perm filename ARM.PAL[V,VDS]1 blob
sn#264832 filedate 1977-02-15 generic text, type C, neo UTF8
COMMENT ā VALID 00012 PAGES
C REC PAGE DESCRIPTION
C00001 00001
C00003 00002 .TITLE ARM
C00004 00003 FIX-UPS TO ASSEMBLE FOR PDP11/45
C00006 00004 FIX-UPS TO ASSEMBLE FOR LSI-11
C00007 00005 FILL LOW CORE TRAP VECTORS
C00010 00006 DR11C STATUS REGISTER BIT DEFINITIONS
C00013 00007 DEFINITIONS FOR THE DATA STRUCTURES
C00016 00008 HASH TABLE AND SYMBOL DATA BLOCKS FOR COMMAND INSTRUCTIONS
C00021 00009 SYMBOL DATA BLOCKS FOR EDIT INSTRUCTIONS
C00023 00010 SYMBOL DATA BLOCKS FOR MOTION INSTRUCTIONS
C00029 00011 ZAPSTR: START OF VARIABLE AREA TO BE ZEROED DURING INITIALIZATION
C00031 00012 PROGRAM CONSTANTS AND REQUIRED SOURCE FILES
C00034 ENDMK
Cā;
.TITLE ARM
;REGISTER DEFINITIONS
PC =%7 ;PROGRAM COUNTER
SP =%6 ;STACK POINTER
SG =%5 ;STRING POINTER
R5 =%5
R4 =%4 ;GENERAL REGISTERS
R3 =%3
R2 =%2
R1 =%1
R0 =%0
;MACRO DEFINITIONS AND CONDITIONAL SWITCHES TO ASSEMBLE FOR LSI OR 11/45
.IF1
.MACRO ASKVAL SW,MES
.PRINT \MES? \
.TTYMA SWW
SW==SWW
.ENDM
.ENDM
ASKVAL LSI,ASSEMBLE FOR 11/45(0) OR LSI(1)
;FIX-UPS TO ASSEMBLE FOR PDP11/45
.IFZ LSI
ASKVAL TALK10,SET-UP PDP10ā45 COMMUNICATIONS LINK(0:1)
LOCK =340 ;CPU STATUS TO LOCK OUT INTERRUPTS
UNLOCK =140 ;CPU STATUS TO ENABLE INTERRUPTS
;ABSOLUTE MEMORY ADDRESS ASSIGNMENTS
CLKTRP =104 ;CLOCK TRAP
DRATRP =530 ;DR11 A VECTOR
DRBTRP =534 ;DR11 B VECTOR
STKTOP =1000 ;START OF CODE
DR11S =167770 ;DR11 STATUS WORD
DR11O =167772 ;DR11 OUTPUT REGISTER
DR11I =167774 ;DR11 INPUT REGISTER
CLKSET =172542 ;CLOCK SET REGISTER
CLKS =172540 ;CLOCK STATUS
.MACRO RESET
.WORD 5 ;THIS IS A RESET
MOV #1000.,CLKSET
MOV #111,CLKS
.ENDM
.MACRO MTPS A
MOV #A,177776
.ENDM
HALT = BPT
;FIX-UPS TO ASSEMBLE FOR LSI-11
.IFF
TALK10 ==0 ;NO PDP10-45 INTERFACE
LOCK =200 ;CPU STATUS TO LOCK OUT INTERRUPTS
UNLOCK =000 ;CPU STATUS TO ENABLE INTERRUPTS
;ABSOLUTE MEMORY ADDRESS ASSIGNMENTS
CLKTRP =100 ;CLOCK TRAP
DRATRP =310 ;DR11 A VECTOR
DRBTRP =314 ;DR11 B VECTOR
STKTOP =1000 ;START OF CODE
DR11S =167760 ;DR11 STATUS WORD
DR11O =167762 ;DR11 OUTPUT REGISTER
DR11I =167764 ;DR11 INPUT REGISTER
.ENDC
.ENDC
;FILL LOW CORE TRAP VECTORS
.=4
.WORD .+2,HALT ;ILLEGAL MEMORY REFERENCE
.WORD .+2,HALT ;ILLEGAL INSTRUCTION
.WORD .+2,HALT ;BPT INSTRUCTION
.WORD .+2,HALT ;IOT INSTRUCTION
.WORD .+2,HALT ;POWER FAIL
.WORD .+2,HALT ;EMT INSTRUCTION
.WORD .+2,HALT ;TRAP INSTRUCTION
.=CLKTRP+2
RTI ;CLOCK TRAP
.=CLKTRP
CLKTRP+2
.= STKTOP
STKTOP: JMP START ;TOP OF STACK
.WORD FREEST ;STARTING ADDR OF FREE STORAGE AREA
HICORE= 57460 ;HIGHEST USEABLE WORD IN MEMORY, END OF FREE
;STORAGE.
