2___bit equ 2
        ; line_number = 432
        ; bind _vr1 = _vrcon@1
_vr1___byte equ _vrcon
_vr1___bit equ 1
        ; line_number = 433
        ; bind _vr0 = _vrcon@0
_vr0___byte equ _vrcon
_vr0___bit equ 0

        ; line_number = 435
        ; register _eedata = 
_eedata equ 154
        ; line_number = 436
        ; bind _eedat7 = _eedata@7
_eedat7___byte equ _eedata
_eedat7___bit equ 7
        ; line_number = 437
        ; bind _eedat6 = _eedata@6
_eedat6___byte equ _eedata
_eedat6___bit equ 6
        ; line_number = 438
        ; bind _eedat5 = _eedata@5
_eedat5___byte equ _eedata
_eedat5___bit equ 5
        ; line_number = 439
        ; bind _eedat4 = _eedata@4
_eedat4___byte equ _eedata
_eedat4___bit equ 4
        ; line_number = 440
        ; bind _eedat3 = _eedata@3
_eedat3___byte equ _eedata
_eedat3___bit equ 3
        ; line_number = 441
        ; bind _eedat2 = _eedata@2
_eedat2___byte equ _eedata
_eedat2___bit equ 2
        ; line_number = 442
        ; bind _eedat1 = _eedata@1
_eedat1___byte equ _eedata
_eedat1___bit equ 1
        ; line_number = 443
        ; bind _eedat0 = _eedata@0
_eedat0___byte equ _eedata
_eedat0___bit equ 0

        ; line_number = 445
        ; register _eeadr = 
_eeadr equ 155
        ; line_number = 446
        ; bind _eeadr7 = _eeadr@7
_eeadr7___byte equ _eeadr
_eeadr7___bit equ 7
        ; line_number = 447
        ; bind _eeadr6 = _eeadr@6
_eeadr6___byte equ _eeadr
_eeadr6___bit equ 6
        ; line_number = 448
        ; bind _eeadr5 = _eeadr@5
_eeadr5___byte equ _eeadr
_eeadr5___bit equ 5
        ; line_number = 449
        ; bind _eeadr4 = _eeadr@4
_eeadr4___byte equ _eeadr
_eeadr4___bit equ 4
        ; line_number = 450
        ; bind _eeadr3 = _eeadr@3
_eeadr3___byte equ _eeadr
_eeadr3___bit equ 3
        ; line_number = 451
        ; bind _eeadr2 = _eeadr@2
_eeadr2___byte equ _eeadr
_eeadr2___bit equ 2
        ; line_number = 452
        ; bind _eeadr1 = _eeadr@1
_eeadr1___byte equ _eeadr
_eeadr1___bit equ 1
        ; line_number = 453
        ; bind _eeadr0 = _eeadr@0
_eeadr0___byte equ _eeadr
_eeadr0___bit equ 0

        ; line_number = 455
        ; register _eecon1 = 
_eecon1 equ 156
        ; line_number = 456
        ; bind _eepgd = _eecon1@7
_eepgd___byte equ _eecon1
_eepgd___bit equ 7
        ; line_number = 457
        ; bind _wrerr = _eecon1@3
_wrerr___byte equ _eecon1
_wrerr___bit equ 3
        ; line_number = 458
        ; bind _wren = _eecon1@2
_wren___byte equ _eecon1
_wren___bit equ 2
        ; line_number = 459
        ; bind _wr = _eecon1@1
_wr___byte equ _eecon1
_wr___bit equ 1
        ; line_number = 460
        ; bind _rd = _eecon1@0
_rd___byte equ _eecon1
_rd___bit equ 0

        ; line_number = 462
        ; register _eecon2 = 
_eecon2 equ 157

        ; line_number = 464
        ; register _adresl = 
_adresl equ 158

        ; line_number = 466
        ; register _adcon1 = 
_adcon1 equ 159
        ; line_number = 467
        ; bind _adcs2 = _adcon1@6
_adcs2___byte equ _adcon1
_adcs2___bit equ 6
        ; line_number = 468
        ; bind _adcs1 = _adcon1@5
_adcs1___byte equ _adcon1
_adcs1___bit equ 5
        ; line_number = 469
        ; bind _adcs0 = _adcon1@4
_adcs0___byte equ _adcon1
_adcs0___bit equ 4

        ; # Data Bank 2 (0x100 - 0x17f):

        ; buffer = '_robobricks_pic16f688'
        ; line_number = 6
        ; library _pic16f688 exited
        ; line_number = 7
        ; library clock8mhz entered
        ; # Copyright (c) 2004-2005 by Wayne C. Gramlich
        ; # All rights reserved.

        ; # This library defines the contstants {clock_rate}, {instruction_rate},
        ; # and {clocks_per_instruction}.

        ; # Define processor constants:
        ; buffer = 'clock8mhz'
        ; line_number = 9
        ; constant clock_rate = 8000000
clock_rate equ 8000000
        ; line_number = 10
        ; constant clocks_per_instruction = 4
clocks_per_instruction equ 4
        ; line_number = 11
        ; constant instruction_rate = clock_rate / clocks_per_instruction
instruction_rate equ 2000000


        ; buffer = '_robobricks_pic16f688'
        ; line_number = 7
        ; library clock8mhz exited

        ; # Get some EUSART constants defined:
        ; line_number = 10
        ; constant _eusart_clock = clock_rate
_eusart_clock equ 8000000
        ; line_number = 11
        ; constant _eusart_factor = 4
_eusart_factor equ 4
        ; line_number = 12
        ; library _eusart entered

        ; # Copyright (c) 2005 by Wayne C. Gramlich
        ; # All rights reserved.

        ; # This library contains a bunch of definitions for the Enhanced Universal
        ; # Asynchronous Serial Receiver/Transmitter (EUSART) that is available
        ; # on many of the PIC microcontrollers.

        ; # In order to use this module you have to get two constants defined
        ; # BEFORE including this library -- {_eusart_factor} and {_eusart_clock}.
        ; # {_eusart_clock} should be set to the frequency oscillator for the chip.
        ; # {_eusart_factor} should be set to 4, 16, or 64 depending upon whether
        ; # the {_brg16} and {_brgh} bits are set.  Use the table below to select:
        ; #
        ; #        _{brg16}	{_brgh}		_{eusart_factor}
        ; #	    0		   0		      64
        ; #	    0		   1		      16
        ; #	    1		   0		      16
        ; #	    1		   1		       

        ; # 2400 baud:
        ; buffer = '_eusart'
        ; line_number = 23
        ; constant _eusart_2400 = (_eusart_clock / (2400 * _eusart_factor)) - 1
_eusart_2400 equ 832
        ; line_number = 24
        ; constant _eusart_2400_low = _eusart_2400 & 0xff
_eusart_2400_low equ 64
        ; line_number = 25
        ; constant _eusart_2400_high = _eusart_2400 >> 8
_eusart_2400_high equ 3
        ; line_number = 26
        ; constant _eusart_2400_index = 0
_eusart_2400_index equ 0
        ; # 4800 baud:
        ; line_number = 28
        ; constant _eusart_4800 = (_eusart_clock / (4800 * _eusart_factor)) - 1
_eusart_4800 equ 415
        ; line_number = 29
        ; constant _eusart_4800_low = _eusart_4800 & 0xff
_eusart_4800_low equ 159
        ; line_number = 30
        ; constant _eusart_4800_high = _eusart_4800 >> 8
_eusart_4800_high equ 1
        ; line_number = 31
        ; constant _eusart_4800_index = 1
_eusart_4800_index equ 1
        ; # 9600 baud:
        ; line_number = 33
        ; constant _eusart_9600 = (_eusart_clock / (9600 * _eusart_factor)) - 1
_eusart_9600 equ 207
        ; line_number = 34
        ; constant _eusart_9600_low = _eusart_9600 & 0xff
_eusart_9600_low equ 207
        ; line_number = 35
        ; constant _eusart_9600_high = _eusart_9600 >> 8
_eusart_9600_high equ 0
        ; line_number = 36
        ; constant _eusart_9600_index = 2
_eusart_9600_index equ 2
        ; # 19200 baud:
        ; line_number = 38
        ; constant _eusart_19200 = (_eusart_clock / (19200 * _eusart_factor)) - 1
_eusart_19200 equ 103
        ; line_number = 39
        ; constant _eusart_19200_low = _eusart_19200 & 0xff
_eusart_19200_low equ 103
        ; line_number = 40
        ; constant _eusart_19200_high = _eusart_19200 >> 8
_eusart_19200_high equ 0
        ; line_number = 41
        ; constant _eusart_19200_index = 3
_eusart_19200_index equ 3
        ; # 38400 baud:
        ; line_number = 43
        ; constant _eusart_38400 = (_eusart_clock / (38400 * _eusart_factor)) - 1
_eusart_38400 equ 51
        ; line_number = 44
        ; constant _eusart_38400_low = _eusart_38400 & 0xff
_eusart_38400_low equ 51
        ; line_number = 45
        ; constant _eusart_38400_high = _eusart_38400 >> 8
_eusart_38400_high equ 0
        ; line_number = 46
        ; constant _eusart_38400_index = 4
_eusart_38400_index equ 4
        ; # 57600 baud:
        ; line_number = 48
        ; constant _eusart_57600 = (_eusart_clock / (57600 * _eusart_factor)) - 1
_eusart_57600 equ 33
        ; line_number = 49
        ; constant _eusart_57600_low = _eusart_57600 & 0xff
_eusart_57600_low equ 33
        ; line_number = 50
        ; constant _eusart_57600_high = _eusart_57600 >> 8
_eusart_57600_high equ 0
        ; line_number = 51
        ; constant _eusart_57600_index = 5
_eusart_57600_index equ 5
        ; # 115200 baud:
        ; line_number = 53
        ; constant _eusart_115200 = (_eusart_clock / (115200 * _eusart_factor)) - 1
_eusart_115200 equ 16
        ; line_number = 54
        ; constant _eusart_115200_low = _eusart_115200 & 0xff
_eusart_115200_low equ 16
        ; line_number = 55
        ; constant _eusart_115200_high = _eusart_115200 >> 8
_eusart_115200_high equ 0
        ; line_number = 56
        ; constant _eusart_115200_index = 6
_eusart_115200_index equ 6
        ; # 203400 baud:
        ; line_number = 58
        ; constant _eusart_203400 = (_eusart_clock / (203400 * _eusart_factor)) - 1
_eusart_203400 equ 8
        ; line_number = 59
        ; constant _eusart_203400_low = _eusart_203400 & 0xff
_eusart_203400_low equ 8
        ; line_number = 60
        ; constant _eusart_203400_high = _eusart_203400 >> 8
_eusart_203400_high equ 0
        ; line_number = 61
        ; constant _eusart_203400_index = 7
_eusart_203400_index equ 7


        ; buffer = '_robobricks_pic16f688'
        ; line_number = 12
        ; library _eusart exited

        ; line_number = 14
        ; global debug_mode bit
debug_mode___byte equ globals___0+79
debug_mode___bit equ 0
        ; line_number = 15
        ; global in_byte_get bit
in_byte_get___byte equ globals___0+79
in_byte_get___bit equ 1

        ; Delaying code generation for procedure  byte_get
        ; Delaying code generation for procedure  byte_put
        ; Delaying code generation for procedure  baud_rate_low
        ; Delaying code generation for procedure  baud_rate_high

        ; buffer = 'dualmotor1amp'
        ; line_number = 6
        ; library _robobricks_pic16f688 exited

        ; line_number = 8
        ; package pdip
        ; line_number = 9
        ; pin 1 = power_supply
        ; line_number = 10
        ;  pin 2 = ra5_in, name = debug, bit = debug_bit
debug___byte equ _porta
debug___bit equ 5
debug_bit equ 5
        ; line_number = 11
        ;  pin 3 = ra4_out, name = motor0b, mask = motor0b_mask
motor0b___byte equ _porta
motor0b___bit equ 4
motor0b_mask equ 16
        ; line_number = 12
        ;  pin 4 = ra3_nc
        ; line_number = 13
        ;  pin 5 = rx
        ; line_number = 14
        ;  pin 6 = tx
        ; line_number = 15
        ;  pin 7 = rc3_nc
        ; line_number = 16
        ;  pin 8 = rc2_out, name = led1
led1___byte equ _portc
led1___bit equ 2
        ; line_number = 17
        ;  pin 9 = rc1_out, name = led0
led0___byte equ _portc
led0___bit equ 1
        ; line_number = 18
        ;  pin 10 = rc0_out, name = enable
enable___byte equ _portc
enable___bit equ 0
        ; line_number = 19
        ;  pin 11 = ra2_out, name = motor1b, mask = motor1b_mask
motor1b___byte equ _porta
motor1b___bit equ 2
motor1b_mask equ 4
        ; line_number = 20
        ;  pin 12 = ra1_out, name = motor1a, mask = motor1a_mask
motor1a___byte equ _porta
motor1a___bit equ 1
motor1a_mask equ 2
        ; line_number = 21
        ;  pin 13 = ra0_out, name = motor0a, mask = motor0a_mask
motor0a___byte equ _porta
motor0a___bit equ 0
motor0a_mask equ 1
        ; line_number = 22
        ;  pin 14 = ground

        ; # Define duty cycle and motor on/off masks:
        ; line_number = 25
        ; global actual_speed0 byte
actual_speed0 equ globals___0+3
        ; line_number = 26
        ; global actual_speed1 byte
actual_speed1 equ globals___0+4
        ; line_number = 27
        ; global motor0_off byte
motor0_off equ globals___0+5
        ; line_number = 28
        ; global motor0_on byte
motor0_on equ globals___0+6
        ; line_number = 29
        ; global motor1_off byte
motor1_off equ globals___0+7
        ; line_number = 30
        ; global motor1_on byte
motor1_on equ globals___0+8

        ; # Ramp variables:
        ; line_number = 33
        ; global desired_speed0 byte
desired_speed0 equ globals___0+9
        ; line_number = 34
        ; global desired_speed1 byte
desired_speed1 equ globals___0+10
        ; line_number = 35
        ; global desired_direction0 bit
desired_direction0___byte equ globals___0+79
desired_direction0___bit equ 2
        ; line_number = 36
        ; global desired_direction1 bit
desired_direction1___byte equ globals___0+79
desired_direction1___bit equ 3
        ; line_number = 37
        ; global ramp0 byte
ramp0 equ globals___0+11
        ; line_number = 38
        ; global ramp1 byte
ramp1 equ globals___0+12
        ; line_number = 39
        ; global ramp0_delay byte
ramp0_delay equ globals___0+13
        ; line_number = 40
        ; global ramp1_delay byte
ramp1_delay equ globals___0+14
        ; line_number = 41
        ; global ramp0_offset byte
ramp0_offset equ globals___0+15
        ; line_number = 42
        ; global ramp1_offset byte
ramp1_offset equ globals___0+16

        ; # Fail safe variables:
        ; line_number = 45
        ; global fail_safe byte
fail_safe equ globals___0+17
        ; line_number = 46
        ; global fail_safe_errors byte
fail_safe_errors equ globals___0+18
        ; line_number = 47
        ; global fail_safe_high_counter byte
fail_safe_high_counter equ globals___0+19
        ; line_number = 48
        ; global fail_safe_low_counter byte
fail_safe_low_counter equ globals___0+20

        ; # Second command stuff for ramped direction change:
        ; line_number = 51
        ; global second_motor0_command bit
second_motor0_command___byte equ globals___0+79
second_motor0_command___bit equ 4
        ; line_number = 52
        ; global second_motor1_command bit
second_motor1_command___byte equ globals___0+79
second_motor1_command___bit equ 5
        ; line_number = 53
        ; global second_desired_speed0 byte
second_desired_speed0 equ globals___0+21
        ; line_number = 54
        ; global second_desired_speed1 byte
second_desired_speed1 equ globals___0+22
        ; line_number = 55
        ; global second_ramp0_offset byte
second_ramp0_offset equ globals___0+23
        ; line_number = 56
        ; global second_ramp1_offset byte
second_ramp1_offset equ globals___0+24
        ; line_number = 57
        ; global second_motor0_on byte
second_motor0_on equ globals___0+25
        ; line_number = 58
        ; global second_motor1_on byte
second_motor1_on equ globals___0+26
        ; line_number = 59
        ; global second_motor0_off byte
second_motor0_off equ globals___0+27
        ; line_number = 60
        ; global second_motor1_off byte
second_motor1_off equ globals___0+28

        ; line_number = 62
        ; global motor0 byte
motor0 equ globals___0+29
        ; line_number = 63
        ; global motor1 byte
motor1 equ globals___0+30

        ; # Mode (pulsed vs. continuous) bits:
        ; line_number = 66
        ; global motor0_mode bit
motor0_mode___byte equ globals___0+79
motor0_mode___bit equ 6
        ; line_number = 67
        ; global motor1_mode bit
motor1_mode___byte equ globals___0+79
motor1_mode___bit equ 7
        ; line_number = 68
        ; global motor0_direction bit
motor0_direction___byte equ globals___0+78
motor0_direction___bit equ 0
        ; line_number = 69
        ; global motor1_direction bit
motor1_direction___byte equ globals___0+78
motor1_direction___bit equ 1

        ; # Shared command registers and option:
        ; line_number = 72
        ; global glitch byte
glitch equ globals___0+31
        ; line_number = 73
        ; global id_index byte
id_index equ globals___0+32
        ; line_number = 74
        ; global spare byte
spare equ globals___0+33

        ; line_number = 76
        ; global command_previous byte
command_previous equ globals___0+34
        ; line_number = 77
        ; global command_last byte
command_last equ globals___0+35
        ; line_number = 78
        ; global sent_previous byte
sent_previous equ globals___0+36
        ; line_number = 79
        ; global sent_last byte
sent_last equ globals___0+37

        ; line_number = 81
        ; procedure main
main:
        ; Initialize some registers
        clrf    _adcon0
        bsf     __rp0___byte, __rp0___bit
        clrf    _ansel
        movlw   7
        bcf     __rp0___byte, __rp0___bit
        movwf   _cmcon0
        movlw   40
        bsf     __rp0___byte, __rp0___bit
        movwf   _trisa
        movlw   56
        movwf   _trisc
        ; arguments_none
        ; line_number = 83
        ;  returns_nothing

        ; line_number = 85
        ;  local command byte
main__command equ globals___0+38
        ; line_number = 86
        ;  local temp byte
main__temp equ globals___0+39

        ; # Switch over to 8MHz:
        ; before procedure statements delay=non-uniform, bit states=(data:00=>01 code:XX=>XX)
        ; line_number = 89
        ;  _osccon := 0x71
        movlw   113
        movwf   _osccon

        ; # Warm up the UART:
        ; line_number = 92
        ;  _txsta := 0x24
        movlw   36
        bcf     __rp0___byte, __rp0___bit
        movwf   _txsta
        ; line_number = 93
        ;  _rcsta := 0x90
        movlw   144
        movwf   _rcsta
        ; line_number = 94
        ;  _baudctl := 0x08
        movlw   8
        movwf   _baudctl
        ; line_number = 95
        ;  _spbrg := _eusart_2400_low
        movlw   64
        movwf   _spbrg
        ; line_number = 96
        ;  _spbrgh := _eusart_2400_high
        movlw   3
        movwf   _spbrgh

        ; line_number = 98
        ;  call reset()
        call    reset

        ; # Loop waiting for commands:
        ; line_number = 101
        ;  loop_forever start
main__1:
        ; # Get a command byte:
        ; line_number = 103
        ;  command := byte_get()
        call    byte_get
        movwf   main__command

