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PLOTTER

This website contains an archive of files for the Acorn Electron, BBC Micro, Acorn Archimedes, Commodore 16 and Commodore 64 computers, which Dominic Ford has rescued from his private collection of floppy disks and cassettes.

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Tape/disk: Home » Personal collection » Acorn DFS disks » dfs_box04_disk09_rgs_robotics_1.scp
Filename: PLOTTER
Read OK:
File size: 1981 bytes
Load address: FF1900
Exec address: FF8023
File contents
   10 REM INTERFACE DRIVER
   15 REM FISCHER COMPUTING <--> ACORN  BBC COMPUTER
   20 REM COPYRIGHT (C) ARTUR FISCHER FORSCHUNG 1984
   30 REM Use the following commands to control your FISCHERTECHNIK model with your Acorn Model B
   35 REM 
   40 REM     * * COMMANDS * *
   45 REM 
   50 REM - CALL M1,CW%
   55 REM   Rotates Motor #1 clockwise
   60 REM - CALL M1,CCW%
   65 REM   Rotates Motor #1 counter-clockwise
   70 REM - CALL M1,GO%
   75 REM   Switches device connected to M1 on
   80 REM - CALL M1,HALT%
   85 REM   Switches device connected to M1 off
   90 REM Instead of "M1" you may also use M2, M3 or M4
   95 REM - FNUSR (E1) 
  100 REM   Returns a '0' or a '1' depending on the current state of the switch
  105 REM Instead of 'E1' you may also use any of the keys 'E2' to 'E8'
  110 REM - FNUSR (EX)
  115 REM   Returns a value depending on the current position of the potentiometer
  120 REM Instead of 'EX' you can also use 'EY' to obtain a value from potentiometer Y
  125 LET drr=&62
  130 LET up=&60
  135 LET til=&68
  140 LET tih=&69
  145 LET tic=&6B
  150 LET avar=&80
  155 LET mask=&81
  160 LET buff=&82 
  165 LET asave=&84
  170 LET xsave=&85
  175 LET ysave=&86
  180 DIM M% 500
  185 FOR Z=0 TO 2 STEP 2
  190 P%=M%
  195[
  200 OPT Z
  205 \ * * OUTPUT DRIVER * *
  210 .init:lda #0:beq stvar:lda #3 :bne bout:lda #12:bne bout:lda #&30:bne bout:lda #&C0
  215 .bout :sta mask:lda avar:ora mask:sta avar:jsr check:jmp ok2
  220 .check :lda &0600:cmp #1:beq ok
  225 .err1:brk:]:PROCequb (&FF):PROCequs ("Use exactly one parameter"):PROCequb (0):[OPT Z
  230 .ok:lda&603: cmp #4:beq ok1  
  235 .err2:brk:]:PROCequb(&FF):PROCequs("Use integer parameters only"):PROCequb(0):[OPT Z
  240 .ok1:lda &601:sta buff:lda &602:sta buff+1:ldy #0:lda (buff),Y
  245 .back:rts 
  250 .ok2:and mask:sta mask: lda avar:eor mask 
  255 .stvar:sta avar: tay
  260 .shout:jsr save:ldy #&3F:ldx #drr:jsr write:jsr load:ldx #8
  265 .loop: lda #&30:asl avar: bcc null:ora #4
  270 .null:jsr save:tay:ldx #up:jsr write:jsr load:ora #8:jsr save:tay:ldx #up
  275 jsr write:jsr load:dex:bne loop:jsr save:ldy #&31:ldx #up:jsr write:jsr load:sty avar:rts
  280 .E1:ldx #1:jmp test
  285 .E2:ldx #2:jmp test
  290 .E3:ldx #4:jmp test
  295 .E4:ldx #8:jmp test
  300 .E5:ldx #16:jmp test
  305 .E6:ldx #32:jmp test
  310 .E7:ldx #64:jmp test
  315 .E8:ldx #128
  320 .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
  325 .loop2:asl A:jsr save:ldx #up:jsr read:tya:and #&80:beq nul2:jsr load:ora #1:jmp nul3
  330 .nul2:jsr load
  335 .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 
