� INTERFACE DRIVER
1 � FISCHER COMPUTING <--> ACORN  BBC COMPUTER
1 � COPYRIGHT (C) ARTUR FISCHER FORSCHUNG 1984
^ � Use the following commands to control your FISCHERTECHNIK model with your Acorn Model B
# � 
( �     * * COMMANDS * *
- � 
2 � - CALL M1,CW%
7# �   Rotates Motor #1 clockwise
< � - CALL M1,CCW%
A+ �   Rotates Motor #1 counter-clockwise
F � - CALL M1,GO%
K+ �   Switches device connected to M1 on
P � - CALL M1,HALT%
U, �   Switches device connected to M1 off
Z4 � Instead of "M1" you may also use M2, M3 or M4
_ � - FNUSR (E1) 
dL �   Returns a '0' or a '1' depending on the current state of the switch
iD � Instead of 'E1' you may also use any of the keys 'E2' to 'E8'
n � - FNUSR (EX)
sO �   Returns a value depending on the current position of the potentiometer
xS � Instead of 'EX' you can also use 'EY' to obtain a value from potentiometer Y
} � drr=&62
�
 � up=&60
� � til=&68
� � tih=&69
� � tic=&6B
� � avar=&80
� � mask=&81
� � buff=&82 
� � asave=&84
� � xsave=&85
� � ysave=&86
�
 � M% 500
� � Z=0 � 2 � 2
�
 P%=M%
�[
�
 OPT Z
� \ * * OUTPUT DRIVER * *
�X .init:lda #0:beq stvar:lda #3 :bne bout:lda #12:bne bout:lda #&30:bne bout:lda #&C0
�A .bout :sta mask:lda avar:ora mask:sta avar:jsr check:jmp ok2
�$ .check :lda &0600:cmp #1:beq ok
�Q .err1:brk:]:�equb (&FF):�equs ("Use exactly one parameter"):�equb (0):[OPT Z
�" .ok:lda&603: cmp #4:beq ok1  
�P .err2:brk:]:�equb(&FF):�equs("Use integer parameters only"):�equb(0):[OPT Z
�C .ok1:lda &601:sta buff:lda &602:sta buff+1:ldy #0:lda (buff),Y
� .back:rts 
�/ .ok2:and mask:sta mask: lda avar:eor mask 
� .stvar:sta avar: tay

@ .shout:jsr save:ldy #&3F:ldx #drr:jsr write:jsr load:ldx #8

	. .loop: lda #&30:asl avar: bcc null:ora #4

N .null:jsr save:tay:ldx #up:jsr write:jsr load:ora #8:jsr save:tay:ldx #up

^ jsr write:jsr load:dex:bne loop:jsr save:ldy #&31:ldx #up:jsr write:jsr load:sty avar:rts

 .E1:ldx #1:jmp test

 .E2:ldx #2:jmp test

" .E3:ldx #4:jmp test

' .E4:ldx #8:jmp test

, .E5:ldx #16:jmp test

1 .E6:ldx #32:jmp test

6 .E7:ldx #64:jmp test

; .E8:ldx #128

@� .test:stx mask:lda #&32:jsr save:ldy asave:ldx #up:jsr write:jsr load:ora #8:jsr save:ldy asave:ldx #up:jsr write:jsr load:ldx #8

EZ .loop2:asl A:jsr save:ldx #up:jsr read:tya:and #&80:beq nul2:jsr load:ora #1:jmp nul3

J .nul2:jsr load

O� .nul3:jsr save:ldy #&30:ldx #up:jsr write:jsr load:ldy #&38:ldx #up:jsr write:jsr load:dex:bne loop2:and mask:beq back1:lda #1 

T .back1

Y rts

^ .EX:ldx #&A0:jmp poti

c .EY:ldx #&90

hu .poti:sei:jsr save:ldy #&20:ldx #tic:jsr write:ldy #&FF:ldx #til:jsr write:ldy #&FF:ldx #tih:jsr write:ldy xsave

m: ldx #up:jsr write:ldy #&38:ldx #up:jsr write:jsr load

rD .tst:jsr save:ldx #til:jsr read:sty ysave:jsr load:tya:ldx #200

w� .delay:dex:bne delay:jsr save:ldx #til:jsr read:sty ysave:jsr load:sec:sbc ysave:bne tst:jsr save:ldx #til:jsr read:sty ysave:jsr load:sec:lda #&FF:sbc ysave:cli:rts

|& .write:lda #&97:jsr &FFF4:clc:rts

�% .read:lda #&96:jsr &FFF4:clc:rts

�- .save:sta asave:stx xsave:sty ysave:rts 

�, .load:lda asave:ldx xsave:ldy ysave:rts

�]

