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

#define UPPERLIMIT      27
#define LOWERLIMIT      43
#define LEFTLIMIT       25
#define RIGHTLIMIT      55
#define GRIPOPEN        40
#define GRIPCLOSED      55
#define CYCLETIME       150
#define DELAYCYCLES     100

void main()
{
int done;
int count;

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

done = 0;

while(!done){
  count = 0;
  while(count < DELAYCYCLES) {
    PORTCbits.RC0 = 1;                  /* start elevation pulse */
    Delay100TCYx(UPPERLIMIT);
    PORTCbits.RC0 = 0;
    PORTCbits.RC1 = 1;                  /* start rotation pulse */
    Delay100TCYx(LEFTLIMIT);
    PORTCbits.RC1 = 0;
    PORTCbits.RC2 = 1;                  /* start grip pulse */
    Delay100TCYx(GRIPOPEN);
    PORTCbits.RC2 = 0;
    Delay100TCYx(CYCLETIME);            /* delay before restarting pulse 
generation */

    count = count + 1;
    }
  count = 0;
  while(count < DELAYCYCLES) {
    PORTCbits.RC0 = 1;                  /* start elevation pulse */
    Delay100TCYx(LOWERLIMIT);
    PORTCbits.RC0 = 0;
    PORTCbits.RC1 = 1;                  /* start rotation pulse */
    Delay100TCYx(RIGHTLIMIT);
    PORTCbits.RC1 = 0;
    PORTCbits.RC2 = 1;                  /* start grip pulse */
    Delay100TCYx(GRIPCLOSED);
    PORTCbits.RC2 = 0;
    Delay100TCYx(CYCLETIME);
    count = count + 1;
    }
  }

}       /* end main */