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Well I tried it and it just returns a 0. Which actually is fine. The Stamp will return a 0 if the code is executed in 26ms or less. So my code works fine. delta_t has to be declared and is in the serin so it acts like a varible not set.
One thing that you program doesn't support is toggle. For example toggle 15 changes the state for one of the relay lights. Really same as out15 = ~(out15).
I really like your program. I have been using it even when I have a robot controller because it is easier to setup.
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