� � Z

� � M1=init+4

� � M2=init+8

� � M3=init+12

� � M4=init+16

� � INIT=init

�
 � CW%=85

� � CCW%=170

�
 � GO%=85

� � HALT%=255

�  � * * * END OF DRIVER * * *

� � �USR(A)=�(A) � &FF  

�" ��equb(num):?P%=num:P%=P%+1:�

�, ��equs(text$):$P%=text$:P%=P%+� text$:�

� � INIT

� � 

� � FISCHERTECHNIK COMPUTING
 � 
 � TEACH IN ROBOT

 � 
 � COPYRIGHT (C) 1984
! � BY ARTUR FISCHER FORSCHUNG
 � 
+ � 
0 � TEACH TABLE
5* � HEIGHT(100),ANGLE(100),MAGNET$(100)
: � CONSTANTS
?! � GX=30 : � BRAKE PERIOD ARM
D# � GY=4  : � BRAKE PERIOD ANGLE
I' � ID=-1 : � POINTER TO TEACH TABLE
N* � MG$="OFF" : � START WITH MAGNET OFF
S � 
X$ � ASSIGNMENTS FOR THE INTERFACE
] � 
b � INPUT
g � E1=UP
l � E2=DOWN
q � E3=RIGHT
v � E4=LEFT
{ � E5=MAGNET ON
� � E6=MAGNET OFF
� � E7=LEARN
� � E8=START
� � EX=POSITION OF ARM
� � EY=POSITION OF ANGLE
� � 
�
 � OUTPUT
� � M1=TURN ROBOT
� � M2=UP/DOWN
� � M3=MAGNET
� � 
� � FUNCTIONAL DESCRIPTION :
�" � WHEN YOU START THE PROGRAM 
� � IT IS IN LEARN MODE. THE
� � ROBOT IS CONTROLLED WITH
� � SWITCHES E1-E8. WITH E7
�  � YOU CAN LATCH THE CURRENT
� � POSITION OF THE ROBOT.
�$ � USING E8 YOU ENTER THE REPEAT
�" � MODE. THE ROBOT NOW REPEATS
�" � THE MOVEMENTS YOU TAUGHT IT
�  � PREVIOUSLY. THE MOVEMENTS
� � ARE REPEATED UNTIL YOU
� � PRESS SWITCH E8 AGAIN.
  �
� � �DTK : � DISPLAY TITLE
� @%=4 :� PRINT OUT  FORMAT
� � SCANNING LOOP
L � KEY 'UP'
V � �USR(E1)=0 � � �DtD
`
 � M2,CW%
j � �DLD
t � M2,HALT%
� � KEY 'DOWN'
� � �USR(E2)=0 � � �dXD
� � M2,CCW%
� � �tpD
� � M2,HALT%
 � KEY 'LEFT'
 � �USR(E3)=0 � � �T|E
(
 � M1,CW%
2 � �TTE
< � M1,HALT%
x � KEY 'RIGHT'
� � �USR(E4)=0 � � �t`E 
� � M1,CCW%
� � �DxE
� � M1,HALT%
� � KEY 'MAGNET ON'
� � �USR(E5)=0 � � �TDF 
�
 � M3,GO%
� � MG$="ON"
 � KEY 'MAGNET OFF'
 � �USR(E6)=0 � � �TlF
 � M3,HALT%
" � MG$="OFF"
, � KEY 'LEARN'
6 � �USR(E7)=0 � � �tFF
@- � WAIT UNTIL SWITCH IS NO LONGER PRESSED
J � �USR(E7)=1 � � �DJF
T � ID=ID+1
^ � HEIGHT(ID)=�(EX) � &FF
h � ANGLE(ID)=�(EY) � &FF
r � MAGNET$(ID)=MG$
|C � ID;"    ";HEIGHT(ID);"       ";ANGLE(ID);"     ";MAGNET$(ID)
� � KEY 'START AUTO MODE'
� � �USR(E8)=0 � � �DLD
� � �DTK
� � �USR(E8)=1 � � �tdF
� � ID=ID+1
� � HEIGHT(ID)=-1
�! � EXECUTION OF AUTO MOVEMENT
� � ID=-1
4 � ID=ID+1
>C � ID;"    ";HEIGHT(ID);"       ";ANGLE(ID);"     ";MAGNET$(ID)
H$ � HEIGHT(ID)=-1 � � �DTK:� �dPG
\ � ADJUST ARM
f � �USR(E8)=1 � � �t`O
� D=�USR(EX)-HEIGHT(ID) 
� � D>0 � � M2,CW%
� � D<0 � � M2,CCW%
� � D=0 � � �D`I
�
 � D=�(D)
� � D>GX � � �DfH
� � M2,HALT%
	 � �DHH
	` � ADJUST ANGLE
	j � �USR(E8)=1 � � �t`O  
	t D=�USR(EY)-ANGLE(ID)
	~ � D>0 � � M1,CW%
	� � D<0 � � M1,CCW%
	� � D=0 � � �ThJ
	�
 � D=�(D)
	� � D>GY � � �DjI
	� � M1,HALT%
	� � �DjI
( � SWITCH MAGNET
2" � MAGNET$(ID)="ON" � � M3,GO%
< � I=0�100
F � �USR(E8)=1 � � �t`O
P � I
Z! � MAGNET$(ID)="OFF" � � �dpJ
� � �TtH
� � SWITCH MAGNET
�; � M3,CCW%:� REVERSE MAGNET CURRENT FOR DEMAGNETIZATION
# � M3,HALT%:� SWITCH OFF MAGNET
 �
T � DISPLAY TITLE
^ �6
h �
r � "FISCHERTECHNIK"
| � "COMPUTING" 
� �
� � "TEACH IN ROBOT"
� �
� � "TEACH IN TABLE :"   
� �
�( � "   #   HEIGHT    ANGLE   MAGNET"
� �
� � STOP ROBOT
� � INIT
� �
�

