[Astronouth7303]

Originally Posted by Alan Anderson

Put something this in your user_routine, substituting appropriately for switch_value and relay_fwd/rev:

static char relay_state = 0; /* 0 means forward, 1 means reverse */
static char last_switch_value = 1; /* will remember the last state of the switch */


if ((last_switch_value == 0) && (switch_value == 1))
{
    // here is where you toggle the relay state
    relay_state = 1-relay_state;
    if (relay_state == 0)
    {
        relay_fwd = 1;
        relay_rev = 0;
    }
    else
    {
        relay_fwd = 0;
        relay_rev = 1;
    }
}
last_switch_value = switch_value;

Can't you do:

//...
//Init Relays
relay1_fwd = 1;
relay1_rev = 0;
//...
if (OI_Switch)
{
 relay1_fwd = !relay1_fwd;
 relay1_rev = !relay1_rev;
}

Just be sure to only do it again after a certain time. 26.2 ms is still fast, 38 hz fast.