        ; # Dispatch on command:
        ; line_number = 106
        ;  switch command >> 6 start
        movlw   main__97>>8
        movwf   __pclath
main__98 equ globals___0+42
        swapf   main__command,w
        movwf   main__98
        rrf     main__98,f
        rrf     main__98,w
        andlw   3
        addlw   main__97
        movwf   __pcl
        ; page_group 4
main__97:
        goto    main__93
        goto    main__94
        goto    main__95
        goto    main__96
        ; line_number = 107
        ; case 0
main__93:
        ; # Set Quick (Command = 00hh hhdm):
        ; line_number = 109
        ;  temp := ((command << 2) & 0xf0) | (command >> 2)
main__2 equ globals___0+41
main__3 equ globals___0+42
        rlf     main__command,w
        movwf   main__3
        rlf     main__3,w
        andlw   240
        movwf   main__2
main__4 equ globals___0+42
        rrf     main__command,w
        movwf   main__4
        rrf     main__4,w
        andlw   63
        iorwf   main__2,w
        movwf   main__temp
        ; line_number = 110
        ;  if command@0 start
main__select__7___byte equ main__command
main__select__7___bit equ 0
        ; # Motor :
        ; line_number = 112
        ;  desired_speed1 := temp
        movf    main__temp,w
        ; line_number = 115
        ; desired_speed0 := temp
        ; (after recombine) true_delay=non-uniform, false_delay=non-uniform
        ; CASE: true_code_size > 1 && false_code_size > 1
        ; true_code_size=4 false_code_size=4
        btfss   main__select__7___byte, main__select__7___bit
        goto    main__8
        movwf   desired_speed1
        ; line_number = 113
        ;  desired_direction1 := command@1
        bcf     desired_direction1___byte, desired_direction1___bit
main__select__6___byte equ main__command
main__select__6___bit equ 1
        ; (after recombine) true_delay=non-uniform, false_delay=non-uniform
        ; CASE: True.size=1 False.size=0
        btfsc   main__select__6___byte, main__select__6___bit
        bsf     desired_direction1___byte, desired_direction1___bit
        ; Recombine size1 = 0 || size2 = 0
        ; code.delay=4294967295 back_code.delay=4294967295
        ; <=bit_code_emit@symbol; sym=main__select__6 (data:00=>00 code:XX=>XX)
        goto    main__9
main__8:
        movwf   desired_speed0
        ; line_number = 116
        ;  desired_direction0 := command@1
        bcf     desired_direction0___byte, desired_direction0___bit
main__select__5___byte equ main__command
main__select__5___bit equ 1
        ; (after recombine) true_delay=non-uniform, false_delay=non-uniform
        ; CASE: True.size=1 False.size=0
        btfsc   main__select__5___byte, main__select__5___bit
        bsf     desired_direction0___byte, desired_direction0___bit
        ; Recombine size1 = 0 || size2 = 0
        ; code.delay=4294967295 back_code.delay=4294967295
        ; <=bit_code_emit@symbol; sym=main__select__5 (data:00=>00 code:XX=>XX)
main__9:
        ; code.delay=4294967295 back_code.delay=4294967295
        ; <=bit_code_emit@symbol; sym=main__select__7 (data:00=>00 code:XX=>XX)
        ; line_number = 110
        ;  if command@0 done
        ; line_number = 117
        ; call set_up()
        call    set_up
        goto    main__99
        ; line_number = 118
        ; case 1
main__94:
        ; # Set Low (Command = 01ll lldm):
        ; line_number = 120
        ;  temp := (command >> 2) & 0xf
main__10 equ globals___0+42
        rrf     main__command,w
        movwf   main__10
        rrf     main__10,w
        andlw   15
        movwf   main__temp
        ; line_number = 121
        ;  if command@0 start
main__select__13___byte equ main__command
main__select__13___bit equ 0
        ; # Motor 1:
        ; line_number = 123
        ;  desired_speed1 := desired_speed1 & 0xf0 | temp
        movlw   240
        ; # Motor 0:
        ; line_number = 127
        ;  desired_speed0 := desired_speed0 & 0xf0 | temp
        ; (after recombine) true_delay=non-uniform, false_delay=non-uniform
        ; CASE: true_code_size > 1 && false_code_size > 1
        ; true_code_size=6 false_code_size=6
        btfss   main__select__13___byte, main__select__13___bit
        goto    main__14
        andwf   desired_speed1,w
        iorwf   main__temp,w
        movwf   desired_speed1
        ; line_number = 124
        ;  desired_direction1 := command@1
        bcf     desired_direction1___byte, desired_direction1___bit
main__select__12___byte equ main__command
main__select__12___bit equ 1
        ; (after recombine) true_delay=non-uniform, false_delay=non-uniform
        ; CASE: True.size=1 False.size=0
        btfsc   main__select__12___byte, main__select__12___bit
        bsf     desired_direction1___byte, desired_direction1___bit
        ; Recombine size1 = 0 || size2 = 0
        ; code.delay=4294967295 back_code.delay=4294967295
        ; <=bit_code_emit@symbol; sym=main__select__12 (data:00=>00 code:XX=>XX)
        goto    main__15
main__14:
        andwf   desired_speed0,w
        iorwf   main__temp,w
        movwf   desired_speed0
        ; line_number = 128
        ;  desired_direction0 := command@1
        bcf     desired_direction0___byte, desired_direction0___bit
main__select__11___byte equ main__command
main__select__11___bit equ 1
        ; (after recombine) true_delay=non-uniform, false_delay=non-uniform
        ; CASE: True.size=1 False.size=0
        btfsc   main__select__11___byte, main__select__11___bit
        bsf     desired_direction0___byte, desired_direction0___bit
        ; Recombine size1 = 0 || size2 = 0
        ; code.delay=4294967295 back_code.delay=4294967295
        ; <=bit_code_emit@symbol; sym=main__select__11 (data:00=>00 code:XX=>XX)
main__15:
        ; code.delay=4294967295 back_code.delay=4294967295
        ; <=bit_code_emit@symbol; sym=main__select__13 (data:00=>00 code:XX=>XX)
        ; line_number = 121
        ;  if command@0 done
        ; line_number = 129
        ; call set_up()
        call    set_up
        goto    main__99
        ; line_number = 130
        ; case 2
main__95:
        ; # Command = 10xx xxxx:
        ; line_number = 132
        ;  switch (command >> 3) & 7 start
        movlw   main__75>>8
        movwf   __pclath
main__76 equ globals___0+42
        rrf     main__command,w
        movwf   main__76
        rrf     main__76,f
        rrf     main__76,w
        andlw   7
        addlw   main__75
        movwf   __pcl
        ; page_group 8
main__75:
        goto    main__68
        goto    main__69
        goto    main__70
        goto    main__71
        goto    main__72
        goto    main__73
        goto    main__74
        goto    main__74
        ; line_number = 133
        ; case 0
main__68:
        ; # Command = 1000 0xxx:
        ; line_number = 135
        ;  switch command & 7 start
        movlw   main__26>>8
        movwf   __pclath
        movlw   7
        andwf   main__command,w
        addlw   main__26
        movwf   __pcl
        ; page_group 8
main__26:
        goto    main__22
        goto    main__22
        goto    main__23
        goto    main__24
        goto    main__25
        goto    main__25
        goto    main__25
        goto    main__25
        ; line_number = 136
        ; case 0, 1
main__22:
        ; # Set Ramp (Command = 1000 000m):
        ; line_number = 138
        ;  temp := byte_get()
        call    byte_get
        movwf   main__temp
        ; line_number = 139
        ;  if command@0 start
main__select__16___byte equ main__command
main__select__16___bit equ 0
        ; line_number = 140
        ; ramp1 := temp
        movf    main__temp,w
        ; line_number = 142
        ; ramp0 := temp
        ; (after recombine) true_delay=non-uniform, false_delay=non-uniform
        ; CASE: true_size=1 && false_size=1
        ; SUBCASE: Double test; true, then false
        btfsc   main__select__16___byte, main__select__16___bit
        movwf   ramp1
        btfss   main__select__16___byte, main__select__16___bit
        movwf   ramp0
        ; code.delay=4294967295 back_code.delay=4294967295
        ; <=bit_code_emit@symbol; sym=main__select__16 (data:00=>00 code:XX=>XX)
        ; line_number = 139
        ;  if command@0 done
        ; line_number = 143
        ; call set_up()
        call    set_up
        goto    main__27
        ; line_number = 144
        ; case 2
main__23:
        ; # Set Failsafe (Command = 1000 0010):
        ; line_number = 146
        ;  fail_safe := byte_get()
        call    byte_get
        movwf   fail_safe
        ; line_number = 147
        ;  fail_safe_high_counter := fail_safe
        movf    fail_safe,w
        movwf   fail_safe_high_counter
        ; line_number = 148
        ;  fail_safe_low_counter := 0
        movlw   0
        movwf   fail_safe_low_counter
        goto    main__27
        ; line_number = 149
        ; case 3
main__24:
        ; # Reset Failsafe (Command = 1000 0011):
        ; line_number = 151
        ;  fail_safe_high_counter := fail_safe
        movf    fail_safe,w
        movwf   fail_safe_high_counter
        ; line_number = 152
        ;  fail_safe_low_counter := 0
        movlw   0
        movwf   fail_safe_low_counter
        goto    main__27
        ; line_number = 153
        ; case 4, 5, 6, 7
main__25:
        ; # Set Speed (Command = 1000 01dm):
        ; line_number = 155
        ;  temp := byte_get()
        call    byte_get
        movwf   main__temp
        ; line_number = 156
        ;  if command@0 start
main__select__19___byte equ main__command
main__select__19___bit equ 0
        ; # Motor 1:
        ; line_number = 158
        ;  desired_speed1 := temp
        movf    main__temp,w
        ; # Motor 0:
        ; line_number = 162
        ;  desired_speed0 := temp
        ; (after recombine) true_delay=non-uniform, false_delay=non-uniform
        ; CASE: true_code_size > 1 && false_code_size > 1
        ; true_code_size=4 false_code_size=4
        btfss   main__select__19___byte, main__select__19___bit
        goto    main__20
        movwf   desired_speed1
        ; line_number = 159
        ;  desired_direction1 := command@1
        bcf     desired_direction1___byte, desired_direction1___bit
main__select__18___byte equ main__command
main__select__18___bit equ 1
        ; (after recombine) true_delay=non-uniform, false_delay=non-uniform
        ; CASE: True.size=1 False.size=0
        btfsc   main__select__18___byte, main__select__18___bit
        bsf     desired_direction1___byte, desired_direction1___bit
        ; Recombine size1 = 0 || size2 = 0
        ; code.delay=4294967295 back_code.delay=4294967295
        ; <=bit_code_emit@symbol; sym=main__select__18 (data:00=>00 code:XX=>XX)
        goto    main__21
main__20:
        movwf   desired_speed0
        ; line_number = 163
        ;  desired_direction0 := command@1
        bcf     desired_direction0___byte, desired_direction0___bit
main__select__17___byte equ main__command
main__select__17___bit equ 1
        ; (after recombine) true_delay=non-uniform, false_delay=non-uniform
        ; CASE: True.size=1 False.size=0
        btfsc   main__select__17___byte, main__select__17___bit
        bsf     desired_direction0___byte, desired_direction0___bit
        ; Recombine size1 = 0 || size2 = 0
        ; code.delay=4294967295 back_code.delay=4294967295
        ; <=bit_code_emit@symbol; sym=main__select__17 (data:00=>00 code:XX=>XX)
main__21:
        ; code.delay=4294967295 back_code.delay=4294967295
        ; <=bit_code_emit@symbol; sym=main__select__19 (data:00=>00 code:XX=>XX)
        ; line_number = 156
        ;  if command@0 done
        ; line_number = 164
        ; call set_up()
        call    set_up
main__27:
        ; switch end:(data:00=>00 code:XX=>XX)
        ; line_number = 135
        ;  switch command & 7 done
        goto    main__77
        ; line_number = 165
        ; case 1
main__69:
        ; # Command = 1000 1xxx:
        ; line_number = 167
        ;  if command@2 start
main__select__38___byte equ main__command
main__select__38___bit equ 2
        ; (after recombine) true_delay=non-uniform, false_delay=non-uniform
        ; CASE: true_code_size > 1 && false_code_size > 1
        ; true_code_size=9 false_code_size=9
        btfss   main__select__38___byte, main__select__38___bit
        goto    main__39
        ; # Set direction (Command = 1000 11dm):
        ; line_number = 169
        ;  if command@0 start
main__select__35___byte equ main__command
main__select__35___bit equ 0
        ; (after recombine) true_delay=non-uniform, false_delay=non-uniform
        ; CASE: true_code_size > 1 && false_code_size > 1
        ; true_code_size=3 false_code_size=3
        btfss   main__select__35___byte, main__select__35___bit
        goto    main__36
        ; # Motor 1:
        ; line_number = 171
        ;  desired_direction1 := command@1
        bcf     desired_direction1___byte, desired_direction1___bit
main__select__34___byte equ main__command
main__select__34___bit equ 1
        ; (after recombine) true_delay=non-uniform, false_delay=non-uniform
        ; CASE: True.size=1 False.size=0
        btfsc   main__select__34___byte, main__select__34___bit
        bsf     desired_direction1___byte, desired_direction1___bit
        ; Recombine size1 = 0 || size2 = 0
        ; code.delay=4294967295 back_code.delay=4294967295
        ; <=bit_code_emit@symbol; sym=main__select__34 (data:00=>00 code:XX=>XX)
        goto    main__37
main__36:
        ; # Motor 0:
        ; line_number = 174
        ;  desired_direction0 := command@1
        bcf     desired_direction0___byte, desired_direction0___bit
main__select__33___byte equ main__command
main__select__33___bit equ 1
        ; (after recombine) true_delay=non-uniform, false_delay=non-uniform
        ; CASE: True.size=1 False.size=0
        btfsc   main__select__33___byte, main__select__33___bit
        bsf     desired_direction0___byte, desired_direction0___bit
        ; Recombine size1 = 0 || size2 = 0
        ; code.delay=4294967295 back_code.delay=4294967295
        ; <=bit_code_emit@symbol; sym=main__select__33 (data:00=>00 code:XX=>XX)
main__37:
        ; code.delay=4294967295 back_code.delay=4294967295
        ; <=bit_code_emit@symbol; sym=main__select__35 (data:00=>00 code:XX=>XX)
        ; line_number = 169
        ;  if command@0 done
        goto    main__40
main__39:
        ; # Set mode (Command = 1000 10xm):
        ; line_number = 177
        ;  if command@0 start
main__select__30___byte equ main__command
main__select__30___bit equ 0
        ; (after recombine) true_delay=non-uniform, false_delay=non-uniform
        ; CASE: true_code_size > 1 && false_code_size > 1
        ; true_code_size=3 false_code_size=3
        btfss   main__select__30___byte, main__select__30___bit
        goto    main__31
        ; # Motor 1:
        ; line_number = 179
        ;  motor1_mode := command@1
        bcf     motor1_mode___byte, motor1_mode___bit
main__select__29___byte equ main__command
main__select__29___bit equ 1
        ; (after recombine) true_delay=non-uniform, false_delay=non-uniform
        ; CASE: True.size=1 False.size=0
        btfsc   main__select__29___byte, main__select__29___bit
        bsf     motor1_mode___byte, motor1_mode___bit
        ; Recombine size1 = 0 || size2 = 0
        ; code.delay=4294967295 back_code.delay=4294967295
        ; <=bit_code_emit@symbol; sym=main__select__29 (data:00=>00 code:XX=>XX)
        goto    main__32
main__31:
        ; # Motor 0:
        ; line_number = 182
        ;  motor0_mode := command@1
        bcf     motor0_mode___byte, motor0_mode___bit
main__select__28___byte equ main__command
main__select__28___bit equ 1
        ; (after recombine) true_delay=non-uniform, false_delay=non-uniform
        ; CASE: True.size=1 False.size=0
        btfsc   main__select__28___byte, main__select__28___bit
        bsf     motor0_mode___byte, motor0_mode___bit
        ; Recombine size1 = 0 || size2 = 0
        ; code.delay=4294967295 back_code.delay=4294967295
        ; <=bit_code_emit@symbol; sym=main__select__28 (data:00=>00 code:XX=>XX)
main__32:
        ; code.delay=4294967295 back_code.delay=4294967295
        ; <=bit_code_emit@symbol; sym=main__select__30 (data:00=>00 code:XX=>XX)
        ; line_number = 177
        ;  if command@0 done
main__40:
        ; code.delay=4294967295 back_code.delay=4294967295
        ; <=bit_code_emit@symbol; sym=main__select__38 (data:00=>00 code:XX=>XX)
        ; line_number = 167
        ;  if command@2 done
        ; line_number = 183
        ; call set_up()
        call    set_up
        goto    main__77
        ; line_number = 184
        ; case 2
main__70:
        ; # Set Prescaler (Command = 1001 0ppp):
        ; line_number = 186
        ;  _option_reg := command & 7
        movlw   7
        andwf   main__command,w
        bsf     __rp0___byte, __rp0___bit
        movwf   _option_reg
        ; line_number = 187
        ;  _rapu := 1
        bsf     _rapu___byte, _rapu___bit
        goto    main__77
        ; line_number = 188
        ; case 3
main__71:
        ; # Command = 1001 1xxx:
        ; line_number = 190
        ;  switch command & 7 start
        movlw   main__55>>8
        movwf   __pclath
        movlw   7
        andwf   main__command,w
        addlw   main__55
        movwf   __pcl
        ; page_group 8
main__55:
        goto    main__50
        goto    main__51
        goto    main__52
        goto    main__52
        goto    main__53
        goto    main__53
        goto    main__54
        goto    main__54
        ; line_number = 191
        ; case 0
main__50:
        ; # Read Failsafe (Command = 1001 1000):
        ; line_number = 193
        ;  call byte_put(fail_safe)
        movf    fail_safe,w
        call    byte_put
        goto    main__56
        ; line_number = 194
        ; case 1
main__51:
        ; This case body wants this bit set
        bsf     __rp0___byte, __rp0___bit
        ; # Read Prescaler (Command = 1001 1001):
        ; line_number = 196
        ;  call byte_put(_option_reg & 7)
        movlw   7
        andwf   _option_reg,w
        bcf     __rp0___byte, __rp0___bit
        call    byte_put
        goto    main__56
        ; line_number = 197
        ; case 2, 3
main__52:
        ; # Read Speed (Command = 1001 101m):
        ; line_number = 199
        ;  if command@0 start
main__select__41___byte equ main__command
main__select__41___bit equ 0
        ; (after recombine) true_delay=non-uniform, false_delay=non-uniform
        ; CASE: true_size=1 && false_size=1
        ; SUBCASE: Double test; true, then false
        btfsc   main__select__41___byte, main__select__41___bit
        ; line_number = 200
        ; call byte_put(actual_speed1)
        movf    actual_speed1,w
        btfss   main__select__41___byte, main__select__41___bit
        ; line_number = 202
        ; call byte_put(actual_speed0)
        movf    actual_speed0,w
        ; code.delay=4294967295 back_code.delay=4294967295
        call    byte_put
        ; <=bit_code_emit@symbol; sym=main__select__41 (data:00=>00 code:XX=>XX)
        ; line_number = 199
        ;  if command@0 done
        goto    main__56
        ; line_number = 203
        ; case 4, 5
main__53:
        ; # Read Mode/Direction (Command = 1001 110m):
        ; line_number = 205
        ;  temp := 0
        movlw   0
        movwf   main__temp
        ; line_number = 206
        ;  if command@0 start
main__select__46___byte equ main__command
main__select__46___bit equ 0
        ; (after recombine) true_delay=non-uniform, false_delay=non-uniform
        ; CASE: true_code_size > 1 && false_code_size > 1
        ; true_code_size=4 false_code_size=4
        btfss   main__select__46___byte, main__select__46___bit
        goto    main__47
        ; # Motor 1:
        ; line_number = 208
        ;  if motor1_direction start
        ; (after recombine) true_delay=non-uniform, false_delay=non-uniform
        ; CASE: True.size=1 False.size=0
        btfsc   motor1_direction___byte, motor1_direction___bit
        ; line_number = 209
        ; temp@1 := 1
main__select__44___byte equ main__temp
main__select__44___bit equ 1
        bsf     main__select__44___byte, main__select__44___bit
        ; Recombine size1 = 0 || size2 = 0
        ; code.delay=4294967295 back_code.delay=4294967295
        ; <=bit_code_emit@symbol; sym=motor1_direction (data:00=>00 code:XX=>XX)
        ; line_number = 208
        ;  if motor1_direction done
        ; line_number = 210
        ; if motor1_mode start
        ; (after recombine) true_delay=non-uniform, false_delay=non-uniform
        ; CASE: True.size=1 False.size=0
        btfsc   motor1_mode___byte, motor1_mode___bit
        ; line_number = 211
        ; temp@0 := 1
main__select__45___byte equ main__temp
main__select__45___bit equ 0
        bsf     main__select__45___byte, main__select__45___bit
        ; Recombine size1 = 0 || size2 = 0
        ; code.delay=4294967295 back_code.delay=4294967295
        ; <=bit_code_emit@symbol; sym=motor1_mode (data:00=>00 code:XX=>XX)
        ; line_number = 210
        ; if motor1_mode done
        goto    main__48
main__47:
        ; # Motor 0:
        ; line_number = 214
        ;  if motor0_direction start
        ; (after recombine) true_delay=non-uniform, false_delay=non-uniform
        ; CASE: True.size=1 False.size=0
        btfsc   motor0_direction___byte, motor0_direction___bit
        ; line_number = 215
        ; temp@1 := 1
main__select__42___byte equ main__temp
main__select__42___bit equ 1
        bsf     main__select__42___byte, main__select__42___bit
        ; Recombine size1 = 0 || size2 = 0
        ; code.delay=4294967295 back_code.delay=4294967295
        ; <=bit_code_emit@symbol; sym=motor0_direction (data:00=>00 code:XX=>XX)
        ; line_number = 214
        ;  if motor0_direction done
        ; line_number = 216
        ; if motor0_mode start
        ; (after recombine) true_delay=non-uniform, false_delay=non-uniform
        ; CASE: True.size=1 False.size=0
        btfsc   motor0_mode___byte, motor0_mode___bit
        ; line_number = 217
        ; temp@0 := 1
main__select__43___byte equ main__temp
main__select__43___bit equ 0
        bsf     main__select__43___byte, main__select__43___bit
        ; Recombine size1 = 0 || size2 = 0
        ; code.delay=4294967295 back_code.delay=4294967295
        ; <=bit_code_emit@symbol; sym=motor0_mode (data:00=>00 code:XX=>XX)
        ; line_number = 216
        ; if motor0_mode done
main__48:
        ; code.delay=4294967295 back_code.delay=4294967295
        ; <=bit_code_emit@symbol; sym=main__select__46 (data:00=>00 code:XX=>XX)
        ; line_number = 206
        ;  if command@0 done
        ; line_number = 218
        ; call byte_put(temp)
        movf    main__temp,w
        call    byte_put
        goto    main__56
        ; line_number = 219
        ; case 6, 7
main__54:
        ; # Read Ramp (Command = 1001 101m):
        ; line_number = 221
        ;  if command@0 start
main__select__49___byte equ main__command
main__select__49___bit equ 0
        ; (after recombine) true_delay=non-uniform, false_delay=non-uniform
        ; CASE: true_size=1 && false_size=1
        ; SUBCASE: Double test; true, then false
        btfsc   main__select__49___byte, main__select__49___bit
        ; line_number = 222
        ; temp := ramp1
        movf    ramp1,w
        btfss   main__select__49___byte, main__select__49___bit
        ; line_number = 224
        ; temp := ramp0
        movf    ramp0,w
        ; code.delay=4294967295 back_code.delay=4294967295
        movwf   main__temp
        ; <=bit_code_emit@symbol; sym=main__select__49 (data:00=>00 code:XX=>XX)
        ; line_number = 221
        ;  if command@0 done
        ; line_number = 225
        ; call byte_put(temp)
        movf    main__temp,w
        call    byte_put
main__56:
        ; switch end:(data:00=>00 code:XX=>XX)
        ; line_number = 190
        ;  switch command & 7 done
        goto    main__77
        ; line_number = 226
        ; case 4
main__72:
        ; # Command = 0110 0xxx:
        ; line_number = 228
        ;  switch command & 7 start
        movlw   main__65>>8
        movwf   __pclath
        movlw   7
        andwf   main__command,w
        addlw   main__65
        movwf   __pcl
        ; page_group 8
main__65:
        goto    main__57
        goto    main__58
        goto    main__59
        goto    main__60
        goto    main__61
        goto    main__62
        goto    main__63
        goto    main__64
        ; line_number = 229
        ; case 0
main__57:
        ; # Read Failsafe Errors (Command = 1010 0000):
        ; line_number = 231
        ;  call byte_put(fail_safe_errors)
        movf    fail_safe_errors,w
        call    byte_put
        ; line_number = 232
        ;  fail_safe_errors := 0
        movlw   0
        movwf   fail_safe_errors
        goto    main__66
        ; line_number = 233
        ; case 1
main__58:
        ; # Read Failsafe Counter (Command = 1010 0001):
        ; line_number = 235
        ;  call byte_put(fail_safe_high_counter)
        movf    fail_safe_high_counter,w
        call    byte_put
        goto    main__66
        ; line_number = 236
        ; case 2
main__59:
        ; # Read Actual Speed 0(Command = 1010 0010):
        ; line_number = 238
        ;  call byte_put(actual_speed0)
        movf    actual_speed0,w
        call    byte_put
        goto    main__66
        ; line_number = 239
        ; case 3
main__60:
        ; # Read Actual Speed 1 (Command = 1010 0011):
        ; line_number = 241
        ;  call byte_put(actual_speed1)
        movf    actual_speed1,w
        call    byte_put
        goto    main__66
        ; line_number = 242
        ; case 4
main__61:
        ; # Set Motors 0 and 1 off (Command = 1010 0100):
        ; line_number = 244
        ;  enable := 0
        bcf     enable___byte, enable___bit
        goto    main__66
        ; line_number = 245
        ; case 5
main__62:
        ; # Set Motor 0 and 1 on (Command = 1010 0101):
        ; line_number = 247
        ;  enable := 1
        bsf     enable___byte, enable___bit
        goto    main__66
        ; line_number = 248
        ; case 6
main__63:
        ; # Set Motors 0 and 1 off (Command = 1010 0110):
        ; line_number = 250
        ;  enable := 0
        bcf     enable___byte, enable___bit
        goto    main__66
        ; line_number = 251
        ; case 7
main__64:
        ; # Set Motors 0 and 1 on (Command = 1010 0111):
        ; line_number = 253
        ;  enable := 1
        bsf     enable___byte, enable___bit
main__66:
        ; switch end:(data:00=>00 code:XX=>XX)
        ; line_number = 228
        ;  switch command & 7 done
        goto    main__77
        ; line_number = 254
        ; case 5
main__73:
        ; line_number = 255
        ; if command & 3 = 0 start
        ; Left minus Right
        movlw   3
        andwf   main__command,w
        ; (after recombine) true_delay=non-uniform, false_delay=non-uniform
        ; CASE: true_code.size = 0 && false_code.size > 1
        ; bit_code_emit_helper1: body_code.size=3 true_test=true body_code.delay=0 (non-uniform delay)
        btfss   __z___byte, __z___bit
        goto    main__67
        ; # FIXME: Code generator chokes on single call instruction
        ; # in the then clause.  Add 'ramp0 := 0' to work around!!!
        ; line_number = 258
        ;  ramp0 := 0
        movlw   0
        movwf   ramp0
        ; line_number = 259
        ;  call reset()
        call    reset
        ; Recombine size1 = 0 || size2 = 0
main__67:
        ; code.delay=4294967295 back_code.delay=4294967295
        ; <=bit_code_emit@symbol; sym=__z (data:00=>00 code:XX=>XX)
        ; line_number = 255
        ; if command & 3 = 0 done
        goto    main__77
        ; line_number = 260
        ; case 6, 7
main__74:
        ; line_number = 261
        ; do_nothing
main__77:
        ; switch end:(data:00=>?? code:XX=>XX)
        ; line_number = 132
        ;  switch (command >> 3) & 7 done
        goto    main__99
        ; line_number = 262
        ; case 3
main__96:
        ; # Command = 11xx xxxx:
        ; line_number = 264
        ;  switch (command >> 3) & 7 start
        movlw   main__90>>8
        movwf   __pclath
main__91 equ globals___0+42
        rrf     main__command,w
        movwf   main__91
        rrf     main__91,f
        rrf     main__91,w
        andlw   7
        addlw   main__90
        movwf   __pcl
        ; page_group 8
main__90:
        goto    main__92
        goto    main__92
        goto    main__92
        goto    main__92
        goto    main__92
        goto    main__92
        goto    main__92
        goto    main__89
        ; line_number = 265
        ; case 7
main__89:
        ; # Shared commands (Command = 1111 1ccc):
        ; line_number = 267
        ;  switch command & 7 start
        movlw   main__87>>8
        movwf   __pclath
        movlw   7
        andwf   main__command,w
        addlw   main__87
        movwf   __pcl
        ; page_group 8
main__87:
        goto    main__79
        goto    main__80
        goto    main__81
        goto    main__82
        goto    main__83
        goto    main__84
        goto    main__85
        goto    main__86
        ; line_number = 268
        ; case 0
main__79:
        ; This case body wants this bit set
        bsf     __rp0___byte, __rp0___bit
        ; # Clock Decrement (Command = 1111 1000):
        ; line_number = 270
        ;  _osctune := _osctune - _osccal_lsb
        decf    _osctune,f
        goto    main__88
        ; line_number = 271
        ; case 1
main__80:
        ; This case body wants this bit set
        bsf     __rp0___byte, __rp0___bit
        ; # Clock Increment (Command = 1111 1001):
        ; line_number = 273
        ;  _osctune := _osctune + _osccal_lsb
        incf    _osctune,f
        goto    main__88
        ; line_number = 274
        ; case 2
main__81:
        ; This case body wants this bit set
        bsf     __rp0___byte, __rp0___bit
        ; # Clock Read (Command = 1111 1010):
        ; line_number = 276
        ;  call byte_put(_osctune)
        movf    _osctune,w
        bcf     __rp0___byte, __rp0___bit
        call    byte_put
        goto    main__88
        ; line_number = 277
        ; case 3
main__82:
        ; # Clock Pulse (Command = 1111 1011):
        ; line_number = 279
        ;  call byte_put(0)
        movlw   0
        call    byte_put
        goto    main__88
        ; line_number = 280
        ; case 4
main__83:
        ; # ID Next (Command = 1111 1100):
        ; line_number = 282
        ;  temp := 0
        movlw   0
        movwf   main__temp
        ; line_number = 283
        ;  if id_index < id.size start
        movlw   46
        subwf   id_index,w
        ; (after recombine) true_delay=non-uniform, false_delay=non-uniform
        ; CASE: true.size=0 && false.size>1
        ; bit_code_emit_helper1: body_code.size=4 true_test=false body_code.delay=0 (non-uniform delay)
        btfsc   __c___byte, __c___bit
        goto    main__78
        ; line_number = 284
        ; temp := id[id_index]
        movf    id_index,w
        call    id
        movwf   main__temp
        ; line_number = 285
        ;  id_index := id_index + 1
        incf    id_index,f
main__78:
        ; Recombine size1 = 0 || size2 = 0
        ; code.delay=4294967295 back_code.delay=4294967295
        ; <=bit_code_emit@symbol; sym=__c (data:00=>00 code:XX=>XX)
        ; line_number = 283
        ;  if id_index < id.size done
        ; line_number = 286
        ; call byte_put(temp)
        movf    main__temp,w
        call    byte_put
        goto    main__88
        ; line_number = 287
        ; case 5
main__84:
        ; # ID Reset (Command = 1111 1101):
        ; line_number = 289
        ;  id_index := 0
        movlw   0
        movwf   id_index
        goto    main__88
        ; line_number = 290
        ; case 6
main__85:
        ; # Glitch Read (Command = 1111 1110):
        ; line_number = 292
        ;  call byte_put(glitch)
        movf    glitch,w
        call    byte_put
        ; line_number = 293
        ;  glitch := 0
        movlw   0
        movwf   glitch
        goto    main__88
        ; line_number = 294
        ; case 7
main__86:
        ; # Glitch (Command = 1111 1111):
        ; line_number = 296
        ;  if glitch != 0xff start
        ; Left minus Right
        incf    glitch,w
        ; (after recombine) true_delay=non-uniform, false_delay=non-uniform
        ; CASE: true_code.size=0 && false_code.size=1
        btfss   __z___byte, __z___bit
        ; line_number = 297
        ; glitch := glitch + 1
        incf    glitch,f