  340 .back1
  345 rts
  350 .EX:ldx #&A0:jmp poti
  355 .EY:ldx #&90
  360 .poti:sei:jsr save:ldy #&20:ldx #tic:jsr write:ldy #&FF:ldx #til:jsr write:ldy #&FF:ldx #tih:jsr write:ldy xsave
  365 ldx #up:jsr write:ldy #&38:ldx #up:jsr write:jsr load
  370 .tst:jsr save:ldx #til:jsr read:sty ysave:jsr load:tya:ldx #200
  375 .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
  380 .write:lda #&97:jsr &FFF4:clc:rts
  385 .read:lda #&96:jsr &FFF4:clc:rts
  390 .save:sta asave:stx xsave:sty ysave:rts 
  395 .load:lda asave:ldx xsave:ldy ysave:rts
  400]
  405 NEXT Z
  410 LET M1=init+4
  415 LET M2=init+8
  420 LET M3=init+12
  425 LET M4=init+16
  430 LET INIT=init
  435 LET CW%=85
  440 LET CCW%=170
  445 LET GO%=85
  450 LET HALT%=255
  455 REM * * * END OF DRIVER * * *
  460 DEF FNUSR(A)=USR(A) AND &FF  
  470 DEFPROCequb(num):?P%=num:P%=P%+1:ENDPROC
  480 DEFPROCequs(text$):$P%=text$:P%=P%+LEN text$:ENDPROC
  500 CALL INIT
  510 REM FISCHERTECHNIK COMPUTING
  520 REM 
  530 REM PLOTTER
  540 REM 
  550 REM COPYRIGHT (C) 1984
  560 REM BY ARTUR FISCHER FORSCHUNG
  570 REM 
  580 REM SEGMENT TABLE
  590 DIM SEG(9)
  600 REM CONSTANTS
  610 LET GR=30 : REM BRAKE PERIOD R
  620 LET GA=5  : REM BRAKE PERIOD A
  630 REM
  640 REM ASSIGNMENTS FOR THE INTERFACE
  650 REM
  660 REM INPUT
  670 REM E3 = TAKE VALUES GIVEN BY POTS
  680 REM E4 = RIGHT
  690 REM E5 = LEFT
  700 REM E6 = FORWARD
  710 REM E7 = BACKWARD
  720 REM EX = RADIAL POSITION
  730 REM EY = ANGLE POSITION
  740 REM 
  750 REM OUTPUT
  760 REM M1 = TURNING MOVEMENT
  770 REM M2 = RADIAL MOVEMENT
  780 REM M3 = MAGNET
  790 REM 
  800 REM FUNCTION DESCRIPTION :
  810 REM THE PROGRAM CONTROLS THE 
  820 REM PLOTTER WHICH DRAWS A GRAPHIC
  830 REM CONSISTING OF SEGMENTS OF A 
  840 REM CIRCLE. AFTER THE START OF
  850 REM THE PROGRAM THE PLOTTER IS
  860 REM CALIBRATED. THEREAFTER YOU
  870 REM INPUT THE NUMBERS AND THE
  880 REM GRAPHIC IS DRAWN.
  890 REM 
  900 MODE6
  910 PRINT 
  920 PRINT "FISCHERTECHNIK"
  930 PRINT "COMPUTING"  
  940 PRINT 
  950 PRINT "PLOTTER"
  960 PRINT 
  970 REM 
  980 LET A$="PLEASE POSITION THE PLOTTER USING THE   SWITCHES, TO :-"
  990 PRINT 
 1000 PRINT A$
 1010 PRINT "RIGHT - OUTER POSITION"
 1020 GOSUB 1630
 1030 LET RM=R
 1040 LET AM=A
 1050 PRINT A$
 1060 PRINT "LEFT - INNER POSITION"
 1070 GOSUB 1630
 1080 LET R0=R
 1090 LET A0=A
 1100 REM INPUT OF DATA
 1110 PRINT 
 1120 INPUT "NUMBER OF SEGMENTS",SG
 1130 IF SG=0 THEN END
 1140 LET SS=0
 1150 FOR S=1 TO SG
 1160 PRINT "AMOUNT #";S;
 1170 INPUT SEG(S-1)
 1180 LET SS=SS+SEG(S-1)
 1190 NEXT S
 1200 REM STANDARDIZE VALUES
 1210 FOR S=1 TO SG
 1220 LET SEG(S-1)=SEG(S-1)/SS
 1230 NEXT S
 1240 PRINT "PLEASE INSERT PAPER !"
 1250 PRINT "DEPRESS KEY E3 WHEN READY !"
 1260 IF FNUSR(E3)=0 THEN GOTO 1260 
 1270 REM PLOT
 1280 REM I BOUNDARY
 1290 LET R=R0
 1300 LET PEN%=HALT%
 1310 GOSUB 1860 : REM R-MOVEMENT
 1320 LET A=A0
 1330 LET PEN%=HALT%
 1340 GOSUB 1980 : REM A-MOVEMENT
 1350 LET A=AM
 1360 GOSUB 2100 : REM PEN DOWN
 1370 GOSUB 1980
 1380 LET R=RM
 1390 LET PEN%=GO%
 1400 GOSUB 1860 : REM R-MOVEMENT
 1410 LET A=A0
