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DIAGNOS

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: DIAGNOS
Read OK: ✔
File size: 1472 bytes
Load address: FF1900
Exec address: FF8023
Duplicates

There is 1 duplicate copy of this file in the archive:

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 DIAGNOSTIC PROGRAM
  540 REM
  541 REM COPYRIGHT (C) 1984
  542 REM BY ARTUR FISCHER FORSCHUNG
  545 REM
  550 @%=4:REM PRINTOUT FORMAT
  560 DIM STA$(4),STA%(4):REM MOTOR STATUS
  570 FOR I=1TO4
  580 STA%(I)=255
  590 NEXT I
  600 M=0
  610 MODE 6
  620 VDU 23,1,0;0;0;0;:REM CURSOR OFF
  630 PRINT "FISCHERTECHNIK"
  640 PRINT "COMPUTING"
  650 PRINT "DIAGNOSTIC PROGRAM"
  660 PRINT TAB(5,6);
  670 INPUT "DO YOU USE POTENTIOMETER X",X$
  680 PRINT TAB(5,7);
  690 INPUT "DO YOU USE POTENTIOMETER Y",Y$
  700 LET X=LEFT$(X$,1)="Y"
  710 LET Y=LEFT$(Y$,1)="Y"
  720 PRINT TAB(5,6);
  730 PRINT "E1  E2  E3  E4  E5  E6  E7  E8"
  740 PRINT TAB(15,4);"KEY STATUS"
  750 PRINT TAB(9,9);"POTENTIOMETER STATUS"
  760 PRINT TAB(14,13);"MOTOR STATUS"
  770 PRINT TAB(10,15);"M1    M2    M3    M4"
  780 PRINT TAB(2,19);"<C>  ALL MOTORS OFF  "
  790 PRINT "  <O>  CURRENT MOTOR OFF"
  800 PRINT "  <L>  CURRENT MOTOR LEFT"
  810 PRINT "  <R>  CURRENT MOTOR RIGHT"
  820 PRINT " <1-4> SELECT CURRENT MOTOR   <X> EXIT"
  830 GOSUB 970
  840 K=INKEY (1)
  860 IF K=ASC("C") THEN FOR I=1TO4:STA%(I)=HALT%:NEXT I:M=0:GOTO 920
  870 IF K=ASC("O") THEN LET STA%(M)=HALT%:GOTO 920
  880 IF K=ASC("L") THEN LET STA%(M)=CCW%:GOTO 920
  890 IF K=ASC("R") THEN LET STA%(M)=CW%:GOTO 920
  900 IF K=ASC("X") THEN GOTO 1170
  910 IF K>48 AND K<53 THEN LET M=K-48
  920 CALL M1,STA%(1)
  930 CALL M2,STA%(2)
  940 CALL M3,STA%(3)
  950 CALL M4,STA%(4)
  960 GOTO 830
  970 PRINT TAB(2,7);
  980 PRINT FNUSR(E1);
  990 PRINT FNUSR(E2);
 1000 PRINT FNUSR(E3);
 1010 PRINT FNUSR(E4);
 1020 PRINT FNUSR(E5);
 1030 PRINT FNUSR(E6);
 1040 PRINT FNUSR(E7);
 1050 PRINT FNUSR(E8);
 1060 FOR I=1TO4
 1070 IF STA%(I)=255 THEN LET STA$(I)="OFF   "
 1080 IF STA%(I)=85 THEN LET STA$(I)="CW    "
 1090 IF STA%(I)=170 THEN LET STA$(I)="CCW   "  
 1100 NEXT I
 1110 PRINT TAB(10,17);STA$(1);STA$(2);STA$(3);STA$(4)
 1120 IF X THEN PRINT TAB(9,11);"EX : ";FNUSR(EX);" "
 1130 IF Y THEN PRINT TAB(21,11);"EY : ";FNUSR(EY);" "
 1140 PRINT TAB(25,20);"CURRENT MOTOR "
 1150 PRINT TAB(30,21);">";M;"<"
