Using parallel port as I/O devise

Is there any one having an idea how to solve my problem?

I am trying to control some kind of robot system using the parallel port.

On the robot side I have 8 output lines and 8 input lines

Now my question can I access each single line of the PC parallel port ?
Can any one give me an example how to do that with Turbo Pascal?

Since I am not very experienced in developing such kind off software I hope
some one can give me some good advise

Thanks Henry Wyssen