#include <delays.h>
#include <p17c44.h>

#define UPPERLIMIT      27
#define LOWERLIMIT      43
#define LEFTLIMIT       25
#define RIGHTLIMIT      55
#define GRIPOPEN        40
#define GRIPCLOSED      53
#define CYCLETIME       150
#define DELAYCYCLES     1

void main()
{
int done;
int count;
int vert;
int horz;
int claw;

PORTC = 0x00;
DDRC = 0x00;
PORTD = 0x00;
DDRD = 0xFF;

done = 0;
vert = 40;                      /* vertical location */
horz = 30;                      /* horizontal location */
claw = 40;                      /* grip location */

while(!done){
  count = 0;

  if(PORTDbits.RD0 == 1){       /* down button */
    if(vert < LOWERLIMIT){      /* lower limit block */
      vert = vert + 1;          /* movement */

  }
  }
  if(PORTDbits.RD1 == 1){       /* up */
    if(vert > UPPERLIMIT){
      vert = vert - 1;

  }
  }
  if(PORTDbits.RD2 == 1){       /* left */
    if(horz > LEFTLIMIT){
      horz = horz - 2;

  }
  }
  if(PORTDbits.RD3 == 1){       /* right */
    if(horz < RIGHTLIMIT){
      horz = horz + 2;

  }
  }
  if(PORTDbits.RD4 == 1){       /* open grip */
    if(claw > GRIPOPEN){
      claw = claw - 1;
 
  }
  }
  if(PORTDbits.RD5 == 1){       /* close grip */
    if(claw < GRIPCLOSED){
      claw = claw + 1;
  }
  }
  while(count < DELAYCYCLES) {  /* location delay */

    PORTCbits.RC0 = 1;                  /* start elevation pulse */
    Delay100TCYx(vert);
    PORTCbits.RC0 = 0;
    PORTCbits.RC1 = 1;                  /* start rotation pulse */
    Delay100TCYx(horz);
    PORTCbits.RC1 = 0;
    PORTCbits.RC2 = 1;                  /* start grip pulse */
    Delay100TCYx(claw);
    PORTCbits.RC2 = 0;
    count = count + 1;
    Delay100TCYx(CYCLETIME);            /* delay before restarting pulse 
generation */
  }
}}      /* end main */