.WORD ZAPSTR ;PTR TO VARIABLE DATA STORAGE AREA
.WORD ZAPEND ;END OF " " " "
.WORD FUNTAB ;PTR TO COMMAND HASH TABLE
.WORD CALIB ;PTR TO TABLES OF CALIBRATION DATA
PATCH: .=.+300 ;DATA BUFFER USED FOR DEBUGGING
;DR11C STATUS REGISTER BIT DEFINITIONS
DACMDE =0 ;CSR MODE BITS, DAC MODE
BRKMDE =1 ; " " " , BRAKE REGISTER MODE
ADCMDE =2 ; " " " , ADC MODE
STTMDE =3 ; " " " , STATUS REGISTER READ MODE
ADCENB =100 ;ADC INTERRUPT ENABLE BIT
ADCDNE =200 ;ADC DONE BIT
STTENB =40 ;STATUS REGISTER INTERRUPT ENABLE BIT
STTREQ =100000 ;STATUS REGISTER REQUEST INTERRUPT BIT
;DR11C ARM STATUS REGISTER BIT DEFINITIONS
PANIC =200 ;PANIC BUTTON BIT MASK
ISON =100
TOUCH0 =1 ;TOUCH SENSOR BIT MASKS
TOUCH1 =2
ARMDNE =37400 ;BIT MASK OF ARM JOINTS IN RANGE BITS
HNDDNE =40000 ;BIT MASK OF HAND JOINT IN RANGE BIT
;DR11C BRAKE REGISTER BIT ASSIGNMENTS
ARMBRK =77 ;ARM BRAKE BITS
HNDBRK =100 ;HAND BRAKE BIT
NOINTG =200 ;NO HARDWARE INTEGRATION
ENABLE =400 ;INTERFACE ENABLE BIT
ONINTG =1000 ;FORCES HDWE INTEGRATION ALL OF THE TIME
LOWTOL =10000 ;LOW TOLERANCE POSITION COMPARISON
HITHND =20000 ;HAND IMPACT
;DR11C DAC MODE BIT DEFINITIONS
CURRNT =10000 ;CURRENT RATHER THAN POSITION MODE
;ARM STATUS BITS. LOWER BYTE CONTAINS ERROR MESSAGES FOR "TYPERR"
CANPRO =400 ;PROCEEDING PERMITTED FROM THIS ERROR CONDITION
RUN =1000 ;JOINT MOTION STILL IN PROGRESS
CHKDNE =2000 ;SET WHEN IN RANGE BITS ARE TO BE CHECKED
STRWRK =4000 ;START RUN-TIME ROUTINE, *DO NOT CHANGE THIS NUMBER*
WORKNG =10000 ;RUN-TIME RTN EXECUTING, *DO NOT CHANGE THIS NUMBER*
FINAL =20000 ;FINAL JOINT ANGLES COMPUTED
STPARM =40000 ;STOP ARM MOTION
;DEFINITIONS FOR THE DATA STRUCTURES
;RELATIVE POINTERS FOR FUNCTION SYMBOL DATA BLOCK
TYPBIT =2 ;TYPE BITS
NUMARG =3 ;NUMBER OF ARGUMENTS
SYMNME =4 ;ASC NAME, THREE WORDS
FUNPTR =12 ;PTR TO FUNCTION SUBR.