00000000  0d 00 0a 17 20 f4 20 49  4e 54 45 52 46 41 43 45  |.... . INTERFACE|
00000010  20 44 52 49 56 45 52 0d  00 0f 31 20 f4 20 46 49  | DRIVER...1 . FI|
00000020  53 43 48 45 52 20 43 4f  4d 50 55 54 49 4e 47 20  |SCHER COMPUTING |
00000030  3c 2d 2d 3e 20 41 43 4f  52 4e 20 20 42 42 43 20  |<--> ACORN  BBC |
00000040  43 4f 4d 50 55 54 45 52  0d 00 14 31 20 f4 20 43  |COMPUTER...1 . C|
00000050  4f 50 59 52 49 47 48 54  20 28 43 29 20 41 52 54  |OPYRIGHT (C) ART|
00000060  55 52 20 46 49 53 43 48  45 52 20 46 4f 52 53 43  |UR FISCHER FORSC|
00000070  48 55 4e 47 20 31 39 38  34 0d 00 1e 5e 20 f4 20  |HUNG 1984...^ . |
00000080  55 73 65 20 74 68 65 20  66 6f 6c 6c 6f 77 69 6e  |Use the followin|
00000090  67 20 63 6f 6d 6d 61 6e  64 73 20 74 6f 20 63 6f  |g commands to co|
000000a0  6e 74 72 6f 6c 20 79 6f  75 72 20 46 49 53 43 48  |ntrol your FISCH|
000000b0  45 52 54 45 43 48 4e 49  4b 20 6d 6f 64 65 6c 20  |ERTECHNIK model |
000000c0  77 69 74 68 20 79 6f 75  72 20 41 63 6f 72 6e 20  |with your Acorn |
000000d0  4d 6f 64 65 6c 20 42 0d  00 23 07 20 f4 20 0d 00  |Model B..#. . ..|
000000e0  28 1b 20 f4 20 20 20 20  20 2a 20 2a 20 43 4f 4d  |(. .     * * COM|
000000f0  4d 41 4e 44 53 20 2a 20  2a 0d 00 2d 07 20 f4 20  |MANDS * *..-. . |
00000100  0d 00 32 14 20 f4 20 2d  20 43 41 4c 4c 20 4d 31  |..2. . - CALL M1|
00000110  2c 43 57 25 0d 00 37 23  20 f4 20 20 20 52 6f 74  |,CW%..7# .   Rot|
00000120  61 74 65 73 20 4d 6f 74  6f 72 20 23 31 20 63 6c  |ates Motor #1 cl|
00000130  6f 63 6b 77 69 73 65 0d  00 3c 15 20 f4 20 2d 20  |ockwise..<. . - |
00000140  43 41 4c 4c 20 4d 31 2c  43 43 57 25 0d 00 41 2b  |CALL M1,CCW%..A+|
00000150  20 f4 20 20 20 52 6f 74  61 74 65 73 20 4d 6f 74  | .   Rotates Mot|
00000160  6f 72 20 23 31 20 63 6f  75 6e 74 65 72 2d 63 6c  |or #1 counter-cl|
00000170  6f 63 6b 77 69 73 65 0d  00 46 14 20 f4 20 2d 20  |ockwise..F. . - |
00000180  43 41 4c 4c 20 4d 31 2c  47 4f 25 0d 00 4b 2b 20  |CALL M1,GO%..K+ |
00000190  f4 20 20 20 53 77 69 74  63 68 65 73 20 64 65 76  |.   Switches dev|
000001a0  69 63 65 20 63 6f 6e 6e  65 63 74 65 64 20 74 6f  |ice connected to|
000001b0  20 4d 31 20 6f 6e 0d 00  50 16 20 f4 20 2d 20 43  | M1 on..P. . - C|
000001c0  41 4c 4c 20 4d 31 2c 48  41 4c 54 25 0d 00 55 2c  |ALL M1,HALT%..U,|
000001d0  20 f4 20 20 20 53 77 69  74 63 68 65 73 20 64 65  | .   Switches de|
000001e0  76 69 63 65 20 63 6f 6e  6e 65 63 74 65 64 20 74  |vice connected t|
000001f0  6f 20 4d 31 20 6f 66 66  0d 00 5a 34 20 f4 20 49  |o M1 off..Z4 . I|
00000200  6e 73 74 65 61 64 20 6f  66 20 22 4d 31 22 20 79  |nstead of "M1" y|
00000210  6f 75 20 6d 61 79 20 61  6c 73 6f 20 75 73 65 20  |ou may also use |