        ; Recombine size1 = 0 || size2 = 0
        ; code.delay=4294967295 back_code.delay=4294967295
        ; <=bit_code_emit@symbol; sym=__z (data:00=>00 code:XX=>XX)
        ; line_number = 296
        ;  if glitch != 0xff done
main__88:
        ; switch end:(data:00=>0? code:XX=>XX)
        ; line_number = 267
        ;  switch command & 7 done
main__92:
        ; switch end:(data:00=>0? code:XX=>XX)
        ; line_number = 264
        ;  switch (command >> 3) & 7 done
main__99:
        ; switch end:(data:00=>?? code:XX=>XX)
        ; line_number = 106
        ;  switch command >> 6 done
        ; line_number = 101
        ;  loop_forever wrap-up
        ; Need to adjust code banks to match front of loop
        bcf     __rp0___byte, __rp0___bit
        bcf     __rp1___byte, __rp1___bit
        goto    main__1
        ; line_number = 101
        ;  loop_forever done
        ; delay after procedure statements=non-uniform




        ; line_number = 300
        ; procedure set_up
set_up:
        ; arguments_none
        ; line_number = 302
        ;  returns_nothing

        ; # This procedure will arrange for the speed and direction of
        ; # each motor to be set to desired_speed0/1 and desired_direction0/1.
        ; # If ramp0/1 is 0, the speed and direction is changed immediately.
        ; # If ramp0/1 is non-zero, the speed is changed gradually.