FUNARG =14 ;LIST OF FUNCTION ARGUMENTS
;ADDITIONAL RELATIVE POINTERS FOR TRANSFORM SYMBOL DATA BLOCK
TRNPTR =12 ;POINTER TO TRANSFORMATION
;ADDITIONAL RELATIVE POINTERS FOR USER PROGRAM SYMBOL DATA BLOCK
FSTSTP =12 ;POINTER TO FIRST STEP OF PROGRAM
;DATA TYPE BITS
COMMND =1 ;TOP LEVEL MONITOR COMMAND
MOTION =2 ;MOTION INSTRUCTION
EDITIN =4 ;EDIT INSTRUCTION
EMTYPE =6 ;EDIT OR MOTION INSTRUCTION
TRANS =10 ;TRANSFORMATION
PROG =20 ;USER PROGRAM
;RELATIVE POINTERS FOR MOTION INSTRUCTION BLOCKS
MTNFUN =2 ;PTR TO MOTION FUNCTION SYMBOL BLOCK
MARG =4 ;START OF FUNCTION ARGUMENTS
;THE FOUR BIT CODES SPECIFYING THE ARGUMENTS ARE INTERPRETED AS
;FOLLOWS: IF THE LSB IS SET THE ARGUMENT IS OPTIONAL OTHERWISE
;AN ERROR WILL BE INDICATED IF NO ARGUMENT IS FOUND. THE 3 MSB
;USED AS AN INDEX INTO THE FOLLOWING TABLE. THE ONLY RESTRICTION
;ON ARGUMENTS IS THAT IF A STRING IS AN ARGUMENT, IT MUST BE THE
;ONLY ARGUMENT.
STRING =1 ;SPECIAL CASE
DISARG =2
DISAR2 =40
ANGARG =4
ANGAR2 =100
PRGARG =6
TRNARG =10
TRNAR2 =200
INTARG =12
INTAR2 =240
;TABLE OF ROUTINES FOR DECODING ARGUMENTS
ARGTAB: GETSTR ;STRING
GETDIS ;DISTANCE
GETANG ;ANGLE
GETPRG ;USER DEFINED PROGRAM
GETTRN ;TRANSFORM
GETINT ;INTEGER
;TABLE OF ROUTINES FOR CONVERTING ARGUMENTS TO ASC
PRTTAB: 0 ;STRING
PRTDIS ;DISTANCE
PRTANG ;ANGLES
PACNME ;USER DEFINED PROGRAM
PACNME ;TRANSFORM
PRTINT ;INTEGER
;HASH TABLE AND SYMBOL DATA BLOCKS FOR COMMAND INSTRUCTIONS
;HASH BUCKETS WITH POINTERS TO COMMAND SYMBOL BLOCKS
FUNTAB: .WORD BDEFPR,0 ,BTYPE ,0
.WORD BHERE ,BEXEC ,BEDIT ,BCLEAR
.WORD BTRANS,BINSER,0 ,BPROGS
.WORD BLISTP,BABOVE,BPUNCP,0
.WORD BPROCE,BSPEED,BPUNCT,BSKIP
.WORD BTERMI,BREADY,BGO ,BMOVE
.WORD 0 ,BBELOW,BTF ,BWHERE
.WORD 0 ,BGRASP,BPAUSE,0
;TOP LEVEL COMMANDS
BWHERE: .WORD 0 ;"WHERE"
.BYTE COMMND,0 ;NO ARGUMENTS
.ASCII /WHERE /
WHERE ;FUNCTION TO EXECUTE
.BYTE 0,0,0,0
BTRANS: BNOFLI ;"TRANS"
