Home » Personal collection » Acorn DFS disks » dfs_box04_disk09_rgs_robotics_1.scp » PICKUP
PICKUP
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.
Some of these files were originally commercial releases in the 1980s and 1990s, but they are now widely available online. I assume that copyright over them is no longer being asserted. If you own the copyright and would like files to be removed, please contact me.
| Tape/disk: | Home » Personal collection » Acorn DFS disks » dfs_box04_disk09_rgs_robotics_1.scp |
| Filename: | PICKUP |
| Read OK: | ✔ |
| File size: | 13C1 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
520 REM FISCHERTECHNIK COMPUTING
530 REM
540 REM PICK&PLACE
550 REM
560 REM COPYRIGHT (C) ARTUR FISCHER FORSCHUNG 1985
570 REM
580 REM ASSIGNMENTS FOR THE INTERFACE
590 REM
600 REM INPUT
610 REM E1=PHOTO-CELL
620 REM E2=START
630 REM EX=POSITION OF ARM
640 REM EY=POSITION OF ANGLE
650 REM
660 REM OUTPUT
670 REM M1=TURN ROBOT
680 REM M2=UP/DOWN
690 REM M3=MAGNET
700 REM M4=CONVEYOR BELT
750 REM
800 REM FUNCTIONAL DESCRIPTION
810 REM WHEN THE START SWITCH IS PRESSED THE CONVEYOR BELT
820 REM TRANSPORTS THE COIN TO THE ROBOT ARM
830 REM THE ROBOT ARM PICKS THE COIN UP AND TRANSPORTS THE COIN TO THE CHUTE.
900 REM TURN POSITIONS
910 DIM TURN(2),ARM(2)
920 LET TURN(1)=113
930 LET TURN(2)=35
940 LET ARM(1)=120
950 LET ARM(2)=28
1000 MODE6
1010 PRINT"FISCHERTECHNIK"
1020 PRINT"COMPUTING"
1030 PRINT
1040 PRINT"PICK & PLACE"
1050 PRINT
1060 PRINT"PLEASE PRESS THE START SWITCH"
1070 REM START
1080 IF FNUSR(E2)=0 THEN GOTO 1080
1090 CALL M4,CW%
1100 IF FNUSR(E1)=0 THEN GOTO 1100
1110 CALL M4,HALT%
1120 LET NOMINAL_VALUE=TURN(1)
1130 GOSUB 1300
1140 LET NOMINAL_VALUE=ARM(1)
1150 GOSUB 1400
1160 REM MAGNET ON
1170 FORI=0TO100
1180 CALL M3,CW%
1190 NEXTI
1200 LET NOMINAL_VALUE=ARM(2)
1210 GOSUB 1400
1220 LET NOMINAL_VALUE=TURN(2)
1230 GOSUB1300
1240 LET NOMINAL_VALUE=ARM(1)
1250 GOSUB 1400
1260 CALL M3,HALT% :REM MAGNET OFF
1270 LET NOMINAL_VALUE=ARM(2)
1280 GOSUB 1400
1290 GOTO 1060
1300 REM POSITIONAL CONTROL ROUTINE
1310 LET D=FNUSR(EY)-NOMINAL_VALUE
1320 IF D>0 THEN CALL M1,CW%
1330 IF D<0 THEN CALL M1,CCW%
1340 IF D=0 THEN RETURN
1350LET D=ABS(D)
1360 IF D>3 THEN GOTO 1310
1370 CALL M1,HALT%
1380 GOTO 1310
1390 RETURN
1400 REM POSITIONAL CONTROL ROUTINE ARM
1410 LET D=FNUSR(EX)-NOMINAL_VALUE
1420 IF D>0 THEN CALL M2,CW%
1430 IF D<0 THEN CALL M2,CCW%
1440 IF D=0 THEN RETURN
1450 LET D=ABS(D)
1460 IF D>20 THEN GOTO 1400
1470 CALL M2,HALT%
1480 GOTO1400
1490 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
�
� PICK&PLACE
& �
01 � COPYRIGHT (C) ARTUR FISCHER FORSCHUNG 1985
: �
D$ � ASSIGNMENTS FOR THE INTERFACE
N �
X � INPUT
b � E1=PHOTO-CELL
l � E2=START
v � EX=POSITION OF ARM
� � EY=POSITION OF ANGLE
� �
�
� OUTPUT
� � M1=TURN ROBOT
� � M2=UP/DOWN
� � M3=MAGNET
� � M4=CONVEYOR BELT
� �
� FUNCTIONAL DESCRIPTION
*9 � WHEN THE START SWITCH IS PRESSED THE CONVEYOR BELT
4+ � TRANSPORTS THE COIN TO THE ROBOT ARM
>L � THE ROBOT ARM PICKS THE COIN UP AND TRANSPORTS THE COIN TO THE CHUTE.