00000220  4d 32 2c 20 4d 33 20 6f  72 20 4d 34 0d 00 5f 14  |M2, M3 or M4.._.|
00000230  20 f4 20 2d 20 46 4e 55  53 52 20 28 45 31 29 20  | . - FNUSR (E1) |
00000240  0d 00 64 4c 20 f4 20 20  20 52 65 74 75 72 6e 73  |..dL .   Returns|
00000250  20 61 20 27 30 27 20 6f  72 20 61 20 27 31 27 20  | a '0' or a '1' |
00000260  64 65 70 65 6e 64 69 6e  67 20 6f 6e 20 74 68 65  |depending on the|
00000270  20 63 75 72 72 65 6e 74  20 73 74 61 74 65 20 6f  | current state o|
00000280  66 20 74 68 65 20 73 77  69 74 63 68 0d 00 69 44  |f the switch..iD|
00000290  20 f4 20 49 6e 73 74 65  61 64 20 6f 66 20 27 45  | . Instead of 'E|
000002a0  31 27 20 79 6f 75 20 6d  61 79 20 61 6c 73 6f 20  |1' you may also |
000002b0  75 73 65 20 61 6e 79 20  6f 66 20 74 68 65 20 6b  |use any of the k|
000002c0  65 79 73 20 27 45 32 27  20 74 6f 20 27 45 38 27  |eys 'E2' to 'E8'|
000002d0  0d 00 6e 13 20 f4 20 2d  20 46 4e 55 53 52 20 28  |..n. . - FNUSR (|
000002e0  45 58 29 0d 00 73 4f 20  f4 20 20 20 52 65 74 75  |EX)..sO .   Retu|
000002f0  72 6e 73 20 61 20 76 61  6c 75 65 20 64 65 70 65  |rns a value depe|
00000300  6e 64 69 6e 67 20 6f 6e  20 74 68 65 20 63 75 72  |nding on the cur|
00000310  72 65 6e 74 20 70 6f 73  69 74 69 6f 6e 20 6f 66  |rent position of|
00000320  20 74 68 65 20 70 6f 74  65 6e 74 69 6f 6d 65 74  | the potentiomet|
00000330  65 72 0d 00 78 53 20 f4  20 49 6e 73 74 65 61 64  |er..xS . Instead|
00000340  20 6f 66 20 27 45 58 27  20 79 6f 75 20 63 61 6e  | of 'EX' you can|
00000350  20 61 6c 73 6f 20 75 73  65 20 27 45 59 27 20 74  | also use 'EY' t|
00000360  6f 20 6f 62 74 61 69 6e  20 61 20 76 61 6c 75 65  |o obtain a value|
00000370  20 66 72 6f 6d 20 70 6f  74 65 6e 74 69 6f 6d 65  | from potentiome|
00000380  74 65 72 20 59 0d 00 7d  0e 20 e9 20 64 72 72 3d  |ter Y..}. . drr=|
00000390  26 36 32 0d 00 82 0d 20  e9 20 75 70 3d 26 36 30  |&62.... . up=&60|
000003a0  0d 00 87 0e 20 e9 20 74  69 6c 3d 26 36 38 0d 00  |.... . til=&68..|
000003b0  8c 0e 20 e9 20 74 69 68  3d 26 36 39 0d 00 91 0e  |.. . tih=&69....|
000003c0  20 e9 20 74 69 63 3d 26  36 42 0d 00 96 0f 20 e9  | . tic=&6B.... .|
000003d0  20 61 76 61 72 3d 26 38  30 0d 00 9b 0f 20 e9 20  | avar=&80.... . |
000003e0  6d 61 73 6b 3d 26 38 31  0d 00 a0 10 20 e9 20 62  |mask=&81.... . b|
000003f0  75 66 66 3d 26 38 32 20  0d 00 a5 10 20 e9 20 61  |uff=&82 .... . a|
00000400  73 61 76 65 3d 26 38 34  0d 00 aa 10 20 e9 20 78  |save=&84.... . x|
00000410  73 61 76 65 3d 26 38 35  0d 00 af 10 20 e9 20 79  |save=&85.... . y|
00000420  73 61 76 65 3d 26 38 36  0d 00 b4 0d 20 de 20 4d  |save=&86.... . M|
