int lastState[2]={0,0};
int words[4]={0x08,0x02,0x01,0x04};
//int Owords[1][4]={0x04,0x02,0x01};
//MoveMotor(x or y, number of 90d steps to make, + or - right up or left down)
void moveMotor(char motor,int steps,char direction){
     int i;
     int axis=0;
     int dir=1;
//     if(motor=='y')
     if(direction=='-')
          dir=-1;
     for(i=0;i<steps;i++){
       if(motor=='x'){
           int nextState= (dir+lastState[0]+4)%4;
           PORTB=words[nextState];
           lastState[0]=nextState;
       }
       else{
           int nextState= (dir+lastState[1]+4)%4;
           PORTA=words[nextState];
           lastState[1]=nextState;
       }
       delay_ms(100);
     }
}

void main() {
  int i;
  TRISB=0X00;
  TRISA=0X00;
  PORTB=0X00;
  PORTA=0x00;

    while(1 ){
      moveMotor('x',8,'+');
      delay_ms(500);
      moveMotor('y',8,'+');
      delay_ms(500);
      moveMotor('x',8,'-');
      delay_ms(500);
      moveMotor('y',8,'-');
      delay_ms(500);
    }
}