� � TURN POSITIONS
� � TURN(2),ARM(2)
� � TURN(1)=113
� � TURN(2)=35
� � ARM(1)=120
� � ARM(2)=28
� �6
� �"FISCHERTECHNIK"
� �"COMPUTING"
�
�"PICK & PLACE"
�
$% �"PLEASE PRESS THE START SWITCH"
. � START
8 � �USR(E2)=0 � � �TxD
B
� M4,CW%
L � �USR(E1)=0 � � �DLD
V � M4,HALT%
` � NOMINAL_VALUE=TURN(1)
j � �TTE
t � NOMINAL_VALUE=ARM(1)
~ � �DxE
� � MAGNET ON
�
�I=0�100
�
� M3,CW%
� �I
� � NOMINAL_VALUE=ARM(2)
� � �DxE
� � NOMINAL_VALUE=TURN(2)
�
�TTE
� � NOMINAL_VALUE=ARM(1)
� � �DxE
� � M3,HALT% :� MAGNET OFF
� � NOMINAL_VALUE=ARM(2)
� �DxE
� �TdD
! � POSITIONAL CONTROL ROUTINE
� D=�USR(EY)-NOMINAL_VALUE
( � D>0 � � M1,CW%
2 � D<0 � � M1,CCW%
< � D=0 � �
F � D=�(D)
P � D>3 � � �T^E
Z � M1,HALT%
d � �T^E
n �
x% � POSITIONAL CONTROL ROUTINE ARM
� � D=�USR(EX)-NOMINAL_VALUE
� � D>0 � � M2,CW%
� � D<0 � � M2,CCW%
� � D=0 � �
�
� D=�(D)
� � D>20 � � �DxE
� � M2,HALT%
�
�DxE
� �
� 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 :|
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00001090 45 20 50 52 45 53 53 20 54 48 45 20 53 54 41 52 |E PRESS THE STAR|
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00001160 4f 4e 0d 04 92 0d 20 e3 49 3d 30 b8 31 30 30 0d |ON.... .I=0.100.|
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00001190 4c 5f 56 41 4c 55 45 3d 41 52 4d 28 32 29 20 0d |L_VALUE=ARM(2) .|
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000011b0 20 4e 4f 4d 49 4e 41 4c 5f 56 41 4c 55 45 3d 54 | NOMINAL_VALUE=T|
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00001200 33 2c 48 41 4c 54 25 20 3a f4 20 4d 41 47 4e 45 |3,HALT% :. MAGNE|
00001210 54 20 4f 46 46 0d 04 f6 1d 20 e9 20 4e 4f 4d 49 |T OFF.... . NOMI|
00001220 4e 41 4c 5f 56 41 4c 55 45 3d 41 52 4d 28 32 29 |NAL_VALUE=ARM(2)|
00001230 20 20 0d 05 00 0c 20 e4 20 8d 44 78 45 20 0d 05 | .... . .DxE ..|
00001240 0a 0b 20 e5 20 8d 54 64 44 0d 05 14 21 20 f4 20 |.. . .TdD...! . |
00001250 50 4f 53 49 54 49 4f 4e 41 4c 20 43 4f 4e 54 52 |POSITIONAL CONTR|
00001260 4f 4c 20 52 4f 55 54 49 4e 45 0d 05 1e 1f 20 e9 |OL ROUTINE.... .|
00001270 20 44 3d a4 55 53 52 28 45 59 29 2d 4e 4f 4d 49 | D=.USR(EY)-NOMI|
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00001290 44 3e 30 20 8c 20 d6 20 4d 31 2c 43 57 25 20 0d |D>0 . . M1,CW% .|
000012a0 05 32 16 20 e7 20 44 3c 30 20 8c 20 d6 20 4d 31 |.2. . D<0 . . M1|
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000012e0 5e 45 0d 05 5a 0f 20 d6 20 4d 31 2c 48 41 4c 54 |^E..Z. . M1,HALT|
000012f0 25 0d 05 64 0b 20 e5 20 8d 54 5e 45 0d 05 6e 06 |%..d. . .T^E..n.|
00001300 20 f8 0d 05 78 25 20 f4 20 50 4f 53 49 54 49 4f | ...x% . POSITIO|
00001310 4e 41 4c 20 43 4f 4e 54 52 4f 4c 20 52 4f 55 54 |NAL CONTROL ROUT|
00001320 49 4e 45 20 41 52 4d 0d 05 82 1f 20 e9 20 44 3d |INE ARM.... . D=|
00001330 a4 55 53 52 28 45 58 29 2d 4e 4f 4d 49 4e 41 4c |.USR(EX)-NOMINAL|
00001340 5f 56 41 4c 55 45 0d 05 8c 15 20 e7 20 44 3e 30 |_VALUE.... . D>0|
00001350 20 8c 20 d6 20 4d 32 2c 43 57 25 0d 05 96 16 20 | . . M2,CW%.... |
00001360 e7 20 44 3c 30 20 8c 20 d6 20 4d 32 2c 43 43 57 |. D<0 . . M2,CCW|
00001370 25 0d 05 a0 0e 20 e7 20 44 3d 30 20 8c 20 f8 0d |%.... . D=0 . ..|
00001380 05 aa 0d 20 e9 20 44 3d 94 28 44 29 0d 05 b4 14 |... . D=.(D)....|
00001390 20 e7 20 44 3e 32 30 20 8c 20 e5 20 8d 44 78 45 | . D>20 . . .DxE|
000013a0 0d 05 be 0f 20 d6 20 4d 32 2c 48 41 4c 54 25 0d |.... . M2,HALT%.|
000013b0 05 c8 0a 20 e5 8d 44 78 45 0d 05 d2 06 20 f8 0d |... ..DxE.... ..|
000013c0 ff |.|
000013c1 
PICKUP.m0
PICKUP.m1
PICKUP.m2
PICKUP.m4
PICKUP.m5
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