[Joseph F]

then edit it to read:


If p1_y | p2_y < 115 then rev
if p1_y | p2_y > 135 then fwd
pwm1 = 127
goto end
fwd:
If p1_y > p2_y then use1
pwm1 = p2_y
goto end

use1
pwm1=p1_y
goto end

rev:
if p1_y < p2_y then use2
pwm1 = p2_y
goto end

use2:
pwm1 = p1_y
end: