This is the program that is loaded on the BASIC Stamp that tells it what to do with the signals
'{$STAMP BS2}
output 0
output 1
output 2
output 3
output 4
output 5
output 6
input 9
input 10
input 11
input 12
input 13
input 14
input 15
start:
out0 = in12
out1 = in13
out2 = in13
out3 = in12
out4 = in8
out5 = in9
if in10 = 0 then mag
if in14=0 then left
if in15=0 then right
debug ? in15
goto start
right:
out0=0
out1=1
out2=0
out3=1
if in15=1 then start
goto right
left:
out0=1
out1=0
out2=1
out3=0
if in14=1 then start
goto left
mag:
toggle 6
pause 1000
goto start