 1160 RETURN
 1170 REM QUIT TEST ROUTINE
 1180 REM SWITCH ON CURSOR
 1190 VDU 23,1,1;0;0;0;
 1200 REM STOP ALL MOTORS
 1210 CALL INIT
 1220 MODE 6
 1230 END


 � 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
 � 
 � DIAGNOSTIC PROGRAM
 �
 � COPYRIGHT (C) 1984
! � BY ARTUR FISCHER FORSCHUNG
! �
& @%=4:� PRINTOUT FORMAT
0% � STA$(4),STA%(4):� MOTOR STATUS
: � I=1�4
D STA%(I)=255
N � I
X M=0
b � 6
l! � 23,1,0;0;0;0;:� CURSOR OFF
v � "FISCHERTECHNIK"
� � "COMPUTING"
� � "DIAGNOSTIC PROGRAM"
�
 � �5,6);
�& � "DO YOU USE POTENTIOMETER X",X$
�
 � �5,7);
�& � "DO YOU USE POTENTIOMETER Y",Y$
� � X=�X$,1)="Y"
� � Y=�Y$,1)="Y"
�
 � �5,6);
�' � "E1  E2  E3  E4  E5  E6  E7  E8"
� � �15,4);"KEY STATUS"
�# � �9,9);"POTENTIOMETER STATUS"
� � �14,13);"MOTOR STATUS"
% � �10,15);"M1    M2    M3    M4"
% � �2,19);"<C>  ALL MOTORS OFF  "
! � "  <O>  CURRENT MOTOR OFF"
 " � "  <L>  CURRENT MOTOR LEFT"
*# � "  <R>  CURRENT MOTOR RIGHT"
4/ � " <1-4> SELECT CURRENT MOTOR   <X> EXIT"
> � �dJC
H K=� (1)
\6 � K=�("C") � � I=1�4:STA%(I)=HALT%:� I:M=0:� �tXC
f( � K=�("O") � � STA%(M)=HALT%:� �tXC
p' � K=�("L") � � STA%(M)=CCW%:� �tXC
z& � K=�("R") � � STA%(M)=CW%:� �tXC
� � K=�("X") � � �tRD
� � K>48 � K<53 � � M=K-48
� � M1,STA%(1)
� � M2,STA%(2)
� � M3,STA%(3)
� � M4,STA%(4)
� � �T~C
�
 � �2,7);
� � �USR(E1);
� � �USR(E2);
� � �USR(E3);
� � �USR(E4);
� � �USR(E5);
 � �USR(E6);
 � �USR(E7);
 � �USR(E8);
$ � I=1�4
.' � STA%(I)=255 � � STA$(I)="OFF   "
8& � STA%(I)=85 � � STA$(I)="CW    "
B) � STA%(I)=170 � � STA$(I)="CCW   "  
L � I
V. � �10,17);STA$(1);STA$(2);STA$(3);STA$(4)
`( � X � � �9,11);"EX : ";�USR(EX);" "
j) � Y � � �21,11);"EY : ";�USR(EY);" "
t � �25,20);"CURRENT MOTOR "
~ � �30,21);">";M;"<"
� �
� � QUIT TEST ROUTINE
� � SWITCH ON CURSOR
� � 23,1,1;0;0;0;
� � STOP ALL MOTORS
� � INIT
� � 6
� �
�
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|
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00001070  22 0d 03 20 22 20 f1 20  22 20 20 3c 4c 3e 20 20  |".. " . "  <L>  |
00001080  43 55 52 52 45 4e 54 20  4d 4f 54 4f 52 20 4c 45  |CURRENT MOTOR LE|
00001090  46 54 22 0d 03 2a 23 20  f1 20 22 20 20 3c 52 3e  |FT"..*# . "  <R>|
000010a0  20 20 43 55 52 52 45 4e  54 20 4d 4f 54 4f 52 20  |  CURRENT MOTOR |
000010b0  52 49 47 48 54 22 0d 03  34 2f 20 f1 20 22 20 3c  |RIGHT"..4/ . " <|
