Here is my new-and-improved Lego robotic forklift program. Special thanks this time to Paul Hagstrom for his helpful suggestion that I detect all the joystick direction options, save the active one to a variable, and then POKE once as needed vs. trying to detect/POKE after each possible case. ---------- 10 GOSUB 1000: REM INIT LEGO 20 POKE L,0: REM ALL OFF 30 GOSUB 2000: REM NAVIGATION 40 GOSUB 3000: REM BUTTONS 50 GOTO 30 60 END 1000 S = 7:L = 49280 + S * 16 1010 POKE L + 3,1 1020 POKE L + 2,63 1030 POKE L + 1,0 1040 POKE L,0 1050 RETURN 2000 REM NAVIGATION 2010 FB = PDL (1):LR = PDL (0) 2020 M = 0 2030 IF FB < 75 THEN M = 5 2040 IF FB > 180 THEN M = 10 2050 IF LR < 75 THEN M = 9 2060 IF LR > 180 THEN M = 6 2070 POKE L,M 2080 IF M = 10 THEN CALL - 198: FOR W = 1 TO 500: NEXT W 2090 RETURN 3000 REM FORLIFT 3010 IF PEEK (49249) > 127 THEN POKE L,16: GOTO 3010 3020 IF PEEK (49250) > 127 THEN POKE L,32: GOTO 3020 3030 RETURN Real simple: Lines 10-60 are the main program, 1000-1050 are the required Lego initialization, 2000-2090 are the robot control (front - back - left - right), and 3000-3030 make the forklift go up/down. Hey Jeff and Dan, I think I've graduated from spaghetti code. :) As I told Dan already, the next thing I'll add is a Lego sensor to prevent the forklift from trying to continue going up/down when it reaches its mechanical limit. This did not work on my previous robot (to detect the limits of rack-and-pinion steering and disable the relevant motor) because the motor moved too fast. Not a problem with the forklift: it intentionally moves veeeeeeeeeery slow. I also ordered mini banana plugs so I can make new connecting wires between the Lego interface box and the motors, lights, and sensors. The 30-year-old wires from Lego are badly worn out. The difference when I connected a motor using these old wires vs. using modern alligator clips was palpable. Jeff B., all I have to do to dominate your Capsella robot is corner it, get the forklift under its drive wheels, and press the up button before you escape. :) Then your robot will be (ahem) forked. ________________________________ Evan Koblentz, director Vintage Computer Federation a 501(c)3 educational non-profit evan@vcfed.org (646) 546-9999 www.vcfed.org facebook.com/vcfederation twitter.com/vcfederation