 1420 GOSUB 2100 : REM PEN DOWN
 1430 GOSUB 1980 : REM A-MOVEMENT
 1440 LET R=R0
 1450 GOSUB 2100 : REM PEN DOWN
 1460 GOSUB 1860 : REM R-MOVEMENT
 1470 REM II PLOT BORDERS OF SEGMENTS
 1480 LET SS=0
 1490 FOR S=1 TO SG-1
 1500 LET SS=SS+SEG(S-1)
 1510 LET A=A0+INT((AM-A0)*SS+.5)
 1520 LET PEN%=HALT%
 1530 GOSUB 1980 : REM A-MOVEMENT
 1540 LET R=RM
 1550 GOSUB 2100 : REM PEN DOWN
 1560 GOSUB 1860 : REM R-MOVEMENT
 1570 LET R=R0
 1580 LET PEN%=HALT%
 1590 GOSUB 1860 : REM R-MOVEMENT
 1600 NEXT S
 1610 GOTO 1110
 1620 END
 1630 REM TAKE THE VALUES
 1640 CALL INIT : REM ALL MOTORS OFF
 1650 IF FNUSR(E4)=0 THEN GOTO 1680 
 1660 CALL M1,CW%
 1670 GOTO 1650
 1680 IF FNUSR(E5)=0 THEN GOTO 1710   
 1690 CALL M1,CCW%
 1700 GOTO 1680
 1710 CALL M1,HALT%
 1720 IF FNUSR(E6)=0 THEN GOTO 1750
 1730 CALL M2,CW%
 1740 GOTO 1720
 1750 CALL M1,HALT%
 1760 IF FNUSR(E7)=0 THEN GOTO 1790  
 1770 CALL M2,CCW%
 1780 GOTO 1760
 1790 CALL M2,HALT%
 1800 IF FNUSR(E3)=0 THEN GOTO 1640
 1810 LET R=FNUSR(EX)
 1820 LET A=FNUSR(EY)
 1830 IF FNUSR(E3)=1 THEN GOTO 1830       
 1840 REM WAIT UNTIL SWITCH IS NO LONGER PRESSED
 1850 RETURN
 1860 REM R-MOVEMENT
 1870 CALL M3,PEN%
 1880 LET D=FNUSR(EX)-R
 1890 IF D>0 THEN CALL M2,CW%
 1900 IF D<0 THEN CALL M2,CCW%
 1910 IF D=0 THEN RETURN
 1920 LET D=ABS(D)
 1930 IF D>GR THEN GOTO 1880
 1940 FOR I=0 TO D
 1950 NEXT I
 1960 CALL M2,HALT%
 1970 GOTO 1880
 1980 REM A-MOVEMENT
 1990 CALL M3,PEN%
 2000 LET D=FNUSR(EY)-A
 2010 IF D>0 THEN CALL M1,CW%
 2020 IF D<0 THEN CALL M1,CCW%
 2030 IF D=0 THEN RETURN
 2040 LET D=ABS(D)
 2050 IF D>GA THEN GOTO 2000
 2060 FOR I=0 TO D
 2070 NEXT I
 2080 CALL M1,HALT%
 2090 GOTO 2000
 2100 REM PEN DOWN
 2110 LET PEN%=GO%
 2120 FOR I=0TO 100
 2130 CALL M3,PEN% : REM DELAY LOOP
 2140 NEXT I
 2150 RETURN

 � 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
 � 
 � PLOTTER
 � 
& � COPYRIGHT (C) 1984
0! � BY ARTUR FISCHER FORSCHUNG
: � 
D � SEGMENT TABLE
N
 � SEG(9)
X � CONSTANTS
b � GR=30 : � BRAKE PERIOD R
l � GA=5  : � BRAKE PERIOD A
v �
�$ � ASSIGNMENTS FOR THE INTERFACE
� �
� � INPUT
�% � E3 = TAKE VALUES GIVEN BY POTS
� � E4 = RIGHT
� � E5 = LEFT
� � E6 = FORWARD
� � E7 = BACKWARD
� � EX = RADIAL POSITION
� � EY = ANGLE POSITION
� � 
�
 � OUTPUT
� � M1 = TURNING MOVEMENT
 � M2 = RADIAL MOVEMENT
 � M3 = MAGNET
 � 
  � FUNCTION DESCRIPTION :
*  � THE PROGRAM CONTROLS THE 
4$ � PLOTTER WHICH DRAWS A GRAPHIC
># � CONSISTING OF SEGMENTS OF A 
H! � CIRCLE. AFTER THE START OF
R! � THE PROGRAM THE PLOTTER IS
\! � CALIBRATED. THEREAFTER YOU
f  � INPUT THE NUMBERS AND THE
p � GRAPHIC IS DRAWN.
z � 
� �6
� � 
� � "FISCHERTECHNIK"
� � "COMPUTING"  
� � 
� � "PLOTTER"
� � 
� � 
�C � A$="PLEASE POSITION THE PLOTTER USING THE   SWITCHES, TO :-"
� � 
�	 � A$
� � "RIGHT - OUTER POSITION"
� � �D^F
 � RM=R
 � AM=A
	 � A$
$ � "LEFT - INNER POSITION"
. � �D^F
8 � R0=R
B � A0=A
L � INPUT OF DATA
V � 
` � "NUMBER OF SEGMENTS",SG
j � SG=0 � �
t � SS=0
~ � S=1 � SG
� � "AMOUNT #";S;
� � SEG(S-1)
� � SS=SS+SEG(S-1)
� � S
� � STANDARDIZE VALUES
� � S=1 � SG
� � SEG(S-1)=SEG(S-1)/SS
� � S
� � "PLEASE INSERT PAPER !"
�$ � "DEPRESS KEY E3 WHEN READY !"