00000430  25 20 35 30 30 0d 00 b9  12 20 e3 20 5a 3d 30 20  |% 500.... . Z=0 |
00000440  b8 20 32 20 88 20 32 0d  00 be 0a 20 50 25 3d 4d  |. 2 . 2.... P%=M|
00000450  25 0d 00 c3 05 5b 0d 00  c8 0a 20 4f 50 54 20 5a  |%....[.... OPT Z|
00000460  0d 00 cd 1c 20 5c 20 2a  20 2a 20 4f 55 54 50 55  |.... \ * * OUTPU|
00000470  54 20 44 52 49 56 45 52  20 2a 20 2a 0d 00 d2 58  |T DRIVER * *...X|
00000480  20 2e 69 6e 69 74 3a 6c  64 61 20 23 30 3a 62 65  | .init:lda #0:be|
00000490  71 20 73 74 76 61 72 3a  6c 64 61 20 23 33 20 3a  |q stvar:lda #3 :|
000004a0  62 6e 65 20 62 6f 75 74  3a 6c 64 61 20 23 31 32  |bne bout:lda #12|
000004b0  3a 62 6e 65 20 62 6f 75  74 3a 6c 64 61 20 23 26  |:bne bout:lda #&|
000004c0  33 30 3a 62 6e 65 20 62  6f 75 74 3a 6c 64 61 20  |30:bne bout:lda |
000004d0  23 26 43 30 0d 00 d7 41  20 2e 62 6f 75 74 20 3a  |#&C0...A .bout :|
000004e0  73 74 61 20 6d 61 73 6b  3a 6c 64 61 20 61 76 61  |sta mask:lda ava|
000004f0  72 3a 6f 72 61 20 6d 61  73 6b 3a 73 74 61 20 61  |r:ora mask:sta a|
00000500  76 61 72 3a 6a 73 72 20  63 68 65 63 6b 3a 6a 6d  |var:jsr check:jm|
00000510  70 20 6f 6b 32 0d 00 dc  24 20 2e 63 68 65 63 6b  |p ok2...$ .check|
00000520  20 3a 6c 64 61 20 26 30  36 30 30 3a 63 6d 70 20  | :lda &0600:cmp |
00000530  23 31 3a 62 65 71 20 6f  6b 0d 00 e1 51 20 2e 65  |#1:beq ok...Q .e|
00000540  72 72 31 3a 62 72 6b 3a  5d 3a f2 65 71 75 62 20  |rr1:brk:]:.equb |
00000550  28 26 46 46 29 3a f2 65  71 75 73 20 28 22 55 73  |(&FF):.equs ("Us|
00000560  65 20 65 78 61 63 74 6c  79 20 6f 6e 65 20 70 61  |e exactly one pa|
00000570  72 61 6d 65 74 65 72 22  29 3a f2 65 71 75 62 20  |rameter"):.equb |
00000580  28 30 29 3a 5b 4f 50 54  20 5a 0d 00 e6 22 20 2e  |(0):[OPT Z..." .|
00000590  6f 6b 3a 6c 64 61 26 36  30 33 3a 20 63 6d 70 20  |ok:lda&603: cmp |
000005a0  23 34 3a 62 65 71 20 6f  6b 31 20 20 0d 00 eb 50  |#4:beq ok1  ...P|
000005b0  20 2e 65 72 72 32 3a 62  72 6b 3a 5d 3a f2 65 71  | .err2:brk:]:.eq|
000005c0  75 62 28 26 46 46 29 3a  f2 65 71 75 73 28 22 55  |ub(&FF):.equs("U|
000005d0  73 65 20 69 6e 74 65 67  65 72 20 70 61 72 61 6d  |se integer param|
000005e0  65 74 65 72 73 20 6f 6e  6c 79 22 29 3a f2 65 71  |eters only"):.eq|
000005f0  75 62 28 30 29 3a 5b 4f  50 54 20 5a 0d 00 f0 43  |ub(0):[OPT Z...C|
00000600  20 2e 6f 6b 31 3a 6c 64  61 20 26 36 30 31 3a 73  | .ok1:lda &601:s|
00000610  74 61 20 62 75 66 66 3a  6c 64 61 20 26 36 30 32  |ta buff:lda &602|
00000620  3a 73 74 61 20 62 75 66  66 2b 31 3a 6c 64 79 20  |:sta buff+1:ldy |
00000630  23 30 3a 6c 64 61 20 28  62 75 66 66 29 2c 59 0d  |#0:lda (buff),Y.|
00000640  00 f5 0f 20 2e 62 61 63  6b 3a 72 74 73 20 0d 00  |... .back:rts ..|
