~forward
ButtonB1_Show = On
ButtonB1_Back = Blue
If ButtonB1 = Pressed
Dout1 = On
Dout2 = Off
Dout3 = On
Dout4 = Off
End If
~stop
ButtonB2_Show = On
ButtonB2_Back = Red
If ButtonB2 = Pressed
Dout1 = Off
Dout2 = Off
Dout3 = Off
Dout4 = Off
End If
~reverse
ButtonB3_Show = On
ButtonB3_Back = Green
If ButtonB3 = Pressed
Dout1 = Off
Dout2 = On
Dout3 = Off
Dout4 = On
End If
~turn left
ButtonA2_Show = On
ButtonA2_Back = Blue
If ButtonA2 = Pressed
Dout1 = Off
Dout2 = Off
Dout3 = On
Dout4 = Off
End If
~turn right
ButtonC2_Show = On
ButtonC2_Back = Red
If ButtonC2 = Pressed
Dout1 = On
Dout2 = Off
Dout3 = Off
Dout4 = Off
End If
Read_Controller
~jika ada halangan on buzzer
If C_Din1 = 0
Dout5 = On
End If
~jika tak ada halangan off buzzer
If C_Din1 = 1
Dout5 = Off
End If
Read_Controller
~jika gelap on lampu
If C_Ain1 >= 220
Dout6 = On
End If
~jika cerah off lampu
If C_Ain1 < 220
Dout6 = Off
End If
Goto = 1