.BYTE COMMND,1 ;1 ARG
.ASCII /TRANS /
STRANS ;FUNCTION TO EXECUTE
.BYTE TRNARG,0,0,0 ;TAKES TRANFORM AS ARGUMENT
BHERE: BDELET ;"HERE"
.BYTE COMMND,1 ;1 ARG
.ASCII /HERE /
HERE ;FUNCTION TO EXECUTE
.BYTE TRNARG,0,0,0 ;TAKES TRANFORM AS ARGUMENT
BLISTT: BPRINT ;"LISTT"
.BYTE COMMND,8. ;8 ARGS
.ASCII /LISTT /
LISTT ;FUNCTION TO EXECUTE
.BYTE TRNARG+TRNAR2+21,TRNARG+TRNAR2+21 ;8 OPTIONAL TRANS
.BYTE TRNARG+TRNAR2+21,TRNARG+TRNAR2+21
BPUNCT: BOPEN ;"PUNCHT"
.BYTE COMMND,8. ;8 ARGS
.ASCII /PUNCHT/
PUNCHT ;FUNCTION TO EXECUTE
.BYTE TRNARG+TRNAR2+21,TRNARG+TRNAR2+21 ;8 OPTIONAL TRANS
.BYTE TRNARG+TRNAR2+21,TRNARG+TRNAR2+21
BLISTP: BLAST ;"LISTP"
.BYTE COMMND,3. ;3 ARGS
.ASCII /LISTP /
LISTP ;FUNCTION TO EXECUTE
.BYTE PRGARG+INTAR2+20,INTARG+1 ;PRG NAME + 2 OPT INTEGERS
.BYTE 0,0
BPUNCP: BDRAW ;"PUNCHP"
.BYTE COMMND,3 ;3 ARGS
.ASCII /PUNCHP/
PUNCHP ;FUNCTION TO EXECUTE
.BYTE PRGARG+INTAR2+20,INTARG+1 ;PRG NAME + 2 OPT INTEGERS
.BYTE 0,0
BTF: BDRIVE ;"TF"
.BYTE COMMND,7 ;7 ARGS
.ASCII /TF /
TF ;FUNCTION TO EXECUTE
.BYTE TRNARG+DISAR2+20,DISARG+DISAR2+21
.BYTE ANGARG+ANGAR2+21,ANGARG+1
BDONE: .WORD 0 ;"DONE"
.BYTE COMMND,0 ;NO ARGUMENTS
.ASCII /DONE /
DONE ;FUNCTION TO EXECUTE
.BYTE 0,0,0,0
BCLEAR: .WORD 0 ;"CLEAR"
.BYTE COMMND,0 ;NO ARGUMENTS
.ASCII /CLEAR /
CLEAR ;FUNCTION TO EXECUTE
.BYTE 0,0,0,0
BEXEC: BSWITC ;"EXECUTE"
.BYTE COMMND,3 ;3 ARGUMENTS
.ASCII /EXEC /
EXEC ;FUNCTION TO EXECUTE
.BYTE PRGARG+INTAR2+21,INTARG+1,0,0
BPROCE: BLISTT ;"PROCEED"
.BYTE COMMND,0 ;NO ARGUMENTS
.ASCII /P /
PROCED ;FUNCTION TO EXECUTE
.BYTE 0,0,0,0
BDEFPR: BDEPART ;"DEFPRO"
.BYTE COMMND,1 ;1 ARGUMENT
.ASCII /DEFPRO/
DEFPRO ;FUNCTION TO EXECUTE
.BYTE PRGARG,0,0,0 ;PROGRAM NAME
BPROGS: BFLIP ;"PROGS"
.BYTE COMMND,0 ;NO ARGUMENTS
.ASCII /PROGS /
PROGS ;FUNCTION TO EXECUTE
.BYTE 0,0,0,0
;SYMBOL DATA BLOCKS FOR EDIT INSTRUCTIONS
BEDIT: BSTOP ;"EDIT"
