In SX Microcontrollers, SX/B Compiler and SX-Key Tool, Jon Williams wrote:

Yes, do post your code as I have not been able to find reliable motor control information.  My SX project is here: [url=http://forums.parallax.com/forums/default.aspx?f=7&m=97951]http://forums.parallax.com/forums/default.aspx?f=7&m=97951[/url]
 

You'll see there's a subroutine called PSX_SHIFTIO that can send and receive data at the same time.

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