A PIC16F84 type microcontroller is used with a 4 MHz crystal
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‘ Author: Dogan Ibrahim
‘ Date: January, 2005
‘ Compiler: PicBasic

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‘ Modifications
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‘ Symbols
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Symbol PORTB = $06 ‘ PORTB address
Symbol TRISB = $86 ‘ TRISB address
Symbol J = B0
POKE TRISB, 0 ‘ PORTB is output
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‘ Move the robot forward for 4 seconds
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FOR J = 1 TO 174
PULSOUT 0, 170
PULSOUT 1, 130
PAUSE 20
NEXT
‘
‘ Wait for 5 seconds
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PAUSE 5000
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‘ Move the robot backward for 3 seconds
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FOR J = 1 TO 130
PULSOUT 0, 130
PULSOUT 1, 170
PAUSE 20
NEXT J
END