.BYTE COMMND,2 ;2 ARGUMENTS
.ASCII /EDIT /
EDIT ;FUNCTION TO EXECUTE
.BYTE PRGARG+INTAR2+21,0,0,0 ;OPTION PROG. NAME AND LINE #
BTERMI: .WORD 0 ;"TERMINATE"
.BYTE EDITIN,0 ;NO ARGUMENTS
.ASCII /T /
TERMIN ;FUNCTION TO EXECUTE
.BYTE 0,0,0,0
BSKIP: .WORD 0 ;"SKIP"
.BYTE EDITIN,1 ;1 ARGUMENT
.ASCII /S /
SKIP ;FUNCTION TO EXECUTE
.BYTE INTARG,0,0,0
BPRINT: .WORD 0 ;"PRINT"
.BYTE EDITIN,1 ;1 ARGUMENT
.ASCII /P /
PRINT ;FUNCTION TO EXECUTE
.BYTE INTARG+1,0,0,0
BINSER: BPULSE ;"INSERT"
.BYTE EDITIN,0 ;NO ARGUMENT
.ASCII /I /
INSERT ;FUNCTION TO EXECUTE
.BYTE 0,0,0,0
BDELET: BLEFTY ;"DELETE"
.BYTE EDITIN,1 ;1 ARGUMENT
.ASCII /D /
DELETE ;FUNCTION TO EXECUTE
.BYTE INTARG+1,0,0,0
BSWITC: 0 ;"SWITCH"
.BYTE EDITIN,2 ;2 ARGUMENTS
.ASCII /E /
SWITCH ;FUNCTION TO EXECUTE
.BYTE PRGARG+INTAR2+20,0,0,0
BLAST: 0 ;"LAST"
.BYTE EDITIN,0 ;NO ARGUMENTS
.ASCII /L /
LAST ;FUNCTION TO EXECUTE
.BYTE 0,0,0,0
;SYMBOL DATA BLOCKS FOR MOTION INSTRUCTIONS
BDRAW: BCOMMN ;"DRAW"
.BYTE MOTION,3 ;3 ARGUMENTS
.ASCII /DRAW /
DRAW ;FUNCTION TO EXECUTE
.BYTE DISARG+DISAR2+21,DISARG+1,0,0
BGO: .WORD 0 ;"GO"
.BYTE MOTION,1 ;1 ARGUMENT
.ASCII /GO /
GO ;FUNCTION TO EXECUTE
.BYTE TRNARG,0,0,0
BMOVE: BRIGHT ;"MOVE"
.BYTE MOTION,1 ;1 ARGUMENT
.ASCII /MOVE /
MOVE ;FUNCTION TO EXECUTE
.BYTE TRNARG,0,0,0
BDEPAR: .WORD 0 ;"DEPART"
.BYTE MOTION,1 ;1 ARGUMENT
.ASCII /DEPART/
DEPART ;FUNCTION TO EXECUTE
.BYTE DISARG,0,0,0
BAPPRO: .WORD 0 ;"APPRO"
.BYTE MOTION,2 ;2 ARGUMENTS
.ASCII /APPRO /
APPRO ;FUNCTION TO EXECUTE
.BYTE TRNARG+DISAR2,0,0,0
BREADY: .WORD 0 ;"READY"
.BYTE MOTION,0 ;NO ARGUMENTS
.ASCII /READY /
READY ;FUNCTION TO EXECUTE
.BYTE 0,0,0,0
BREST: .WORD 0 ;"REST"
.BYTE MOTION,0 ;NO ARGUMENTS
.ASCII /REST /
REST ;FUNCTION TO EXECUTE
.BYTE 0,0,0,0
BOPEN: .WORD 0 ;"OPEN"
.BYTE MOTION,1 ;1 ARGUMENT
.ASCII /OPEN /
OPEN ;FUNCTION TO EXECUTE
.BYTE DISARG,0,0,0
BGRASP: BCOARS ;"GRASP"