00000650  fa 2f 20 2e 6f 6b 32 3a  61 6e 64 20 6d 61 73 6b  |./ .ok2:and mask|
00000660  3a 73 74 61 20 6d 61 73  6b 3a 20 6c 64 61 20 61  |:sta mask: lda a|
00000670  76 61 72 3a 65 6f 72 20  6d 61 73 6b 20 0d 00 ff  |var:eor mask ...|
00000680  19 20 2e 73 74 76 61 72  3a 73 74 61 20 61 76 61  |. .stvar:sta ava|
00000690  72 3a 20 74 61 79 0d 01  04 40 20 2e 73 68 6f 75  |r: tay...@ .shou|
000006a0  74 3a 6a 73 72 20 73 61  76 65 3a 6c 64 79 20 23  |t:jsr save:ldy #|
000006b0  26 33 46 3a 6c 64 78 20  23 64 72 72 3a 6a 73 72  |&3F:ldx #drr:jsr|
000006c0  20 77 72 69 74 65 3a 6a  73 72 20 6c 6f 61 64 3a  | write:jsr load:|
000006d0  6c 64 78 20 23 38 0d 01  09 2e 20 2e 6c 6f 6f 70  |ldx #8.... .loop|
000006e0  3a 20 6c 64 61 20 23 26  33 30 3a 61 73 6c 20 61  |: lda #&30:asl a|
000006f0  76 61 72 3a 20 62 63 63  20 6e 75 6c 6c 3a 6f 72  |var: bcc null:or|
00000700  61 20 23 34 0d 01 0e 4e  20 2e 6e 75 6c 6c 3a 6a  |a #4...N .null:j|
00000710  73 72 20 73 61 76 65 3a  74 61 79 3a 6c 64 78 20  |sr save:tay:ldx |
00000720  23 75 70 3a 6a 73 72 20  77 72 69 74 65 3a 6a 73  |#up:jsr write:js|
00000730  72 20 6c 6f 61 64 3a 6f  72 61 20 23 38 3a 6a 73  |r load:ora #8:js|
00000740  72 20 73 61 76 65 3a 74  61 79 3a 6c 64 78 20 23  |r save:tay:ldx #|
00000750  75 70 0d 01 13 5e 20 6a  73 72 20 77 72 69 74 65  |up...^ jsr write|
00000760  3a 6a 73 72 20 6c 6f 61  64 3a 64 65 78 3a 62 6e  |:jsr load:dex:bn|
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000014a0  49 47 48 54 28 49 44 29  3d ba 28 45 58 29 20 80  |IGHT(ID)=.(EX) .|
000014b0  20 26 46 46 0d 06 68 1c  20 e9 20 41 4e 47 4c 45  | &FF..h. . ANGLE|
000014c0  28 49 44 29 3d ba 28 45  59 29 20 80 20 26 46 46  |(ID)=.(EY) . &FF|
000014d0  0d 06 72 16 20 e9 20 4d  41 47 4e 45 54 24 28 49  |..r. . MAGNET$(I|
000014e0  44 29 3d 4d 47 24 0d 06  7c 43 20 f1 20 49 44 3b  |D)=MG$..|C . ID;|
000014f0  22 20 20 20 20 22 3b 48  45 49 47 48 54 28 49 44  |"    ";HEIGHT(ID|
00001500  29 3b 22 20 20 20 20 20  20 20 22 3b 41 4e 47 4c  |);"       ";ANGL|
00001510  45 28 49 44 29 3b 22 20  20 20 20 20 22 3b 4d 41  |E(ID);"     ";MA|
00001520  47 4e 45 54 24 28 49 44  29 0d 06 86 1c 20 f4 20  |GNET$(ID).... . |
00001530  4b 45 59 20 27 53 54 41  52 54 20 41 55 54 4f 20  |KEY 'START AUTO |
00001540  4d 4f 44 45 27 0d 06 90  1a 20 e7 20 a4 55 53 52  |MODE'.... . .USR|
00001550  28 45 38 29 3d 30 20 8c  20 e5 20 8d 44 4c 44 0d  |(E8)=0 . . .DLD.|
00001560  06 9a 0b 20 e4 20 8d 44  54 4b 0d 06 a4 1a 20 e7  |... . .DTK.... .|
00001570  20 a4 55 53 52 28 45 38  29 3d 31 20 8c 20 e5 20  | .USR(E8)=1 . . |
00001580  8d 74 64 46 0d 06 ae 0e  20 e9 20 49 44 3d 49 44  |.tdF.... . ID=ID|