        ; line_number = 309
        ;  local temporary byte
set_up__temporary equ globals___0+40

        ; # Reset failsafe:
        ; before procedure statements delay=non-uniform, bit states=(data:00=>00 code:XX=>XX)
        ; line_number = 312
        ;  fail_safe_low_counter := 0
        movlw   0
        movwf   fail_safe_low_counter
        ; line_number = 313
        ;  fail_safe_high_counter := fail_safe
        movf    fail_safe,w
        movwf   fail_safe_high_counter

        ; # Mode Dir  On   Off
        ; # ==================
        ; #  0    0    A    0
        ; #  0    1    B    0
        ; #  1    0    A    B
        ; #  1    1    B    A

        ; # Motor 0:

        ; # Figure out all the ramping stuff:
        ; line_number = 325
        ;  if ramp0 = 0 start
        ; Left minus Right
        movf    ramp0,w
        ; (after recombine) true_delay=non-uniform, false_delay=non-uniform
        ; CASE: true_code_size > 1 && false_code_size > 1
        ; true_code_size=8 false_code_size=24
        btfss   __z___byte, __z___bit
        goto    set_up__6
        ; # No ramping:
        ; line_number = 327
        ;  actual_speed0 := desired_speed0
        movf    desired_speed0,w
        movwf   actual_speed0
        ; line_number = 328
        ;  motor0_direction := desired_direction0
        bcf     motor0_direction___byte, motor0_direction___bit
        ; (after recombine) true_delay=non-uniform, false_delay=non-uniform
        ; CASE: True.size=1 False.size=0
        btfsc   desired_direction0___byte, desired_direction0___bit
        bsf     motor0_direction___byte, motor0_direction___bit
        ; Recombine size1 = 0 || size2 = 0
        ; code.delay=4294967295 back_code.delay=4294967295
        ; <=bit_code_emit@symbol; sym=desired_direction0 (data:00=>00 code:XX=>XX)
        ; line_number = 329
        ;  ramp0_delay := 0
        movlw   0
        movwf   ramp0_delay
        ; line_number = 330
        ;  ramp0_offset := 0
        movlw   0
        goto    set_up__7
set_up__6:
        ; # We are ramping:

        ; # Figure out if we are changing direction:
        ; line_number = 335
        ;  temporary := 0
        movlw   0
        movwf   set_up__temporary
        ; line_number = 336
        ;  if motor0_direction start
        ; (after recombine) true_delay=non-uniform, false_delay=non-uniform
        ; CASE: True.size=1 False.size=0
        btfsc   motor0_direction___byte, motor0_direction___bit
        ; line_number = 337
        ; temporary@0 := 1
set_up__select__1___byte equ set_up__temporary
set_up__select__1___bit equ 0
        bsf     set_up__select__1___byte, set_up__select__1___bit
        ; Recombine size1 = 0 || size2 = 0
        ; code.delay=4294967295 back_code.delay=4294967295
        ; <=bit_code_emit@symbol; sym=motor0_direction (data:00=>00 code:XX=>XX)
        ; line_number = 336
        ;  if motor0_direction done
        ; line_number = 338
        ; if desired_direction0 start
        ; (after recombine) true_delay=non-uniform, false_delay=non-uniform
        ; CASE: true_code.size = 0 && false_code.size > 1
        ; bit_code_emit_helper1: body_code.size=2 true_test=true body_code.delay=0 (non-uniform delay)
        btfss   desired_direction0___byte, desired_direction0___bit
        goto    set_up__2
        ; line_number = 339
        ; temporary := temporary ^ 1
        movlw   1
        xorwf   set_up__temporary,f

        ; Recombine size1 = 0 || size2 = 0
set_up__2:
        ; code.delay=4294967295 back_code.delay=4294967295
        ; <=bit_code_emit@symbol; sym=desired_direction0 (data:00=>00 code:XX=>XX)
        ; line_number = 338
        ; if desired_direction0 done
        ; line_number = 341
        ; if temporary@0 start
set_up__select__3___byte equ set_up__temporary
set_up__select__3___bit equ 0
        ; (after recombine) true_delay=non-uniform, false_delay=non-uniform
        ; CASE: true_code_size > 1 && false_code_size > 1
        ; true_code_size=7 false_code_size=5
        btfss   set_up__select__3___byte, set_up__select__3___bit
        goto    set_up__4
        ; # We are changing direction:
        ; line_number = 343
        ;  second_ramp0_offset := 1
        movlw   1
        movwf   second_ramp0_offset
        ; line_number = 344
        ;  second_desired_speed0 := desired_speed0
        movf    desired_speed0,w
        movwf   second_desired_speed0
        ; line_number = 345
        ;  second_motor0_command := 1
        bsf     second_motor0_command___byte, second_motor0_command___bit
        ; line_number = 346
        ;  desired_speed0 := 0
        movlw   0
        movwf   desired_speed0
        ; line_number = 347
        ;  ramp0_offset := 0xff
        goto    set_up__5
set_up__4:
        ; # Direction remains unchanged
        ; line_number = 350
        ;  if desired_speed0 < actual_speed0 start
        movf    actual_speed0,w
        subwf   desired_speed0,w
        ; (after recombine) true_delay=non-uniform, false_delay=non-uniform
        ; CASE: true_size=1 && false_size=1
        ; SUBCASE: Double test; true, then false
        btfsc   __c___byte, __c___bit
        ; line_number = 353
        ; ramp0_offset := 1
        movlw   1
        btfss   __c___byte, __c___bit
        ; line_number = 351
        ; ramp0_offset := 0xff
set_up__5:
        ; code.delay=4294967295 back_code.delay=4294967295
        movlw   255
set_up__7:
        ; code.delay=4294967295 back_code.delay=4294967295
        movwf   ramp0_offset
        ; code.delay=4294967295 back_code.delay=4294967295

        ; <=bit_code_emit@symbol; sym=__c (data:00=>00 code:XX=>XX)
        ; line_number = 350
        ;  if desired_speed0 < actual_speed0 done
        ; <=bit_code_emit@symbol; sym=set_up__select__3 (data:00=>00 code:XX=>XX)
        ; line_number = 341
        ; if temporary@0 done
        ; <=bit_code_emit@symbol; sym=__z (data:00=>00 code:XX=>XX)
        ; line_number = 325
        ;  if ramp0 = 0 done
        ; # Figure out all the direction stuff:
        ; line_number = 356
        ;  motor0_off := 0
        movlw   0
        movwf   motor0_off
        ; line_number = 357
        ;  second_motor0_off := 0
        movlw   0
        movwf   second_motor0_off
        ; line_number = 358
        ;  if motor0_direction start
        ; # Direction = 1 (Backward):
        ; line_number = 360
        ;  if motor0_mode start
        ; (after recombine) true_delay=non-uniform, false_delay=non-uniform
        ; CASE: true_code.size = 0 && false_code.size > 1
        ; bit_code_emit_helper1: body_code.size=4 true_test=true body_code.delay=0 (non-uniform delay)
        btfss   motor0_mode___byte, motor0_mode___bit
        ; # Direction = 0 (Forward):
        ; line_number = 368
        ;  if motor0_mode start
        ; (after recombine) true_delay=non-uniform, false_delay=non-uniform
        ; CASE: true_code.size = 0 && false_code.size > 1
        ; bit_code_emit_helper1: body_code.size=4 true_test=true body_code.delay=0 (non-uniform delay)
        ; (after recombine) true_delay=non-uniform, false_delay=non-uniform
        ; CASE: true_code_size > 1 && false_code_size > 1
        ; true_code_size=8 false_code_size=8
        btfss   motor0_direction___byte, motor0_direction___bit
        goto    set_up__10
        goto    set_up__9
        ; # Mode = 1 (Continuous):
        ; line_number = 362
        ;  motor0_off := motor0a_mask
        movlw   1
        movwf   motor0_off
        ; line_number = 363
        ;  second_motor0_off := motor0b_mask
        movlw   16
        movwf   second_motor0_off
        ; Recombine size1 = 0 || size2 = 0
set_up__9:
        ; code.delay=4294967295 back_code.delay=4294967295
        ; <=bit_code_emit@symbol; sym=motor0_mode (data:00=>00 code:XX=>XX)
        ; line_number = 360
        ;  if motor0_mode done
        ; line_number = 364
        ; motor0_on := motor0b_mask
        movlw   16
        movwf   motor0_on
        ; line_number = 365
        ;  second_motor0_on := motor0a_mask
        movlw   1
        goto    set_up__11
set_up__10:
        goto    set_up__8
        ; # Mode = 1 (Continuous):
        ; line_number = 370
        ;  motor0_off := motor0b_mask
        movlw   16
        movwf   motor0_off
        ; line_number = 371
        ;  second_motor0_off := motor0a_mask
        movlw   1
        movwf   second_motor0_off
        ; Recombine size1 = 0 || size2 = 0
set_up__8:
        ; code.delay=4294967295 back_code.delay=4294967295
        ; <=bit_code_emit@symbol; sym=motor0_mode (data:00=>00 code:XX=>XX)
        ; line_number = 368
        ;  if motor0_mode done
        ; line_number = 372
        ; motor0_on := motor0a_mask
        movlw   1
        movwf   motor0_on
        ; line_number = 373
        ;  second_motor0_on := motor0b_mask
        movlw   16
set_up__11:
        ; code.delay=4294967295 back_code.delay=4294967295
        movwf   second_motor0_on

        ; <=bit_code_emit@symbol; sym=motor0_direction (data:00=>00 code:XX=>XX)
        ; line_number = 358
        ;  if motor0_direction done
        ; # Motor 1:
        ; line_number = 376
        ;  if ramp1 = 0 start
        ; Left minus Right
        movf    ramp1,w
        ; (after recombine) true_delay=non-uniform, false_delay=non-uniform
        ; CASE: true_code_size > 1 && false_code_size > 1
        ; true_code_size=8 false_code_size=24
        btfss   __z___byte, __z___bit
        goto    set_up__17
        ; # No ramping:
        ; line_number = 378
        ;  actual_speed1 := desired_speed1
        movf    desired_speed1,w
        movwf   actual_speed1
        ; line_number = 379
        ;  motor1_direction := desired_direction1
        bcf     motor1_direction___byte, motor1_direction___bit
        ; (after recombine) true_delay=non-uniform, false_delay=non-uniform
        ; CASE: True.size=1 False.size=0
        btfsc   desired_direction1___byte, desired_direction1___bit
        bsf     motor1_direction___byte, motor1_direction___bit
        ; Recombine size1 = 0 || size2 = 0
        ; code.delay=4294967295 back_code.delay=4294967295
        ; <=bit_code_emit@symbol; sym=desired_direction1 (data:00=>00 code:XX=>XX)
        ; line_number = 380
        ;  ramp1_delay := 0
        movlw   0
        movwf   ramp1_delay
        ; line_number = 381
        ;  ramp1_offset := 0
        movlw   0
        goto    set_up__18
set_up__17:
        ; # We are ramping:

        ; # Figure out if we are changing direction:
        ; line_number = 386
        ;  temporary := 0
        movlw   0
        movwf   set_up__temporary
        ; line_number = 387
        ;  if motor1_direction start
        ; (after recombine) true_delay=non-uniform, false_delay=non-uniform
        ; CASE: True.size=1 False.size=0
        btfsc   motor1_direction___byte, motor1_direction___bit
        ; line_number = 388
        ; temporary@0 := 1
set_up__select__12___byte equ set_up__temporary
set_up__select__12___bit equ 0
        bsf     set_up__select__12___byte, set_up__select__12___bit
        ; Recombine size1 = 0 || size2 = 0
        ; code.delay=4294967295 back_code.delay=4294967295
        ; <=bit_code_emit@symbol; sym=motor1_direction (data:00=>00 code:XX=>XX)
        ; line_number = 387
        ;  if motor1_direction done
        ; line_number = 389
        ; if desired_direction1 start
        ; (after recombine) true_delay=non-uniform, false_delay=non-uniform
        ; CASE: true_code.size = 0 && false_code.size > 1
        ; bit_code_emit_helper1: body_code.size=2 true_test=true body_code.delay=0 (non-uniform delay)
        btfss   desired_direction1___byte, desired_direction1___bit
        goto    set_up__13
        ; line_number = 390
        ; temporary := temporary ^ 1
        movlw   1
        xorwf   set_up__temporary,f