000010c0  31 2d 34 3e 20 53 45 4c  45 43 54 20 43 55 52 52  |1-4> SELECT CURR|
000010d0  45 4e 54 20 4d 4f 54 4f  52 20 20 20 3c 58 3e 20  |ENT MOTOR   <X> |
000010e0  45 58 49 54 22 0d 03 3e  0b 20 e4 20 8d 64 4a 43  |EXIT"..>. . .dJC|
000010f0  0d 03 48 0c 20 4b 3d a6  20 28 31 29 0d 03 5c 36  |..H. K=. (1)..\6|
00001100  20 e7 20 4b 3d 97 28 22  43 22 29 20 8c 20 e3 20  | . K=.("C") . . |
00001110  49 3d 31 b8 34 3a 53 54  41 25 28 49 29 3d 48 41  |I=1.4:STA%(I)=HA|
00001120  4c 54 25 3a ed 20 49 3a  4d 3d 30 3a e5 20 8d 74  |LT%:. I:M=0:. .t|
00001130  58 43 0d 03 66 28 20 e7  20 4b 3d 97 28 22 4f 22  |XC..f( . K=.("O"|
00001140  29 20 8c 20 e9 20 53 54  41 25 28 4d 29 3d 48 41  |) . . STA%(M)=HA|
00001150  4c 54 25 3a e5 20 8d 74  58 43 0d 03 70 27 20 e7  |LT%:. .tXC..p' .|
00001160  20 4b 3d 97 28 22 4c 22  29 20 8c 20 e9 20 53 54  | K=.("L") . . ST|
00001170  41 25 28 4d 29 3d 43 43  57 25 3a e5 20 8d 74 58  |A%(M)=CCW%:. .tX|
00001180  43 0d 03 7a 26 20 e7 20  4b 3d 97 28 22 52 22 29  |C..z& . K=.("R")|
00001190  20 8c 20 e9 20 53 54 41  25 28 4d 29 3d 43 57 25  | . . STA%(M)=CW%|
000011a0  3a e5 20 8d 74 58 43 0d  03 84 18 20 e7 20 4b 3d  |:. .tXC.... . K=|
000011b0  97 28 22 58 22 29 20 8c  20 e5 20 8d 74 52 44 0d  |.("X") . . .tRD.|
000011c0  03 8e 1d 20 e7 20 4b 3e  34 38 20 80 20 4b 3c 35  |... . K>48 . K<5|
000011d0  33 20 8c 20 e9 20 4d 3d  4b 2d 34 38 0d 03 98 11  |3 . . M=K-48....|
000011e0  20 d6 20 4d 31 2c 53 54  41 25 28 31 29 0d 03 a2  | . M1,STA%(1)...|
000011f0  11 20 d6 20 4d 32 2c 53  54 41 25 28 32 29 0d 03  |. . M2,STA%(2)..|
00001200  ac 11 20 d6 20 4d 33 2c  53 54 41 25 28 33 29 0d  |.. . M3,STA%(3).|
00001210  03 b6 11 20 d6 20 4d 34  2c 53 54 41 25 28 34 29  |... . M4,STA%(4)|
00001220  0d 03 c0 0b 20 e5 20 8d  54 7e 43 0d 03 ca 0d 20  |.... . .T~C.... |
00001230  f1 20 8a 32 2c 37 29 3b  0d 03 d4 10 20 f1 20 a4  |. .2,7);.... . .|
00001240  55 53 52 28 45 31 29 3b  0d 03 de 10 20 f1 20 a4  |USR(E1);.... . .|
00001250  55 53 52 28 45 32 29 3b  0d 03 e8 10 20 f1 20 a4  |USR(E2);.... . .|
00001260  55 53 52 28 45 33 29 3b  0d 03 f2 10 20 f1 20 a4  |USR(E3);.... . .|
00001270  55 53 52 28 45 34 29 3b  0d 03 fc 10 20 f1 20 a4  |USR(E4);.... . .|
00001280  55 53 52 28 45 35 29 3b  0d 04 06 10 20 f1 20 a4  |USR(E5);.... . .|
00001290  55 53 52 28 45 36 29 3b  0d 04 10 10 20 f1 20 a4  |USR(E6);.... . .|