� � �USR(E3)=0 � � �dlD 
� � PLOT
 � I BOUNDARY

 � R=R0
 � PEN%=HALT%
 � �DDG : � R-MOVEMENT
( � A=A0
2 � PEN%=HALT%
< � �t|G : � A-MOVEMENT
F � A=AM
P � �TtH : � PEN DOWN
Z � �t|G
d � R=RM
n � PEN%=GO%
x � �DDG : � R-MOVEMENT
� � A=A0
� � �TtH : � PEN DOWN
� � �t|G : � A-MOVEMENT
� � R=R0
� � �TtH : � PEN DOWN
� � �DDG : � R-MOVEMENT
�" � II PLOT BORDERS OF SEGMENTS
� � SS=0
� � S=1 � SG-1
� � SS=SS+SEG(S-1)
� � A=A0+�((AM-A0)*SS+.5)
� � PEN%=HALT%
� � �t|G : � A-MOVEMENT
 � R=RM
 � �TtH : � PEN DOWN
 � �DDG : � R-MOVEMENT
" � R=R0
, � PEN%=HALT%
6 � �DDG : � R-MOVEMENT
@ � S
J � �DVD
T �
^ � TAKE THE VALUES
h � INIT : � ALL MOTORS OFF
r � �USR(E4)=0 � � �tPF 
|
 � M1,CW%
� � �DrF
� � �USR(E5)=0 � � �tnF   
� � M1,CCW%
� � �tPF
� � M1,HALT%
� � �USR(E6)=0 � � �dVF
�
 � M2,CW%
� � �txF
� � M1,HALT%
� � �USR(E7)=0 � � �d~F  
� � M2,CCW%
� � �d`F
� � M2,HALT%
 � �USR(E3)=0 � � �DhF
 � R=�USR(EX)
 � A=�USR(EY)
&! � �USR(E3)=1 � � �TfG       
0- � WAIT UNTIL SWITCH IS NO LONGER PRESSED
: �
D � R-MOVEMENT
N � M3,PEN%
X � D=�USR(EX)-R
b � D>0 � � M2,CW%
l � D<0 � � M2,CCW%
v � D=0 � �
�
 � D=�(D)
� � D>GR � � �DXG
� � I=0 � D
� � I
� � M2,HALT%
� � �DXG
� � A-MOVEMENT
� � M3,PEN%
� � D=�USR(EY)-A
� � D>0 � � M1,CW%
� � D<0 � � M1,CCW%
� � D=0 � �
�
 � D=�(D)
 � D>GA � � �dPG
 � I=0 � D
 � I
  � M1,HALT%
* � �dPG
4 � PEN DOWN
> � PEN%=GO%
H � I=0� 100
R � M3,PEN% : � DELAY LOOP
\ � I
f �
�
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|
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00000e50  45 20 50 45 52 49 4f 44  20 52 0d 02 6c 1f 20 e9  |E PERIOD R..l. .|
00000e60  20 47 41 3d 35 20 20 3a  20 f4 20 42 52 41 4b 45  | GA=5  : . BRAKE|
00000e70  20 50 45 52 49 4f 44 20  41 0d 02 76 06 20 f4 0d  | PERIOD A..v. ..|
00000e80  02 80 24 20 f4 20 41 53  53 49 47 4e 4d 45 4e 54  |..$ . ASSIGNMENT|
00000e90  53 20 46 4f 52 20 54 48  45 20 49 4e 54 45 52 46  |S FOR THE INTERF|
00000ea0  41 43 45 0d 02 8a 06 20  f4 0d 02 94 0c 20 f4 20  |ACE.... ..... . |
00000eb0  49 4e 50 55 54 0d 02 9e  25 20 f4 20 45 33 20 3d  |INPUT...% . E3 =|
00000ec0  20 54 41 4b 45 20 56 41  4c 55 45 53 20 47 49 56  | TAKE VALUES GIV|
00000ed0  45 4e 20 42 59 20 50 4f  54 53 0d 02 a8 11 20 f4  |EN BY POTS.... .|
00000ee0  20 45 34 20 3d 20 52 49  47 48 54 0d 02 b2 10 20  | E4 = RIGHT.... |
00000ef0  f4 20 45 35 20 3d 20 4c  45 46 54 0d 02 bc 13 20  |. E5 = LEFT.... |
00000f00  f4 20 45 36 20 3d 20 46  4f 52 57 41 52 44 0d 02  |. E6 = FORWARD..|
00000f10  c6 14 20 f4 20 45 37 20  3d 20 42 41 43 4b 57 41  |.. . E7 = BACKWA|
00000f20  52 44 0d 02 d0 1b 20 f4  20 45 58 20 3d 20 52 41  |RD.... . EX = RA|
00000f30  44 49 41 4c 20 50 4f 53  49 54 49 4f 4e 0d 02 da  |DIAL POSITION...|
00000f40  1a 20 f4 20 45 59 20 3d  20 41 4e 47 4c 45 20 50  |. . EY = ANGLE P|
00000f50  4f 53 49 54 49 4f 4e 0d  02 e4 07 20 f4 20 0d 02  |OSITION.... . ..|
00000f60  ee 0d 20 f4 20 4f 55 54  50 55 54 0d 02 f8 1c 20  |.. . OUTPUT.... |
00000f70  f4 20 4d 31 20 3d 20 54  55 52 4e 49 4e 47 20 4d  |. M1 = TURNING M|
00000f80  4f 56 45 4d 45 4e 54 0d  03 02 1b 20 f4 20 4d 32  |OVEMENT.... . M2|
00000f90  20 3d 20 52 41 44 49 41  4c 20 4d 4f 56 45 4d 45  | = RADIAL MOVEME|