00001590  2b 31 0d 06 b8 14 20 e9  20 48 45 49 47 48 54 28  |+1.... . HEIGHT(|
000015a0  49 44 29 3d 2d 31 0d 07  d0 21 20 f4 20 45 58 45  |ID)=-1...! . EXE|
000015b0  43 55 54 49 4f 4e 20 4f  46 20 41 55 54 4f 20 4d  |CUTION OF AUTO M|
000015c0  4f 56 45 4d 45 4e 54 0d  07 da 0c 20 e9 20 49 44  |OVEMENT.... . ID|
000015d0  3d 2d 31 0d 08 34 0e 20  e9 20 49 44 3d 49 44 2b  |=-1..4. . ID=ID+|
000015e0  31 0d 08 3e 43 20 f1 20  49 44 3b 22 20 20 20 20  |1..>C . ID;"    |
000015f0  22 3b 48 45 49 47 48 54  28 49 44 29 3b 22 20 20  |";HEIGHT(ID);"  |
00001600  20 20 20 20 20 22 3b 41  4e 47 4c 45 28 49 44 29  |     ";ANGLE(ID)|
00001610  3b 22 20 20 20 20 20 22  3b 4d 41 47 4e 45 54 24  |;"     ";MAGNET$|
00001620  28 49 44 29 0d 08 48 24  20 e7 20 48 45 49 47 48  |(ID)..H$ . HEIGH|
00001630  54 28 49 44 29 3d 2d 31  20 8c 20 e4 20 8d 44 54  |T(ID)=-1 . . .DT|
00001640  4b 3a e5 20 8d 64 50 47  0d 08 5c 11 20 f4 20 41  |K:. .dPG..\. . A|
00001650  44 4a 55 53 54 20 41 52  4d 0d 08 66 1a 20 e7 20  |DJUST ARM..f. . |
00001660  a4 55 53 52 28 45 38 29  3d 31 20 8c 20 e5 20 8d  |.USR(E8)=1 . . .|
00001670  74 60 4f 0d 08 98 1b 20  44 3d a4 55 53 52 28 45  |t`O.... D=.USR(E|
00001680  58 29 2d 48 45 49 47 48  54 28 49 44 29 20 0d 08  |X)-HEIGHT(ID) ..|
00001690  a2 15 20 e7 20 44 3e 30  20 8c 20 d6 20 4d 32 2c  |.. . D>0 . . M2,|
000016a0  43 57 25 0d 08 ac 16 20  e7 20 44 3c 30 20 8c 20  |CW%.... . D<0 . |
000016b0  d6 20 4d 32 2c 43 43 57  25 0d 08 b6 13 20 e7 20  |. M2,CCW%.... . |
000016c0  44 3d 30 20 8c 20 e5 20  8d 44 60 49 0d 08 c0 0d  |D=0 . . .D`I....|
000016d0  20 e9 20 44 3d 94 28 44  29 0d 08 d4 14 20 e7 20  | . D=.(D).... . |
000016e0  44 3e 47 58 20 8c 20 e5  20 8d 44 66 48 0d 08 fc  |D>GX . . .DfH...|
000016f0  0f 20 d6 20 4d 32 2c 48  41 4c 54 25 0d 09 1a 0b  |. . M2,HALT%....|
00001700  20 e5 20 8d 44 48 48 0d  09 60 13 20 f4 20 41 44  | . .DHH..`. . AD|
00001710  4a 55 53 54 20 41 4e 47  4c 45 0d 09 6a 1c 20 e7  |JUST ANGLE..j. .|
00001720  20 a4 55 53 52 28 45 38  29 3d 31 20 8c 20 e5 20  | .USR(E8)=1 . . |
00001730  8d 74 60 4f 20 20 0d 09  74 19 20 44 3d a4 55 53  |.t`O  ..t. D=.US|
00001740  52 28 45 59 29 2d 41 4e  47 4c 45 28 49 44 29 0d  |R(EY)-ANGLE(ID).|
00001750  09 7e 15 20 e7 20 44 3e  30 20 8c 20 d6 20 4d 31  |.~. . D>0 . . M1|
00001760  2c 43 57 25 0d 09 88 16  20 e7 20 44 3c 30 20 8c  |,CW%.... . D<0 .|
00001770  20 d6 20 4d 31 2c 43 43  57 25 0d 09 92 13 20 e7  | . M1,CCW%.... .|
00001780  20 44 3d 30 20 8c 20 e5  20 8d 54 68 4a 0d 09 9c  | D=0 . . .ThJ...|
00001790  0d 20 e9 20 44 3d 94 28  44 29 0d 09 a6 14 20 e7  |. . D=.(D).... .|