        ; Recombine size1 = 0 || size2 = 0
set_up__13:
        ; code.delay=4294967295 back_code.delay=4294967295
        ; <=bit_code_emit@symbol; sym=desired_direction1 (data:00=>00 code:XX=>XX)
        ; line_number = 389
        ; if desired_direction1 done
        ; line_number = 392
        ; if temporary@0 start
set_up__select__14___byte equ set_up__temporary
set_up__select__14___bit equ 0
        ; (after recombine) true_delay=non-uniform, false_delay=non-uniform
        ; CASE: true_code_size > 1 && false_code_size > 1
        ; true_code_size=7 false_code_size=5
        btfss   set_up__select__14___byte, set_up__select__14___bit
        goto    set_up__15
        ; # We are changing direction:
        ; line_number = 394
        ;  second_ramp1_offset := 1
        movlw   1
        movwf   second_ramp1_offset
        ; line_number = 395
        ;  second_desired_speed1 := desired_speed1
        movf    desired_speed1,w
        movwf   second_desired_speed1
        ; line_number = 396
        ;  second_motor1_command := 1
        bsf     second_motor1_command___byte, second_motor1_command___bit
        ; line_number = 397
        ;  desired_speed1 := 0
        movlw   0
        movwf   desired_speed1
        ; line_number = 398
        ;  ramp1_offset := 0xff
        goto    set_up__16
set_up__15:
        ; # We are not changing direction:
        ; line_number = 401
        ;  if desired_speed1 < actual_speed1 start
        movf    actual_speed1,w
        subwf   desired_speed1,w
        ; (after recombine) true_delay=non-uniform, false_delay=non-uniform
        ; CASE: true_size=1 && false_size=1
        ; SUBCASE: Double test; true, then false
        btfsc   __c___byte, __c___bit
        ; line_number = 404
        ; ramp1_offset := 1
        movlw   1
        btfss   __c___byte, __c___bit
        ; line_number = 402
        ; ramp1_offset := 0xff
set_up__16:
        ; code.delay=4294967295 back_code.delay=4294967295
        movlw   255
set_up__18:
        ; code.delay=4294967295 back_code.delay=4294967295
        movwf   ramp1_offset
        ; code.delay=4294967295 back_code.delay=4294967295

        ; <=bit_code_emit@symbol; sym=__c (data:00=>00 code:XX=>XX)
        ; line_number = 401
        ;  if desired_speed1 < actual_speed1 done
        ; <=bit_code_emit@symbol; sym=set_up__select__14 (data:00=>00 code:XX=>XX)
        ; line_number = 392
        ; if temporary@0 done
        ; <=bit_code_emit@symbol; sym=__z (data:00=>00 code:XX=>XX)
        ; line_number = 376
        ;  if ramp1 = 0 done
        ; line_number = 406
        ; motor1_off := 0
        movlw   0
        movwf   motor1_off
        ; line_number = 407
        ;  second_motor1_off := 0
        movlw   0
        movwf   second_motor1_off
        ; line_number = 408
        ;  if motor1_direction start
        ; # Direction = 1 (Backward):
        ; line_number = 410
        ;  if motor1_mode start
        ; (after recombine) true_delay=non-uniform, false_delay=non-uniform
        ; CASE: true_code.size = 0 && false_code.size > 1
        ; bit_code_emit_helper1: body_code.size=4 true_test=true body_code.delay=0 (non-uniform delay)
        btfss   motor1_mode___byte, motor1_mode___bit
        ; # Direction = 0 (Forward):
        ; line_number = 418
        ;  if motor1_mode start
        ; (after recombine) true_delay=non-uniform, false_delay=non-uniform
        ; CASE: true_code.size = 0 && false_code.size > 1
        ; bit_code_emit_helper1: body_code.size=4 true_test=true body_code.delay=0 (non-uniform delay)
        ; (after recombine) true_delay=non-uniform, false_delay=non-uniform
        ; CASE: true_code_size > 1 && false_code_size > 1
        ; true_code_size=8 false_code_size=8
        btfss   motor1_direction___byte, motor1_direction___bit
        goto    set_up__21
        goto    set_up__20
        ; # Mode = 1 (Continuous):
        ; line_number = 412
        ;  motor1_off := motor1a_mask
        movlw   2
        movwf   motor1_off
        ; line_number = 413
        ;  second_motor1_off := motor1b_mask
        movlw   4
        movwf   second_motor1_off
        ; Recombine size1 = 0 || size2 = 0
set_up__20:
        ; code.delay=4294967295 back_code.delay=4294967295
        ; <=bit_code_emit@symbol; sym=motor1_mode (data:00=>00 code:XX=>XX)
        ; line_number = 410
        ;  if motor1_mode done
        ; line_number = 414
        ; motor1_on := motor1b_mask
        movlw   4
        movwf   motor1_on
        ; line_number = 415
        ;  second_motor1_on := motor1a_mask
        movlw   2
        goto    set_up__22
set_up__21:
        goto    set_up__19
        ; # Mode = 1 (Continuous):
        ; line_number = 420
        ;  motor1_off := motor1b_mask
        movlw   4
        movwf   motor1_off
        ; line_number = 421
        ;  second_motor1_off := motor1a_mask
        movlw   2
        movwf   second_motor1_off
        ; Recombine size1 = 0 || size2 = 0
set_up__19:
        ; code.delay=4294967295 back_code.delay=4294967295
        ; <=bit_code_emit@symbol; sym=motor1_mode (data:00=>00 code:XX=>XX)
        ; line_number = 418
        ;  if motor1_mode done
        ; line_number = 422
        ; motor1_on := motor1a_mask
        movlw   2
        movwf   motor1_on
        ; line_number = 423
        ;  second_motor1_on := motor1b_mask
        movlw   4
set_up__22:
        ; code.delay=4294967295 back_code.delay=4294967295
        movwf   second_motor1_on


        ; <=bit_code_emit@symbol; sym=motor1_direction (data:00=>00 code:XX=>XX)
        ; line_number = 408
        ;  if motor1_direction done
        ; line_number = 426
        ; if debug start
        ; (after recombine) true_delay=non-uniform, false_delay=non-uniform
        ; CASE: true_code.size = 0 && false_code.size > 1
        ; bit_code_emit_helper1: body_code.size=2 true_test=true body_code.delay=0 (non-uniform delay)
        btfss   debug___byte, debug___bit
        goto    set_up__25
        ; line_number = 427
        ; motor0_on@debug_bit := 1
set_up__select__23___byte equ motor0_on
set_up__select__23___bit equ 5
        bsf     set_up__select__23___byte, set_up__select__23___bit
        ; line_number = 428
        ;  motor0_off@debug_bit := 1
set_up__select__24___byte equ motor0_off
set_up__select__24___bit equ 5
        bsf     set_up__select__24___byte, set_up__select__24___bit


        ; Recombine size1 = 0 || size2 = 0
set_up__25:
        ; code.delay=4294967295 back_code.delay=4294967295
        ; <=bit_code_emit@symbol; sym=debug (data:00=>00 code:XX=>XX)
        ; line_number = 426
        ; if debug done
        ; delay after procedure statements=non-uniform
        ; Implied return
        retlw   0




        ; line_number = 431
        ; procedure reset
reset:
        ; arguments_none
        ; line_number = 433
        ;  returns_nothing

        ; # Initialize everything else:
        ; before procedure statements delay=non-uniform, bit states=(data:00=>00 code:XX=>XX)
        ; line_number = 436
        ;  enable := 1
        bsf     enable___byte, enable___bit
        ; line_number = 437
        ;  _intcon := 0
        movlw   0
        movwf   _intcon
        ; line_number = 438
        ;  _option_reg := 0
        movlw   0
        bsf     __rp0___byte, __rp0___bit
        movwf   _option_reg
        ; line_number = 439
        ;  _wpua := 0
        movlw   0
        movwf   _wpua
        ; line_number = 440
        ;  actual_speed0 := 0
        movlw   0
        bcf     __rp0___byte, __rp0___bit
        movwf   actual_speed0
        ; line_number = 441
        ;  actual_speed1 := 0
        movlw   0
        movwf   actual_speed1
        ; line_number = 442
        ;  motor0_off := 0
        movlw   0
        movwf   motor0_off
        ; line_number = 443
        ;  motor0_on := 0
        movlw   0
        movwf   motor0_on
        ; line_number = 444
        ;  motor1_off := 0
        movlw   0
        movwf   motor1_off
        ; line_number = 445
        ;  motor1_on := 0
        movlw   0
        movwf   motor1_on
        ; line_number = 446
        ;  desired_direction0 := 0
        bcf     desired_direction0___byte, desired_direction0___bit
        ; line_number = 447
        ;  desired_direction1 := 0
        bcf     desired_direction1___byte, desired_direction1___bit
        ; line_number = 448
        ;  desired_speed0 := 0
        movlw   0
        movwf   desired_speed0
        ; line_number = 449
        ;  desired_speed1 := 0
        movlw   0
        movwf   desired_speed1
        ; line_number = 450
        ;  ramp0 := 0
        movlw   0
        movwf   ramp0
        ; line_number = 451
        ;  ramp1 := 0
        movlw   0
        movwf   ramp1
        ; line_number = 452
        ;  ramp0_delay := 0
        movlw   0
        movwf   ramp0_delay
        ; line_number = 453
        ;  ramp1_delay := 0
        movlw   0
        movwf   ramp1_delay
        ; line_number = 454
        ;  ramp0_offset := 0
        movlw   0
        movwf   ramp0_offset
        ; line_number = 455
        ;  ramp1_offset := 0
        movlw   0
        movwf   ramp1_offset
        ; line_number = 456
        ;  motor0_direction := 0
        bcf     motor0_direction___byte, motor0_direction___bit
        ; line_number = 457
        ;  motor1_direction := 0
        bcf     motor1_direction___byte, motor1_direction___bit
        ; line_number = 458
        ;  motor0_mode := 0
        bcf     motor0_mode___byte, motor0_mode___bit
        ; line_number = 459
        ;  motor1_mode := 0
        bcf     motor1_mode___byte, motor1_mode___bit
        ; line_number = 460
        ;  second_motor0_command := 0
        bcf     second_motor0_command___byte, second_motor0_command___bit
        ; line_number = 461
        ;  second_motor1_command := 0
        bcf     second_motor1_command___byte, second_motor1_command___bit
        ; line_number = 462
        ;  fail_safe := 0
        movlw   0
        movwf   fail_safe
        ; line_number = 463
        ;  fail_safe_errors := 0
        movlw   0
        movwf   fail_safe_errors
        ; line_number = 464
        ;  fail_safe_high_counter := 0
        movlw   0
        movwf   fail_safe_high_counter
        ; line_number = 465
        ;  fail_safe_low_counter := 0
        movlw   0
        movwf   fail_safe_low_counter
        ; line_number = 466
        ;  glitch := 0
        movlw   0
        movwf   glitch
        ; line_number = 467
        ;  id_index := 0
        movlw   0
        movwf   id_index


        ; delay after procedure statements=non-uniform
        ; Implied return
        retlw   0




        ; line_number = 470
        ; procedure delay
delay:
        ; arguments_none
        ; line_number = 472
        ;  returns_nothing
        ; #exact_delay delay_instructions

        ; # Delay for 1/3 of a bit time.

        ; # Kick the dog:
        ; before procedure statements delay=non-uniform, bit states=(data:00=>00 code:XX=>XX)
        ; line_number = 478
        ;  watch_dog_reset done
        clrwdt  

        ; # This is the first probe of TMR0:
        ; line_number = 481
        ;  if _tmr0 < actual_speed0 start
        movf    actual_speed0,w
        subwf   _tmr0,w
        ; (after recombine) true_delay=non-uniform, false_delay=non-uniform
        ; CASE: true_size=1 && false_size=1
        ; SUBCASE: Double test; true, then false
        btfsc   __c___byte, __c___bit
        ; line_number = 484
        ; motor0 := motor0_off
        movf    motor0_off,w
        btfss   __c___byte, __c___bit
        ; line_number = 482
        ; motor0 := motor0_on
        movf    motor0_on,w
        ; code.delay=4294967295 back_code.delay=4294967295
        movwf   motor0
        ; <=bit_code_emit@symbol; sym=__c (data:00=>00 code:XX=>XX)
        ; line_number = 481
        ;  if _tmr0 < actual_speed0 done
        ; line_number = 485
        ; if _tmr0 < actual_speed1 start
        movf    actual_speed1,w
        subwf   _tmr0,w
        ; (after recombine) true_delay=non-uniform, false_delay=non-uniform
        ; CASE: true_size=1 && false_size=1
        ; SUBCASE: Double test; true, then false
        btfsc   __c___byte, __c___bit
        ; line_number = 488
        ; motor1 := motor1_off
        movf    motor1_off,w
        btfss   __c___byte, __c___bit
        ; line_number = 486
        ; motor1 := motor1_on
        movf    motor1_on,w
        ; code.delay=4294967295 back_code.delay=4294967295
        movwf   motor1
        ; <=bit_code_emit@symbol; sym=__c (data:00=>00 code:XX=>XX)
        ; line_number = 485
        ; if _tmr0 < actual_speed1 done
        ; line_number = 489
        ; _porta := motor0 | motor1
        movf    motor0,w
        iorwf   motor1,w
        movwf   _porta