00000fa0  4e 54 0d 03 0c 12 20 f4  20 4d 33 20 3d 20 4d 41  |NT.... . M3 = MA|
00000fb0  47 4e 45 54 0d 03 16 07  20 f4 20 0d 03 20 1d 20  |GNET.... . .. . |
00000fc0  f4 20 46 55 4e 43 54 49  4f 4e 20 44 45 53 43 52  |. FUNCTION DESCR|
00000fd0  49 50 54 49 4f 4e 20 3a  0d 03 2a 20 20 f4 20 54  |IPTION :..*  . T|
00000fe0  48 45 20 50 52 4f 47 52  41 4d 20 43 4f 4e 54 52  |HE PROGRAM CONTR|
00000ff0  4f 4c 53 20 54 48 45 20  0d 03 34 24 20 f4 20 50  |OLS THE ..4$ . P|
00001000  4c 4f 54 54 45 52 20 57  48 49 43 48 20 44 52 41  |LOTTER WHICH DRA|
00001010  57 53 20 41 20 47 52 41  50 48 49 43 0d 03 3e 23  |WS A GRAPHIC..>#|
00001020  20 f4 20 43 4f 4e 53 49  53 54 49 4e 47 20 4f 46  | . CONSISTING OF|
00001030  20 53 45 47 4d 45 4e 54  53 20 4f 46 20 41 20 0d  | SEGMENTS OF A .|
00001040  03 48 21 20 f4 20 43 49  52 43 4c 45 2e 20 41 46  |.H! . CIRCLE. AF|
00001050  54 45 52 20 54 48 45 20  53 54 41 52 54 20 4f 46  |TER THE START OF|
00001060  0d 03 52 21 20 f4 20 54  48 45 20 50 52 4f 47 52  |..R! . THE PROGR|
00001070  41 4d 20 54 48 45 20 50  4c 4f 54 54 45 52 20 49  |AM THE PLOTTER I|
00001080  53 0d 03 5c 21 20 f4 20  43 41 4c 49 42 52 41 54  |S..\! . CALIBRAT|
00001090  45 44 2e 20 54 48 45 52  45 41 46 54 45 52 20 59  |ED. THEREAFTER Y|
000010a0  4f 55 0d 03 66 20 20 f4  20 49 4e 50 55 54 20 54  |OU..f  . INPUT T|
000010b0  48 45 20 4e 55 4d 42 45  52 53 20 41 4e 44 20 54  |HE NUMBERS AND T|
000010c0  48 45 0d 03 70 18 20 f4  20 47 52 41 50 48 49 43  |HE..p. . GRAPHIC|
000010d0  20 49 53 20 44 52 41 57  4e 2e 0d 03 7a 07 20 f4  | IS DRAWN...z. .|
000010e0  20 0d 03 84 07 20 eb 36  0d 03 8e 07 20 f1 20 0d  | .... .6.... . .|
000010f0  03 98 17 20 f1 20 22 46  49 53 43 48 45 52 54 45  |... . "FISCHERTE|
00001100  43 48 4e 49 4b 22 0d 03  a2 14 20 f1 20 22 43 4f  |CHNIK".... . "CO|
00001110  4d 50 55 54 49 4e 47 22  20 20 0d 03 ac 07 20 f1  |MPUTING"  .... .|
00001120  20 0d 03 b6 10 20 f1 20  22 50 4c 4f 54 54 45 52  | .... . "PLOTTER|
00001130  22 0d 03 c0 07 20 f1 20  0d 03 ca 07 20 f4 20 0d  |".... . .... . .|
00001140  03 d4 43 20 e9 20 41 24  3d 22 50 4c 45 41 53 45  |..C . A$="PLEASE|
00001150  20 50 4f 53 49 54 49 4f  4e 20 54 48 45 20 50 4c  | POSITION THE PL|
00001160  4f 54 54 45 52 20 55 53  49 4e 47 20 54 48 45 20  |OTTER USING THE |
00001170  20 20 53 57 49 54 43 48  45 53 2c 20 54 4f 20 3a  |  SWITCHES, TO :|
00001180  2d 22 0d 03 de 07 20 f1  20 0d 03 e8 09 20 f1 20  |-".... . .... . |
00001190  41 24 0d 03 f2 1f 20 f1  20 22 52 49 47 48 54 20  |A$.... . "RIGHT |
000011a0  2d 20 4f 55 54 45 52 20  50 4f 53 49 54 49 4f 4e  |- OUTER POSITION|
000011b0  22 0d 03 fc 0b 20 e4 20  8d 44 5e 46 0d 04 06 0b  |".... . .D^F....|
000011c0  20 e9 20 52 4d 3d 52 0d  04 10 0b 20 e9 20 41 4d  | . RM=R.... . AM|
000011d0  3d 41 0d 04 1a 09 20 f1  20 41 24 0d 04 24 1e 20  |=A.... . A$..$. |
000011e0  f1 20 22 4c 45 46 54 20  2d 20 49 4e 4e 45 52 20  |. "LEFT - INNER |
000011f0  50 4f 53 49 54 49 4f 4e  22 0d 04 2e 0b 20 e4 20  |POSITION".... . |
00001200  8d 44 5e 46 0d 04 38 0b  20 e9 20 52 30 3d 52 0d  |.D^F..8. . R0=R.|
00001210  04 42 0b 20 e9 20 41 30  3d 41 0d 04 4c 14 20 f4  |.B. . A0=A..L. .|