000017a0  20 44 3e 47 59 20 8c 20  e5 20 8d 44 6a 49 0d 09  | D>GY . . .DjI..|
000017b0  d8 0f 20 d6 20 4d 31 2c  48 41 4c 54 25 0d 09 e2  |.. . M1,HALT%...|
000017c0  0b 20 e5 20 8d 44 6a 49  0d 0a 28 14 20 f4 20 53  |. . .DjI..(. . S|
000017d0  57 49 54 43 48 20 4d 41  47 4e 45 54 0d 0a 32 22  |WITCH MAGNET..2"|
000017e0  20 e7 20 4d 41 47 4e 45  54 24 28 49 44 29 3d 22  | . MAGNET$(ID)="|
000017f0  4f 4e 22 20 8c 20 d6 20  4d 33 2c 47 4f 25 0d 0a  |ON" . . M3,GO%..|
00001800  3c 0e 20 e3 20 49 3d 30  b8 31 30 30 0d 0a 46 1a  |<. . I=0.100..F.|
00001810  20 e7 20 a4 55 53 52 28  45 38 29 3d 31 20 8c 20  | . .USR(E8)=1 . |
00001820  e5 20 8d 74 60 4f 0d 0a  50 08 20 ed 20 49 0d 0a  |. .t`O..P. . I..|
00001830  5a 21 20 e7 20 4d 41 47  4e 45 54 24 28 49 44 29  |Z! . MAGNET$(ID)|
00001840  3d 22 4f 46 46 22 20 8c  20 e4 20 8d 64 70 4a 0d  |="OFF" . . .dpJ.|
00001850  0a 8c 0b 20 e5 20 8d 54  74 48 0d 0a f0 14 20 f4  |... . .TtH.... .|
00001860  20 53 57 49 54 43 48 20  4d 41 47 4e 45 54 0d 0a  | SWITCH MAGNET..|
00001870  fa 3b 20 d6 20 4d 33 2c  43 43 57 25 3a f4 20 52  |.; . M3,CCW%:. R|
00001880  45 56 45 52 53 45 20 4d  41 47 4e 45 54 20 43 55  |EVERSE MAGNET CU|
00001890  52 52 45 4e 54 20 46 4f  52 20 44 45 4d 41 47 4e  |RRENT FOR DEMAGN|
000018a0  45 54 49 5a 41 54 49 4f  4e 0d 0b 04 23 20 d6 20  |ETIZATION...# . |
000018b0  4d 33 2c 48 41 4c 54 25  3a f4 20 53 57 49 54 43  |M3,HALT%:. SWITC|
000018c0  48 20 4f 46 46 20 4d 41  47 4e 45 54 0d 0b 0e 06  |H OFF MAGNET....|
000018d0  20 f8 0d 0b 54 14 20 f4  20 44 49 53 50 4c 41 59  | ...T. . DISPLAY|
000018e0  20 54 49 54 4c 45 0d 0b  5e 07 20 eb 36 0d 0b 68  | TITLE..^. .6..h|
000018f0  06 20 f1 0d 0b 72 17 20  f1 20 22 46 49 53 43 48  |. ...r. . "FISCH|
00001900  45 52 54 45 43 48 4e 49  4b 22 0d 0b 7c 13 20 f1  |ERTECHNIK"..|. .|
00001910  20 22 43 4f 4d 50 55 54  49 4e 47 22 20 0d 0b 86  | "COMPUTING" ...|
00001920  06 20 f1 0d 0b 90 17 20  f1 20 22 54 45 41 43 48  |. ..... . "TEACH|
00001930  20 49 4e 20 52 4f 42 4f  54 22 0d 0b 9a 06 20 f1  | IN ROBOT".... .|
00001940  0d 0b a4 1c 20 f1 20 22  54 45 41 43 48 20 49 4e  |.... . "TEACH IN|
00001950  20 54 41 42 4c 45 20 3a  22 20 20 20 0d 0b ae 06  | TABLE :"   ....|
00001960  20 f1 0d 0b b8 28 20 f1  20 22 20 20 20 23 20 20  | ....( . "   #  |
00001970  20 48 45 49 47 48 54 20  20 20 20 41 4e 47 4c 45  | HEIGHT    ANGLE|
00001980  20 20 20 4d 41 47 4e 45  54 22 0d 0b c2 06 20 f8  |   MAGNET".... .|
00001990  0d 0f a0 11 20 f4 20 53  54 4f 50 20 52 4f 42 4f  |.... . STOP ROBO|
000019a0  54 0d 0f aa 0b 20 d6 20  49 4e 49 54 0d 0f b4 06  |T.... . INIT....|
000019b0  20 e0 0d ff                                       | ...|
000019b4