        ; # First check out {fail_safe_counter}:
        ; line_number = 492
        ;  fail_safe_low_counter := fail_safe_low_counter - 1
        decf    fail_safe_low_counter,f
        ; line_number = 493
        ;  if _z start
        ; (after recombine) true_delay=non-uniform, false_delay=non-uniform
        ; CASE: true_code.size = 0 && false_code.size > 1
        ; bit_code_emit_helper1: body_code.size=23 true_test=true body_code.delay=0 (non-uniform delay)
        btfss   _z___byte, _z___bit
        goto    delay__3
        ; line_number = 494
        ; fail_safe_high_counter := fail_safe_high_counter - 1
        decf    fail_safe_high_counter,f
        ; line_number = 495
        ;  if _z start
        ; (after recombine) true_delay=non-uniform, false_delay=non-uniform
        ; CASE: true_code.size = 0 && false_code.size > 1
        ; bit_code_emit_helper1: body_code.size=20 true_test=true body_code.delay=0 (non-uniform delay)
        btfss   _z___byte, _z___bit
        goto    delay__2
        ; line_number = 496
        ; if fail_safe != 0 start
        ; Left minus Right
        movf    fail_safe,w
        ; (after recombine) true_delay=non-uniform, false_delay=non-uniform
        ; CASE: true.size=0 && false.size>1
        ; bit_code_emit_helper1: body_code.size=17 true_test=false body_code.delay=0 (non-uniform delay)
        btfsc   __z___byte, __z___bit
        goto    delay__1
        ; # Turn the motors off:
        ; line_number = 498
        ;  motor0_on := 0
        movlw   0
        movwf   motor0_on
        ; line_number = 499
        ;  motor0_off := 0
        movlw   0
        movwf   motor0_off
        ; line_number = 500
        ;  motor1_on := 0
        movlw   0
        movwf   motor1_on
        ; line_number = 501
        ;  motor1_off := 0
        movlw   0
        movwf   motor1_off
        ; line_number = 502
        ;  desired_speed0 := 0
        movlw   0
        movwf   desired_speed0
        ; line_number = 503
        ;  desired_speed1 := 0
        movlw   0
        movwf   desired_speed1
        ; line_number = 504
        ;  actual_speed0 := 0
        movlw   0
        movwf   actual_speed0
        ; line_number = 505
        ;  actual_speed1 := 0
        movlw   0
        movwf   actual_speed1
        ; line_number = 506
        ;  fail_safe_errors := fail_safe_errors + 1
        incf    fail_safe_errors,f

delay__1:
        ; Recombine size1 = 0 || size2 = 0
        ; code.delay=4294967295 back_code.delay=4294967295
        ; <=bit_code_emit@symbol; sym=__z (data:00=>00 code:XX=>XX)
        ; line_number = 496
        ; if fail_safe != 0 done
        ; Recombine size1 = 0 || size2 = 0
delay__2:
        ; code.delay=4294967295 back_code.delay=4294967295
        ; <=bit_code_emit@symbol; sym=_z (data:00=>00 code:XX=>XX)
        ; line_number = 495
        ;  if _z done
        ; Recombine size1 = 0 || size2 = 0
delay__3:
        ; code.delay=4294967295 back_code.delay=4294967295
        ; <=bit_code_emit@symbol; sym=_z (data:00=>00 code:XX=>XX)
        ; line_number = 493
        ;  if _z done
        ; # This is the second probe of TMR0:
        ; line_number = 509
        ;  if _tmr0 < actual_speed0 start
        movf    actual_speed0,w
        subwf   _tmr0,w
        ; (after recombine) true_delay=non-uniform, false_delay=non-uniform
        ; CASE: true_size=1 && false_size=1
        ; SUBCASE: Double test; true, then false
        btfsc   __c___byte, __c___bit
        ; line_number = 512
        ; motor0 := motor0_off
        movf    motor0_off,w
        btfss   __c___byte, __c___bit
        ; line_number = 510
        ; motor0 := motor0_on
        movf    motor0_on,w
        ; code.delay=4294967295 back_code.delay=4294967295
        movwf   motor0
        ; <=bit_code_emit@symbol; sym=__c (data:00=>00 code:XX=>XX)
        ; line_number = 509
        ;  if _tmr0 < actual_speed0 done
        ; line_number = 513
        ; if _tmr0 < actual_speed1 start
        movf    actual_speed1,w
        subwf   _tmr0,w
        ; (after recombine) true_delay=non-uniform, false_delay=non-uniform
        ; CASE: true_size=1 && false_size=1
        ; SUBCASE: Double test; true, then false
        btfsc   __c___byte, __c___bit
        ; line_number = 516
        ; motor1 := motor1_off
        movf    motor1_off,w
        btfss   __c___byte, __c___bit
        ; line_number = 514
        ; motor1 := motor1_on
        movf    motor1_on,w
        ; code.delay=4294967295 back_code.delay=4294967295
        movwf   motor1
        ; <=bit_code_emit@symbol; sym=__c (data:00=>00 code:XX=>XX)
        ; line_number = 513
        ; if _tmr0 < actual_speed1 done
        ; line_number = 517
        ; _porta := motor0 | motor1
        movf    motor0,w
        iorwf   motor1,w
        movwf   _porta

        ; # Do {ramp0} management:
        ; line_number = 520
        ;  ramp0_delay := ramp0_delay - 1
        decf    ramp0_delay,f
        ; line_number = 521
        ;  if _z start
        ; (after recombine) true_delay=non-uniform, false_delay=non-uniform
        ; CASE: true_code.size = 0 && false_code.size > 1
        ; bit_code_emit_helper1: body_code.size=23 true_test=true body_code.delay=0 (non-uniform delay)
        btfss   _z___byte, _z___bit
        goto    delay__7
        ; line_number = 522
        ; ramp0_delay := ramp0
        movf    ramp0,w
        movwf   ramp0_delay
        ; line_number = 523
        ;  if actual_speed0 != desired_speed0 start
        ; Left minus Right
        movf    desired_speed0,w
        subwf   actual_speed0,w
        ; (after recombine) true_delay=non-uniform, false_delay=non-uniform
        ; CASE: true_code_size > 1 && false_code_size > 1
        ; true_code_size=14 false_code_size=2
        btfss   __z___byte, __z___bit
        goto    delay__5
        ; line_number = 525
        ; (after recombine) true_delay=non-uniform, false_delay=non-uniform
        ; CASE: true_code.size = 0 && false_code.size > 1
        ; bit_code_emit_helper1: body_code.size=12 true_test=true body_code.delay=0 (non-uniform delay)
        btfss   second_motor0_command___byte, second_motor0_command___bit
        goto    delay__4
        ; line_number = 526
        ; second_motor0_command := 0
        bcf     second_motor0_command___byte, second_motor0_command___bit
        ; line_number = 527
        ;  desired_speed0 := second_desired_speed0
        movf    second_desired_speed0,w
        movwf   desired_speed0
        ; line_number = 528
        ;  ramp0_offset := second_ramp0_offset
        movf    second_ramp0_offset,w
        movwf   ramp0_offset
        ; line_number = 529
        ;  motor0_on := second_motor0_on
        movf    second_motor0_on,w
        movwf   motor0_on
        ; line_number = 530
        ;  motor0_off := second_motor0_off
        movf    second_motor0_off,w
        movwf   motor0_off
        ; line_number = 531
        ;  motor0_direction := desired_direction0
        bcf     motor0_direction___byte, motor0_direction___bit
        ; (after recombine) true_delay=non-uniform, false_delay=non-uniform
        ; CASE: True.size=1 False.size=0
        btfsc   desired_direction0___byte, desired_direction0___bit
        bsf     motor0_direction___byte, motor0_direction___bit
        ; Recombine size1 = 0 || size2 = 0
        ; code.delay=4294967295 back_code.delay=4294967295
        ; <=bit_code_emit@symbol; sym=desired_direction0 (data:XX=>00 code:XX=>XX)

        ; Recombine size1 = 0 || size2 = 0
delay__4:
        ; code.delay=4294967295 back_code.delay=4294967295
        ; <=bit_code_emit@symbol; sym=second_motor0_command (data:00=>00 code:XX=>XX)
        goto    delay__6
delay__5:
        ; line_number = 524
        ; actual_speed0 := actual_speed0 + ramp0_offset
        movf    ramp0_offset,w
        addwf   actual_speed0,f
delay__6:
        ; code.delay=4294967295 back_code.delay=4294967295
        ; <=bit_code_emit@symbol; sym=__z (data:00=>00 code:XX=>XX)
        ; line_number = 523
        ;  if actual_speed0 != desired_speed0 done
        ; Recombine size1 = 0 || size2 = 0
delay__7:
        ; code.delay=4294967295 back_code.delay=4294967295
        ; <=bit_code_emit@symbol; sym=_z (data:00=>00 code:XX=>XX)
        ; line_number = 521
        ;  if _z done
        ; # This is the third probe of TMR0:
        ; line_number = 534
        ;  if _tmr0 < actual_speed0 start
        movf    actual_speed0,w
        subwf   _tmr0,w
        ; (after recombine) true_delay=non-uniform, false_delay=non-uniform
        ; CASE: true_size=1 && false_size=1
        ; SUBCASE: Double test; true, then false
        btfsc   __c___byte, __c___bit
        ; line_number = 537
        ; motor0 := motor0_off
        movf    motor0_off,w
        btfss   __c___byte, __c___bit
        ; line_number = 535
        ; motor0 := motor0_on
        movf    motor0_on,w
        ; code.delay=4294967295 back_code.delay=4294967295
        movwf   motor0

        ; <=bit_code_emit@symbol; sym=__c (data:00=>00 code:XX=>XX)
        ; line_number = 534
        ;  if _tmr0 < actual_speed0 done
        ; line_number = 539
        ; if _tmr0 < actual_speed1 start
        movf    actual_speed1,w
        subwf   _tmr0,w
        ; (after recombine) true_delay=non-uniform, false_delay=non-uniform
        ; CASE: true_size=1 && false_size=1
        ; SUBCASE: Double test; true, then false
        btfsc   __c___byte, __c___bit
        ; line_number = 542
        ; motor1 := motor1_off
        movf    motor1_off,w
        btfss   __c___byte, __c___bit
        ; line_number = 540
        ; motor1 := motor1_on
        movf    motor1_on,w
        ; code.delay=4294967295 back_code.delay=4294967295
        movwf   motor1
        ; <=bit_code_emit@symbol; sym=__c (data:00=>00 code:XX=>XX)
        ; line_number = 539
        ; if _tmr0 < actual_speed1 done
        ; line_number = 543
        ; _porta := motor0 | motor1
        movf    motor0,w
        iorwf   motor1,w
        movwf   _porta

        ; # Do {ramp1} management:
        ; line_number = 546
        ;  ramp1_delay := ramp1_delay - 1
        decf    ramp1_delay,f
        ; line_number = 547
        ;  if _z start
        ; (after recombine) true_delay=non-uniform, false_delay=non-uniform
        ; CASE: true_code_size > 1 && false_code_size > 1
        ; true_code_size=23 false_code_size=17
        btfss   _z___byte, _z___bit
        goto    delay__11
        ; line_number = 548
        ; ramp1_delay := ramp1
        movf    ramp1,w
        movwf   ramp1_delay
        ; line_number = 549
        ;  if actual_speed1 != desired_speed1 start
        ; Left minus Right
        movf    desired_speed1,w
        subwf   actual_speed1,w
        ; (after recombine) true_delay=non-uniform, false_delay=non-uniform
        ; CASE: true_code_size > 1 && false_code_size > 1
        ; true_code_size=14 false_code_size=2
        btfss   __z___byte, __z___bit
        goto    delay__9
        ; line_number = 551
        ; (after recombine) true_delay=non-uniform, false_delay=non-uniform
        ; CASE: true_code.size = 0 && false_code.size > 1
        ; bit_code_emit_helper1: body_code.size=12 true_test=true body_code.delay=0 (non-uniform delay)
        btfss   second_motor1_command___byte, second_motor1_command___bit
        goto    delay__8
        ; line_number = 552
        ; second_motor1_command := 0
        bcf     second_motor1_command___byte, second_motor1_command___bit
        ; line_number = 553
        ;  desired_speed1 := second_desired_speed1
        movf    second_desired_speed1,w
        movwf   desired_speed1
        ; line_number = 554
        ;  ramp1_offset := second_ramp1_offset
        movf    second_ramp1_offset,w
        movwf   ramp1_offset
        ; line_number = 555
        ;  motor1_on := second_motor1_on
        movf    second_motor1_on,w
        movwf   motor1_on
        ; line_number = 556
        ;  motor1_off := second_motor1_off
        movf    second_motor1_off,w
        movwf   motor1_off
        ; line_number = 557
        ;  motor1_direction := desired_direction1
        bcf     motor1_direction___byte, motor1_direction___bit
        ; (after recombine) true_delay=non-uniform, false_delay=non-uniform
        ; CASE: True.size=1 False.size=0
        btfsc   desired_direction1___byte, desired_direction1___bit
        bsf     motor1_direction___byte, motor1_direction___bit
        ; Recombine size1 = 0 || size2 = 0
        ; code.delay=4294967295 back_code.delay=4294967295
        ; <=bit_code_emit@symbol; sym=desired_direction1 (data:XX=>00 code:XX=>XX)
        ; Recombine size1 = 0 || size2 = 0
delay__8:
        ; code.delay=4294967295 back_code.delay=4294967295
        ; <=bit_code_emit@symbol; sym=second_motor1_command (data:00=>00 code:XX=>XX)
        goto    delay__10
delay__9:
        ; line_number = 550
        ; actual_speed1 := actual_speed1 + ramp1_offset
        movf    ramp1_offset,w
        addwf   actual_speed1,f
delay__10:
        ; code.delay=4294967295 back_code.delay=4294967295
        ; <=bit_code_emit@symbol; sym=__z (data:00=>00 code:XX=>XX)
        ; line_number = 549
        ;  if actual_speed1 != desired_speed1 done
        goto    delay__12
delay__11:
        ; # This is the forth probe of TMR0:
        ; line_number = 560
        ;  if _tmr0 < actual_speed0 start
        movf    actual_speed0,w
        subwf   _tmr0,w
        ; (after recombine) true_delay=non-uniform, false_delay=non-uniform
        ; CASE: true_size=1 && false_size=1
        ; SUBCASE: Double test; true, then false
        btfsc   __c___byte, __c___bit
        ; line_number = 563
        ; motor0 := motor0_off
        movf    motor0_off,w
        btfss   __c___byte, __c___bit
        ; line_number = 561
        ; motor0 := motor0_on
        movf    motor0_on,w
        ; code.delay=4294967295 back_code.delay=4294967295
        movwf   motor0
        ; <=bit_code_emit@symbol; sym=__c (data:00=>00 code:XX=>XX)
        ; line_number = 560
        ;  if _tmr0 < actual_speed0 done
        ; line_number = 564
        ; if _tmr0 < actual_speed1 start
        movf    actual_speed1,w
        subwf   _tmr0,w
        ; (after recombine) true_delay=non-uniform, false_delay=non-uniform
        ; CASE: true_size=1 && false_size=1
        ; SUBCASE: Double test; true, then false
        btfsc   __c___byte, __c___bit
        ; line_number = 567
        ; motor1 := motor1_off
        movf    motor1_off,w
        btfss   __c___byte, __c___bit
        ; line_number = 565
        ; motor1 := motor1_on
        movf    motor1_on,w
        ; code.delay=4294967295 back_code.delay=4294967295
        movwf   motor1
        ; <=bit_code_emit@symbol; sym=__c (data:00=>00 code:XX=>XX)
        ; line_number = 564
        ; if _tmr0 < actual_speed1 done
        ; line_number = 568
        ; _porta := motor0 | motor1
        movf    motor0,w
        iorwf   motor1,w
        movwf   _porta


delay__12:
        ; code.delay=4294967295 back_code.delay=4294967295
        ; <=bit_code_emit@symbol; sym=_z (data:00=>00 code:XX=>XX)
        ; line_number = 547
        ;  if _z done
        ; delay after procedure statements=non-uniform
        ; Implied return
        retlw   0