00001220  20 49 4e 50 55 54 20 4f  46 20 44 41 54 41 0d 04  | INPUT OF DATA..|
00001230  56 07 20 f1 20 0d 04 60  1e 20 e8 20 22 4e 55 4d  |V. . ..`. . "NUM|
00001240  42 45 52 20 4f 46 20 53  45 47 4d 45 4e 54 53 22  |BER OF SEGMENTS"|
00001250  2c 53 47 0d 04 6a 0f 20  e7 20 53 47 3d 30 20 8c  |,SG..j. . SG=0 .|
00001260  20 e0 0d 04 74 0b 20 e9  20 53 53 3d 30 0d 04 7e  | ...t. . SS=0..~|
00001270  0f 20 e3 20 53 3d 31 20  b8 20 53 47 0d 04 88 14  |. . S=1 . SG....|
00001280  20 f1 20 22 41 4d 4f 55  4e 54 20 23 22 3b 53 3b  | . "AMOUNT #";S;|
00001290  0d 04 92 0f 20 e8 20 53  45 47 28 53 2d 31 29 0d  |.... . SEG(S-1).|
000012a0  04 9c 15 20 e9 20 53 53  3d 53 53 2b 53 45 47 28  |... . SS=SS+SEG(|
000012b0  53 2d 31 29 0d 04 a6 08  20 ed 20 53 0d 04 b0 19  |S-1).... . S....|
000012c0  20 f4 20 53 54 41 4e 44  41 52 44 49 5a 45 20 56  | . STANDARDIZE V|
000012d0  41 4c 55 45 53 0d 04 ba  0f 20 e3 20 53 3d 31 20  |ALUES.... . S=1 |
000012e0  b8 20 53 47 0d 04 c4 1b  20 e9 20 53 45 47 28 53  |. SG.... . SEG(S|
000012f0  2d 31 29 3d 53 45 47 28  53 2d 31 29 2f 53 53 0d  |-1)=SEG(S-1)/SS.|
00001300  04 ce 08 20 ed 20 53 0d  04 d8 1e 20 f1 20 22 50  |... . S.... . "P|
00001310  4c 45 41 53 45 20 49 4e  53 45 52 54 20 50 41 50  |LEASE INSERT PAP|
00001320  45 52 20 21 22 0d 04 e2  24 20 f1 20 22 44 45 50  |ER !"...$ . "DEP|
00001330  52 45 53 53 20 4b 45 59  20 45 33 20 57 48 45 4e  |RESS KEY E3 WHEN|
00001340  20 52 45 41 44 59 20 21  22 0d 04 ec 1b 20 e7 20  | READY !".... . |
00001350  a4 55 53 52 28 45 33 29  3d 30 20 8c 20 e5 20 8d  |.USR(E3)=0 . . .|
00001360  64 6c 44 20 0d 04 f6 0b  20 f4 20 50 4c 4f 54 0d  |dlD .... . PLOT.|
00001370  05 00 11 20 f4 20 49 20  42 4f 55 4e 44 41 52 59  |... . I BOUNDARY|
00001380  0d 05 0a 0b 20 e9 20 52  3d 52 30 0d 05 14 11 20  |.... . R=R0.... |
00001390  e9 20 50 45 4e 25 3d 48  41 4c 54 25 0d 05 1e 1a  |. PEN%=HALT%....|
000013a0  20 e4 20 8d 44 44 47 20  3a 20 f4 20 52 2d 4d 4f  | . .DDG : . R-MO|
000013b0  56 45 4d 45 4e 54 0d 05  28 0b 20 e9 20 41 3d 41  |VEMENT..(. . A=A|
000013c0  30 0d 05 32 11 20 e9 20  50 45 4e 25 3d 48 41 4c  |0..2. . PEN%=HAL|
000013d0  54 25 0d 05 3c 1a 20 e4  20 8d 74 7c 47 20 3a 20  |T%..<. . .t|G : |
000013e0  f4 20 41 2d 4d 4f 56 45  4d 45 4e 54 0d 05 46 0b  |. A-MOVEMENT..F.|
000013f0  20 e9 20 41 3d 41 4d 0d  05 50 18 20 e4 20 8d 54  | . A=AM..P. . .T|
00001400  74 48 20 3a 20 f4 20 50  45 4e 20 44 4f 57 4e 0d  |tH : . PEN DOWN.|
00001410  05 5a 0b 20 e4 20 8d 74  7c 47 0d 05 64 0b 20 e9  |.Z. . .t|G..d. .|
00001420  20 52 3d 52 4d 0d 05 6e  0f 20 e9 20 50 45 4e 25  | R=RM..n. . PEN%|
00001430  3d 47 4f 25 0d 05 78 1a  20 e4 20 8d 44 44 47 20  |=GO%..x. . .DDG |
00001440  3a 20 f4 20 52 2d 4d 4f  56 45 4d 45 4e 54 0d 05  |: . R-MOVEMENT..|
00001450  82 0b 20 e9 20 41 3d 41  30 0d 05 8c 18 20 e4 20  |.. . A=A0.... . |
00001460  8d 54 74 48 20 3a 20 f4  20 50 45 4e 20 44 4f 57  |.TtH : . PEN DOW|
00001470  4e 0d 05 96 1a 20 e4 20  8d 74 7c 47 20 3a 20 f4  |N.... . .t|G : .|
00001480  20 41 2d 4d 4f 56 45 4d  45 4e 54 0d 05 a0 0b 20  | A-MOVEMENT.... |
00001490  e9 20 52 3d 52 30 0d 05  aa 18 20 e4 20 8d 54 74  |. R=R0.... . .Tt|