000012a0  55 53 52 28 45 37 29 3b  0d 04 1a 10 20 f1 20 a4  |USR(E7);.... . .|
000012b0  55 53 52 28 45 38 29 3b  0d 04 24 0c 20 e3 20 49  |USR(E8);..$. . I|
000012c0  3d 31 b8 34 0d 04 2e 27  20 e7 20 53 54 41 25 28  |=1.4...' . STA%(|
000012d0  49 29 3d 32 35 35 20 8c  20 e9 20 53 54 41 24 28  |I)=255 . . STA$(|
000012e0  49 29 3d 22 4f 46 46 20  20 20 22 0d 04 38 26 20  |I)="OFF   "..8& |
000012f0  e7 20 53 54 41 25 28 49  29 3d 38 35 20 8c 20 e9  |. STA%(I)=85 . .|
00001300  20 53 54 41 24 28 49 29  3d 22 43 57 20 20 20 20  | STA$(I)="CW    |
00001310  22 0d 04 42 29 20 e7 20  53 54 41 25 28 49 29 3d  |"..B) . STA%(I)=|
00001320  31 37 30 20 8c 20 e9 20  53 54 41 24 28 49 29 3d  |170 . . STA$(I)=|
00001330  22 43 43 57 20 20 20 22  20 20 0d 04 4c 08 20 ed  |"CCW   "  ..L. .|
00001340  20 49 0d 04 56 2e 20 f1  20 8a 31 30 2c 31 37 29  | I..V. . .10,17)|
00001350  3b 53 54 41 24 28 31 29  3b 53 54 41 24 28 32 29  |;STA$(1);STA$(2)|
00001360  3b 53 54 41 24 28 33 29  3b 53 54 41 24 28 34 29  |;STA$(3);STA$(4)|
00001370  0d 04 60 28 20 e7 20 58  20 8c 20 f1 20 8a 39 2c  |..`( . X . . .9,|
00001380  31 31 29 3b 22 45 58 20  3a 20 22 3b a4 55 53 52  |11);"EX : ";.USR|
00001390  28 45 58 29 3b 22 20 22  0d 04 6a 29 20 e7 20 59  |(EX);" "..j) . Y|
000013a0  20 8c 20 f1 20 8a 32 31  2c 31 31 29 3b 22 45 59  | . . .21,11);"EY|
000013b0  20 3a 20 22 3b a4 55 53  52 28 45 59 29 3b 22 20  | : ";.USR(EY);" |
000013c0  22 0d 04 74 1f 20 f1 20  8a 32 35 2c 32 30 29 3b  |"..t. . .25,20);|
000013d0  22 43 55 52 52 45 4e 54  20 4d 4f 54 4f 52 20 22  |"CURRENT MOTOR "|
000013e0  0d 04 7e 18 20 f1 20 8a  33 30 2c 32 31 29 3b 22  |..~. . .30,21);"|
000013f0  3e 22 3b 4d 3b 22 3c 22  0d 04 88 06 20 f8 0d 04  |>";M;"<".... ...|
00001400  92 18 20 f4 20 51 55 49  54 20 54 45 53 54 20 52  |.. . QUIT TEST R|
00001410  4f 55 54 49 4e 45 0d 04  9c 17 20 f4 20 53 57 49  |OUTINE.... . SWI|
00001420  54 43 48 20 4f 4e 20 43  55 52 53 4f 52 0d 04 a6  |TCH ON CURSOR...|
00001430  14 20 ef 20 32 33 2c 31  2c 31 3b 30 3b 30 3b 30  |. . 23,1,1;0;0;0|
00001440  3b 0d 04 b0 16 20 f4 20  53 54 4f 50 20 41 4c 4c  |;.... . STOP ALL|
00001450  20 4d 4f 54 4f 52 53 0d  04 ba 0b 20 d6 20 49 4e  | MOTORS.... . IN|
00001460  49 54 0d 04 c4 08 20 eb  20 36 0d 04 ce 06 20 e0  |IT.... . 6.... .|
00001470  0d ff                                             |..|
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