//Look after input1 & input2 sensors, remember position, when triggered

main()
{

timer=0;

message=PLCCMD_MOTION_CONTINUE;
texit=timer+2;do{timer++;}while(timer<texit);

ready=0;

state1=0;
state2=0;

e9000=portget(13);//gvarget(9000);
e9001=portget(14);//gvarget(9001);

state0=0;

m1=0;
m2=0;

do
{
 timer++;

if (state0==0)
{
 a=portget(13);//gvarget(9000);
 if (a!=e9000)
 {
		m1=1;
		position1=gvarget(5021+1);	//Machine Y
state0=1;
 };
 a=portget(14);//gvarget(9100);
 if (a!=e9001)
 {
		m1=2;
		position1=gvarget(5021+1);	//Machine Y
state0=1;
 };
}else
{
if (m1==2)
{
 a=portget(13);//gvarget(9000);
 if (a!=e9000)
 {
		m2=1;
		position2=gvarget(5021+1);	//Machine Y
state0=2;
 };
}else
{
 a=portget(14);//gvarget(9100);
 if (a!=e9001)
 {
		m2=2;
		position2=gvarget(5021+1);	//Machine Y
state0=2;
 };
};
};


}while(state0<2);


b=position1-position2;



if (b>25000)
{
b=50000-b;
};
c=0-25000;
if (b<c)
{
b=50000+b;
};



gvarset(97,b);
texit=timer+30;do{timer++;}while(timer<texit);

gvarset(7230,m1);
if (m1==1) { gvarset(98,1);}
else { x=0-1; gvarset(98,x);};

message=PLCCMD_MOTION_SKIP;
//message=PLCCMD_MOTION_SOFT_SKIP;
texit=timer+2;do{timer++;}while(timer<texit);

exit(99);
};