000014a0  48 20 3a 20 f4 20 50 45  4e 20 44 4f 57 4e 0d 05  |H : . PEN DOWN..|
000014b0  b4 1a 20 e4 20 8d 44 44  47 20 3a 20 f4 20 52 2d  |.. . .DDG : . R-|
000014c0  4d 4f 56 45 4d 45 4e 54  0d 05 be 22 20 f4 20 49  |MOVEMENT..." . I|
000014d0  49 20 50 4c 4f 54 20 42  4f 52 44 45 52 53 20 4f  |I PLOT BORDERS O|
000014e0  46 20 53 45 47 4d 45 4e  54 53 0d 05 c8 0b 20 e9  |F SEGMENTS.... .|
000014f0  20 53 53 3d 30 0d 05 d2  11 20 e3 20 53 3d 31 20  | SS=0.... . S=1 |
00001500  b8 20 53 47 2d 31 0d 05  dc 15 20 e9 20 53 53 3d  |. SG-1.... . SS=|
00001510  53 53 2b 53 45 47 28 53  2d 31 29 0d 05 e6 1c 20  |SS+SEG(S-1).... |
00001520  e9 20 41 3d 41 30 2b a8  28 28 41 4d 2d 41 30 29  |. A=A0+.((AM-A0)|
00001530  2a 53 53 2b 2e 35 29 0d  05 f0 11 20 e9 20 50 45  |*SS+.5).... . PE|
00001540  4e 25 3d 48 41 4c 54 25  0d 05 fa 1a 20 e4 20 8d  |N%=HALT%.... . .|
00001550  74 7c 47 20 3a 20 f4 20  41 2d 4d 4f 56 45 4d 45  |t|G : . A-MOVEME|
00001560  4e 54 0d 06 04 0b 20 e9  20 52 3d 52 4d 0d 06 0e  |NT.... . R=RM...|
00001570  18 20 e4 20 8d 54 74 48  20 3a 20 f4 20 50 45 4e  |. . .TtH : . PEN|
00001580  20 44 4f 57 4e 0d 06 18  1a 20 e4 20 8d 44 44 47  | DOWN.... . .DDG|
00001590  20 3a 20 f4 20 52 2d 4d  4f 56 45 4d 45 4e 54 0d  | : . R-MOVEMENT.|
000015a0  06 22 0b 20 e9 20 52 3d  52 30 0d 06 2c 11 20 e9  |.". . R=R0..,. .|
000015b0  20 50 45 4e 25 3d 48 41  4c 54 25 0d 06 36 1a 20  | PEN%=HALT%..6. |
000015c0  e4 20 8d 44 44 47 20 3a  20 f4 20 52 2d 4d 4f 56  |. .DDG : . R-MOV|
000015d0  45 4d 45 4e 54 0d 06 40  08 20 ed 20 53 0d 06 4a  |EMENT..@. . S..J|
000015e0  0b 20 e5 20 8d 44 56 44  0d 06 54 06 20 e0 0d 06  |. . .DVD..T. ...|
000015f0  5e 16 20 f4 20 54 41 4b  45 20 54 48 45 20 56 41  |^. . TAKE THE VA|
00001600  4c 55 45 53 0d 06 68 1e  20 d6 20 49 4e 49 54 20  |LUES..h. . INIT |
00001610  3a 20 f4 20 41 4c 4c 20  4d 4f 54 4f 52 53 20 4f  |: . ALL MOTORS O|
00001620  46 46 0d 06 72 1b 20 e7  20 a4 55 53 52 28 45 34  |FF..r. . .USR(E4|
00001630  29 3d 30 20 8c 20 e5 20  8d 74 50 46 20 0d 06 7c  |)=0 . . .tPF ..||
00001640  0d 20 d6 20 4d 31 2c 43  57 25 0d 06 86 0b 20 e5  |. . M1,CW%.... .|
00001650  20 8d 44 72 46 0d 06 90  1d 20 e7 20 a4 55 53 52  | .DrF.... . .USR|
00001660  28 45 35 29 3d 30 20 8c  20 e5 20 8d 74 6e 46 20  |(E5)=0 . . .tnF |
00001670  20 20 0d 06 9a 0e 20 d6  20 4d 31 2c 43 43 57 25  |  .... . M1,CCW%|
00001680  0d 06 a4 0b 20 e5 20 8d  74 50 46 0d 06 ae 0f 20  |.... . .tPF.... |
00001690  d6 20 4d 31 2c 48 41 4c  54 25 0d 06 b8 1a 20 e7  |. M1,HALT%.... .|
000016a0  20 a4 55 53 52 28 45 36  29 3d 30 20 8c 20 e5 20  | .USR(E6)=0 . . |
000016b0  8d 64 56 46 0d 06 c2 0d  20 d6 20 4d 32 2c 43 57  |.dVF.... . M2,CW|
000016c0  25 0d 06 cc 0b 20 e5 20  8d 74 78 46 0d 06 d6 0f  |%.... . .txF....|
000016d0  20 d6 20 4d 31 2c 48 41  4c 54 25 0d 06 e0 1c 20  | . M1,HALT%.... |
000016e0  e7 20 a4 55 53 52 28 45  37 29 3d 30 20 8c 20 e5  |. .USR(E7)=0 . .|
000016f0  20 8d 64 7e 46 20 20 0d  06 ea 0e 20 d6 20 4d 32  | .d~F  .... . M2|
00001700  2c 43 43 57 25 0d 06 f4  0b 20 e5 20 8d 64 60 46  |,CCW%.... . .d`F|
00001710  0d 06 fe 0f 20 d6 20 4d  32 2c 48 41 4c 54 25 0d  |.... . M2,HALT%.|