.BYTE MOTION,1 ;1 ARGUMENT
.ASCII /GRASP /
GRASP ;FUNCTION TO EXECUTE
.BYTE DISARG,0,0,0
BDRIVE: .WORD 0 ;"DRIVE"
.BYTE MOTION,3 ;3 ARGUMENTS
.ASCII /DRIVE /
FDRIVE ;FUNCTION TO EXECUTE
.BYTE INTARG+ANGAR2,INTARG,0,0
BPAUSE: BREST ;"PAUSE"
.BYTE MOTION,1 ;1 ARGUMENT
.ASCII /PAUSE /
PAUSE ;FUNCTION TO EXECUTE
.BYTE STRING,0,0,0
BSTOP: BINTOF ;"STOP"
.BYTE MOTION,0 ;NO ARGUMENTS
.ASCII /STOP /
FSTOP ;FUNCTION TO EXECUTE
.BYTE 0,0,0,0
BCOMMN: .WORD 0 ;"COMMNT"
.BYTE MOTION,1 ;1 ARGUMENT
.ASCII /COMMNT/
COMNT ;FUNCTION TO EXECUTE
.BYTE STRING,0,0,0
BTYPE: BAPPRO ;"TYPE"
.BYTE MOTION,1 ;1 ARGUMENT
.ASCII /TYPE /
FTYPE ;FUNCTION TO EXECUTE
.BYTE STRING,0,0,0
BFLIP: .WORD 0 ;"FLIP"
.BYTE MOTION,0 ;NO ARGUMENTS
.ASCII /FLIP /
FLIP ;FUNCTION TO EXECUTE
.BYTE 0,0,0,0
BNOFLI: BINTON ;"NOFLIP"
.BYTE MOTION,0 ;NO ARGUMENTS
.ASCII /NOFLIP/
NOFLIP ;FUNCTION TO EXECUTE
.BYTE 0,0,0,0
BRIGHT: .WORD 0 ;"RIGHTY"
.BYTE MOTION,0 ;NO ARGUMENTS
.ASCII /RIGHTY/
RIGHTY ;FUNCTION TO EXECUTE
.BYTE 0,0,0,0
BLEFTY: .WORD 0 ;"LEFTY"
.BYTE MOTION,0 ;NO ARGUMENTS
.ASCII /LEFTY /
LEFTY ;FUNCTION TO EXECUTE
.BYTE 0,0,0,0
BABOVE: .WORD 0 ;"ABOVE"
.BYTE MOTION,0 ;NO ARGUMENTS
.ASCII /ABOVE /
ABOVE ;FUNCTION TO EXECUTE
.BYTE 0,0,0,0
BBELOW: .WORD 0 ;"BELOW"
.BYTE MOTION,0 ;NO ARGUMENTS
.ASCII /BELOW /
BELOW ;FUNCTION TO EXECUTE
.BYTE 0,0,0,0
BSPEED: .WORD 0 ;"SPEED"
.BYTE MOTION,1 ;1 ARGUMENT
.ASCII /SPEED /
SPEED ;FUNCTION TO EXECUTE
.BYTE INTARG,0,0,0
BCOARS: .WORD 0 ;"COARSE"
.BYTE MOTION,0 ;NO ARGUMENTS
.ASCII /COARSE/
COARSE ;FUNCTION TO EXECUTE
.BYTE 0,0,0,0
BINTOF: BDONE ;"INTOFF"
.BYTE MOTION,0 ;NO ARGUMENTS
.ASCII /INTOFF/
INTOFF ;FUNCTION TO EXECUTE
.BYTE 0,0,0,0
BINTON: .WORD 0 ;"INTON"
.BYTE MOTION,0 ;NO ARGUMENTS
.ASCII /INTON /
INTON ;FUNCTION TO EXECUTE
.BYTE 0,0,0,0
BPULSE: .WORD 0 ;"PULSE"
.BYTE MOTION,0 ;NO ARGUMENTS
.ASCII /PULSE /
PULSE ;FUNCTION TO EXECUTE
.BYTE 0,0,0,0