        ; line_number = 571
        ; constant zero8 = "\0,0,0,0,0,0,0,0\"
        ; zero8 = '\0,0,0,0,0,0,0,0\'
        ; line_number = 572
        ; constant module_name = "\13\DualMotor1Amp"
        ; module_name = '\13\DualMotor1Amp'
        ; line_number = 573
        ; constant vendor_name = "\7\Gramson"
        ; vendor_name = '\7\Gramson'

        ; line_number = 575
        ; string id = "\1,1,14,8,9,0,0,0\" ~ zero8 ~ zero8 ~ module_name ~ vendor_name start
        ; id = '\1,1,14,8,9,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,13\DualMotor1Amp\7\Gramson'
id:
        ; Temporarily save index into FSR
        movwf   __fsr
        ; Initialize PCLATH to point to this code page
        movlw   id___base>>8
        movwf   __pclath
        ; Restore index from FSR
        movf    __fsr,w
        addlw   id___base
        ; Index to the correct return value
        movwf   __pcl
        ; page_group 46
id___base:
        retlw   1
        retlw   1
        retlw   14
        retlw   8
        retlw   9
        retlw   0
        retlw   0
        retlw   0
        retlw   0
        retlw   0
        retlw   0
        retlw   0
        retlw   0
        retlw   0
        retlw   0
        retlw   0
        retlw   0
        retlw   0
        retlw   0
        retlw   0
        retlw   0
        retlw   0
        retlw   0
        retlw   0
        retlw   13
        retlw   68
        retlw   117
        retlw   97
        retlw   108
        retlw   77
        retlw   111
        retlw   116
        retlw   111
        retlw   114
        retlw   49
        retlw   65
        retlw   109
        retlw   112
        retlw   7
        retlw   71
        retlw   114
        retlw   97
        retlw   109
        retlw   115
        retlw   111
        retlw   110
        ; line_number = 575
        ; string id = "\1,1,14,8,9,0,0,0\" ~ zero8 ~ zero8 ~ module_name ~ vendor_name start

        ; Appending 4 delayed procedures to code bank 0
        ; buffer = '_robobricks_pic16f688'
        ; line_number = 17
        ; procedure byte_get
byte_get:
        ; arguments_none
        ; line_number = 19
        ;  returns byte

        ; # This procedure will return the next byte from the UART.
        ; # It continuously calls delay() while it is waiting.

        ; before procedure statements delay=non-uniform, bit states=(data:00=>00 code:XX=>XX)
        ; line_number = 24
        ;  while !_rcif start
byte_get__1:
        ; (after recombine) true_delay=non-uniform, false_delay=non-uniform
        ; CASE: true.size=0 && false.size>1
        ; bit_code_emit_helper1: body_code.size=4 true_test=false body_code.delay=0 (non-uniform delay)
        btfsc   _rcif___byte, _rcif___bit
        goto    byte_get__2
        ; line_number = 25
        ; in_byte_get := 1
        bsf     in_byte_get___byte, in_byte_get___bit
        ; line_number = 26
        ;  call delay()
        call    delay
        ; line_number = 27
        ;  in_byte_get := 0
        bcf     in_byte_get___byte, in_byte_get___bit
        goto    byte_get__1
byte_get__2:
        ; Recombine size1 = 0 || size2 = 0
        ; code.delay=4294967295 back_code.delay=4294967295
        ; <=bit_code_emit@symbol; sym=_rcif (data:00=>00 code:XX=>XX)
        ; line_number = 24
        ;  while !_rcif done
        ; line_number = 28
        ; command_previous := command_last
        movf    command_last,w
        movwf   command_previous
        ; line_number = 29
        ;  _rcif := 0
        bcf     _rcif___byte, _rcif___bit
        ; line_number = 30
        ;  return _rcreg start
        ; line_number = 30
        movf    _rcreg,w
        return  
        ; line_number = 30
        ;  return _rcreg done


        ; delay after procedure statements=non-uniform




        ; line_number = 33
        ; procedure byte_put
byte_put:
        ; Last argument is sitting in W; save into argument variable
        movwf   byte_put__value
        ; delay=4294967295
        ; line_number = 34
        ; argument value byte
byte_put__value equ globals___0
        ; line_number = 35
        ;  returns_nothing

        ; # This procedure will output {value} to the UART.  If the UART is
        ; # already busy transmitting a character, the {delay} procedure is
        ; # repeatably called until {value} can be sent.

        ; before procedure statements delay=non-uniform, bit states=(data:00=>00 code:XX=>XX)
        ; line_number = 41
        ;  while !_trmt start
byte_put__1:
        ; (after recombine) true_delay=non-uniform, false_delay=non-uniform
        ; CASE: true.size=0 && false.size>1
        ; bit_code_emit_helper1: body_code.size=2 true_test=false body_code.delay=0 (non-uniform delay)
        btfsc   _trmt___byte, _trmt___bit
        goto    byte_put__2
        ; line_number = 42
        ; call delay()
        call    delay
        goto    byte_put__1
byte_put__2:
        ; Recombine size1 = 0 || size2 = 0
        ; code.delay=4294967295 back_code.delay=4294967295
        ; <=bit_code_emit@symbol; sym=_trmt (data:00=>00 code:XX=>XX)
        ; line_number = 41
        ;  while !_trmt done
        ; line_number = 43
        ; debug := 0
        bcf     debug___byte, debug___bit
        ; line_number = 44
        ;  sent_previous := sent_last
        movf    sent_last,w
        movwf   sent_previous
        ; line_number = 45
        ;  sent_last := value
        movf    byte_put__value,w
        movwf   sent_last
        ; line_number = 46
        ;  _txreg := value
        movf    byte_put__value,w
        movwf   _txreg


        ; delay after procedure statements=non-uniform
        ; Implied return
        retlw   0




        ; line_number = 49
        ; procedure baud_rate_low
baud_rate_low:
        ; Last argument is sitting in W; save into argument variable
        movwf   baud_rate_low__baud_rate_index
        ; delay=4294967295
        ; line_number = 50
        ; argument baud_rate_index byte
baud_rate_low__baud_rate_index equ globals___0+1
        ; line_number = 51
        ;  returns byte

        ; #: This procedure will return the baud rate low byte for {baud_rate_index}.

        ; before procedure statements delay=non-uniform, bit states=(data:00=>00 code:XX=>XX)
        ; line_number = 55
        ;  switch baud_rate_index start
        movlw   baud_rate_low__9>>8
        movwf   __pclath
        movf    baud_rate_low__baud_rate_index,w
        addlw   baud_rate_low__9
        movwf   __pcl
        ; page_group 8
baud_rate_low__9:
        ; line_number = 57
        ; return _eusart_2400_low start
        ; line_number = 57
        retlw   64
        ; line_number = 57
        ; return _eusart_2400_low done
        ; line_number = 59
        ; return _eusart_4800_low start
        ; line_number = 59
        retlw   159
        ; line_number = 59
        ; return _eusart_4800_low done
        ; line_number = 61
        ; return _eusart_9600_low start
        ; line_number = 61
        retlw   207
        ; line_number = 61
        ; return _eusart_9600_low done
        ; line_number = 63
        ; return _eusart_19200_low start
        ; line_number = 63
        retlw   103
        ; line_number = 63
        ; return _eusart_19200_low done
        ; line_number = 65
        ; return _eusart_38400_low start
        ; line_number = 65
        retlw   51
        ; line_number = 65
        ; return _eusart_38400_low done
        ; line_number = 67
        ; return _eusart_57600_low start
        ; line_number = 67
        retlw   33
        ; line_number = 67
        ; return _eusart_57600_low done
        ; line_number = 69
        ; return _eusart_115200_low start
        ; line_number = 69
        retlw   16
        ; line_number = 69
        ; return _eusart_115200_low done
        ; line_number = 71
        ; return _eusart_203400_low start
        ; line_number = 71
        retlw   8
        ; line_number = 71
        ; return _eusart_203400_low done


baud_rate_low__10:
        ; switch end:(data:00=>00 code:XX=>XX)
        ; line_number = 55
        ;  switch baud_rate_index done
        ; delay after procedure statements=non-uniform
        ; Exiting procedure with no return(s); fail with infinite loop
baud_rate_low__11:
        goto    baud_rate_low__11




        ; line_number = 74
        ; procedure baud_rate_high
baud_rate_high:
        ; Last argument is sitting in W; save into argument variable
        movwf   baud_rate_high__baud_rate_index
        ; delay=4294967295
        ; line_number = 75
        ; argument baud_rate_index byte
baud_rate_high__baud_rate_index equ globals___0+2
        ; line_number = 76
        ;  returns byte

        ; # This procedure will return the baud rate high byte for
        ; # {baud_rate_index}.

        ; before procedure statements delay=non-uniform, bit states=(data:00=>00 code:XX=>XX)
        ; line_number = 81
        ;  switch baud_rate_index start
        movlw   baud_rate_high__9>>8
        movwf   __pclath
        movf    baud_rate_high__baud_rate_index,w
        addlw   baud_rate_high__9
        movwf   __pcl
        ; page_group 8
baud_rate_high__9:
        ; line_number = 83
        ; return _eusart_2400_high start
        ; line_number = 83
        retlw   3
        ; line_number = 83
        ; return _eusart_2400_high done
        ; line_number = 85
        ; return _eusart_4800_high start
        ; line_number = 85
        retlw   1
        ; line_number = 85
        ; return _eusart_4800_high done
        ; line_number = 87
        ; return _eusart_9600_high start
        ; line_number = 87
        retlw   0
        ; line_number = 87
        ; return _eusart_9600_high done
        ; line_number = 89
        ; return _eusart_19200_high start
        ; line_number = 89
        retlw   0
        ; line_number = 89
        ; return _eusart_19200_high done
        ; line_number = 91
        ; return _eusart_38400_high start
        ; line_number = 91
        retlw   0
        ; line_number = 91
        ; return _eusart_38400_high done
        ; line_number = 93
        ; return _eusart_57600_high start
        ; line_number = 93
        retlw   0
        ; line_number = 93
        ; return _eusart_57600_high done
        ; line_number = 95
        ; return _eusart_115200_high start
        ; line_number = 95
        retlw   0
        ; line_number = 95
        ; return _eusart_115200_high done
        ; line_number = 97
        ; return _eusart_203400_high start
        ; line_number = 97
        retlw   0
        ; line_number = 97
        ; return _eusart_203400_high done

baud_rate_high__10:
        ; switch end:(data:00=>00 code:XX=>XX)
        ; line_number = 81
        ;  switch baud_rate_index done
        ; delay after procedure statements=non-uniform
        ; Exiting procedure with no return(s); fail with infinite loop
baud_rate_high__11:
        goto    baud_rate_high__11




        ; Configuration bits
        ; fill = 0x3000
        ; fcmen = off (0x0)
        ; ieso = off (0x0)
        ; boden = off (0x0)
        ; cpd = off (0x80)
        ; cp = off (0x40)
        ; mclre = off (0x20)
        ; pwrte = off (0x10)
        ; wdte = off (0x0)
        ; fosc = int_no_clk (0x4)
        ; 12532 = 0x30f4
        __config 12532
        ; Define start addresses for data regions
        ; Region="shared___globals" Address=112" Size=16 Bytes=0 Bits=0 Available=16
        ; Region="globals___0" Address=32" Size=80 Bytes=43 Bits=10 Available=35
        ; Region="globals___1" Address=160" Size=80 Bytes=0 Bits=0 Available=80
        ; Region="globals___2" Address=288" Size=80 Bytes=0 Bits=0 Available=80
        ; Region="globals___3" Address=416" Size=80 Bytes=0 Bits=0 Available=80
        end