00001720  07 08 1a 20 e7 20 a4 55  53 52 28 45 33 29 3d 30  |... . .USR(E3)=0|
00001730  20 8c 20 e5 20 8d 44 68  46 0d 07 12 11 20 e9 20  | . . .DhF.... . |
00001740  52 3d a4 55 53 52 28 45  58 29 0d 07 1c 11 20 e9  |R=.USR(EX).... .|
00001750  20 41 3d a4 55 53 52 28  45 59 29 0d 07 26 21 20  | A=.USR(EY)..&! |
00001760  e7 20 a4 55 53 52 28 45  33 29 3d 31 20 8c 20 e5  |. .USR(E3)=1 . .|
00001770  20 8d 54 66 47 20 20 20  20 20 20 20 0d 07 30 2d  | .TfG       ..0-|
00001780  20 f4 20 57 41 49 54 20  55 4e 54 49 4c 20 53 57  | . WAIT UNTIL SW|
00001790  49 54 43 48 20 49 53 20  4e 4f 20 4c 4f 4e 47 45  |ITCH IS NO LONGE|
000017a0  52 20 50 52 45 53 53 45  44 0d 07 3a 06 20 f8 0d  |R PRESSED..:. ..|
000017b0  07 44 11 20 f4 20 52 2d  4d 4f 56 45 4d 45 4e 54  |.D. . R-MOVEMENT|
000017c0  0d 07 4e 0e 20 d6 20 4d  33 2c 50 45 4e 25 0d 07  |..N. . M3,PEN%..|
000017d0  58 13 20 e9 20 44 3d a4  55 53 52 28 45 58 29 2d  |X. . D=.USR(EX)-|
000017e0  52 0d 07 62 15 20 e7 20  44 3e 30 20 8c 20 d6 20  |R..b. . D>0 . . |
000017f0  4d 32 2c 43 57 25 0d 07  6c 16 20 e7 20 44 3c 30  |M2,CW%..l. . D<0|
00001800  20 8c 20 d6 20 4d 32 2c  43 43 57 25 0d 07 76 0e  | . . M2,CCW%..v.|
00001810  20 e7 20 44 3d 30 20 8c  20 f8 0d 07 80 0d 20 e9  | . D=0 . ..... .|
00001820  20 44 3d 94 28 44 29 0d  07 8a 14 20 e7 20 44 3e  | D=.(D).... . D>|
00001830  47 52 20 8c 20 e5 20 8d  44 58 47 0d 07 94 0e 20  |GR . . .DXG.... |
00001840  e3 20 49 3d 30 20 b8 20  44 0d 07 9e 08 20 ed 20  |. I=0 . D.... . |
00001850  49 0d 07 a8 0f 20 d6 20  4d 32 2c 48 41 4c 54 25  |I.... . M2,HALT%|
00001860  0d 07 b2 0b 20 e5 20 8d  44 58 47 0d 07 bc 11 20  |.... . .DXG.... |
00001870  f4 20 41 2d 4d 4f 56 45  4d 45 4e 54 0d 07 c6 0e  |. A-MOVEMENT....|
00001880  20 d6 20 4d 33 2c 50 45  4e 25 0d 07 d0 13 20 e9  | . M3,PEN%.... .|
00001890  20 44 3d a4 55 53 52 28  45 59 29 2d 41 0d 07 da  | D=.USR(EY)-A...|
000018a0  15 20 e7 20 44 3e 30 20  8c 20 d6 20 4d 31 2c 43  |. . D>0 . . M1,C|
000018b0  57 25 0d 07 e4 16 20 e7  20 44 3c 30 20 8c 20 d6  |W%.... . D<0 . .|
000018c0  20 4d 31 2c 43 43 57 25  0d 07 ee 0e 20 e7 20 44  | M1,CCW%.... . D|
000018d0  3d 30 20 8c 20 f8 0d 07  f8 0d 20 e9 20 44 3d 94  |=0 . ..... . D=.|
000018e0  28 44 29 0d 08 02 14 20  e7 20 44 3e 47 41 20 8c  |(D).... . D>GA .|
000018f0  20 e5 20 8d 64 50 47 0d  08 0c 0e 20 e3 20 49 3d  | . .dPG.... . I=|
00001900  30 20 b8 20 44 0d 08 16  08 20 ed 20 49 0d 08 20  |0 . D.... . I.. |
00001910  0f 20 d6 20 4d 31 2c 48  41 4c 54 25 0d 08 2a 0b  |. . M1,HALT%..*.|
00001920  20 e5 20 8d 64 50 47 0d  08 34 0f 20 f4 20 50 45  | . .dPG..4. . PE|
00001930  4e 20 44 4f 57 4e 0d 08  3e 0f 20 e9 20 50 45 4e  |N DOWN..>. . PEN|
00001940  25 3d 47 4f 25 0d 08 48  0f 20 e3 20 49 3d 30 b8  |%=GO%..H. . I=0.|
00001950  20 31 30 30 0d 08 52 1d  20 d6 20 4d 33 2c 50 45  | 100..R. . M3,PE|
00001960  4e 25 20 3a 20 f4 20 44  45 4c 41 59 20 4c 4f 4f  |N% : . DELAY LOO|
00001970  50 0d 08 5c 08 20 ed 20  49 0d 08 66 06 20 f8 0d  |P..\. . I..f. ..|
00001980  ff                                                |.|
00001981
PLOTTER.m0
PLOTTER.m1
PLOTTER.m2
PLOTTER.m4
PLOTTER.m5