ZAPSTR: ;START OF VARIABLE AREA TO BE ZEROED DURING INITIALIZATION
ARMS: 0 ;ARM STATUS WORD. LOW BYTE CONTAINS ERROR CODE FOR
;"TYPERR". HIGH BYTE CONTAINS ARM STATUS BITS
NSPEED: 0 ;CHANGE IN ARM SPEED
CONFIG: 0 ;ASSERTED ARM CONFIGURATION
MODES: 0 ;SPECIAL SERVO MODES
VARTAB: .WORD 0,0,0,0 ;TABLE FOR SYMBOLS OF VARIABLES
.WORD 0,0,0,0
.WORD 0,0,0,0
.WORD 0,0,0,0
.WORD 0,0,0,0
.WORD 0,0,0,0
.WORD 0,0,0,0
.WORD 0,0,0,0
FSPTR: .WORD 0 ;PTR TO FIRST AVAILABLE F.S. BLOCK
EDPROG: .WORD 0 ;PTR TO PREVIOUS USER PROGRAM EDITED
EDSNUM: .WORD 0 ;NUMBER OF LAST EDITED STEP
EXPROG: .WORD 0 ;LAST USER PROGRAM EXECUTED
EXECNT: .WORD 0 ;NUMBER OF PASSES
NXTSTP: .WORD 0 ;NEXT PROGRAM STEP TO EXECUTE
EANGLE: .=.+12. ;TEMP. STORAGE FOR EULER ANGLES
JANGLE: .WORD 0 ;CURRENT JOINT ANGLES
.WORD 0
.WORD 0
.WORD 0
.WORD 0
.WORD 0
HAND: .WORD 0 ;CURRENT HAND OPENING
CTRANS: .=.+24. ;CURRENT TRANSFORM OF ARM
TTRANS: .=.+24. ;TEMPORARY TRANSFORM
INBUF: .=.+200. ;STRING INPUT BUFFER
OUTBUF: .=.+200. ;STRING OUTPUT BUFFER
ZAPEND: ;END OF AREA TO BE ZEROED
;PROGRAM CONSTANTS AND REQUIRED SOURCE FILES
SMPTRN: .WORD 0 ,-40000, 0 ;REASONABLE INITIAL ARM POSITION
.WORD -40000, 0, 0
.WORD 0 , 0,-40000
.WORD -11207, 33136, 3747
RDYTRN: .WORD 31156, 0,-23547 ;READY POSITION
.WORD 0 ,-40000, 0
.WORD -23547, 0,-31156
.WORD -44006,-11320, 24507
RDYASS: .WORD 25 ;LEFTY,ABOVE,NOFLIP
RSTTRN: .WORD -11705, 0,-36336 ;REST POSITION
.WORD 0 ,-40000, 0
.WORD -36336, 0, 11705
.WORD -44565,-11162, 13712
RSTASS: .WORD 75 ;LEFTY,BELOW,FLIP
.INSRT MOVE.PAL
.INSRT IO.PAL
.INSRT FUNCTS.PAL
.INSRT EDIT.PAL
.INSRT SUBR.PAL
.INSRT DRIVE.PAL
.INSRT EULER.PAL
.INSRT ARITH.PAL
.INSRT ARMSOL.PAL
.INSRT CALIB.PAL
;THIS SHOULD ALWAYS BE THE LAST LABEL IN THE PROGRAM. IT
;MARKS THE START OF THE FREE STORAGE AREA
FREEST: -1 ;START OF FREE STORAGE AREA. FREE
;STORAGE ENDS AT HICORE.
.END START