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TOWER

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: TOWER
Read OK: ✔
File size: 1561 bytes
Load address: FF2400
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
  600 REM 
  610 REM FISCHERTECHNIK COMPUTING
  620 REM 
  630 REM TOWER OF HANOI
  640 REM 
  650 REM COPYRIGHT (C) 1984
  660 REM BY ARTUR FISCHER FORSCHUNG
  670 REM 
  690 REM ASSIGNMENTS FOR THE INTERFACE
  700 REM
  710 REM INPUT
  720 REM E1=BOTTOM
  730 REM E2=TOP
  740 REM EY=POSITION OF THE ANGLE
  750 REM 
  760 REM OUTPUT
  770 REM M1=BODY
  780 REM M2=ARM
  790 REM M3=MAGNET
  800 REM 
  810 REM FUNCTION DESCRIPTION :
  820 REM SORTING THE PILE OF DISCS
  830 REM FOLLOWING THE PUZZLE ORIGINATING FROM BUDDHIST TRADITION
  840 REM 
  850 REM 
 1000 DIM X(31),Y(31),Z(31),PILE(3)
 1010 REM POSITON OF PILES (ARBITRARY VALUES)
 1020 PROCsetpile
 1500 MODE6
 1510 PRINT "FISCHERTECHNIK"  
 1520 PRINT "COMPUTING"   
 1530 PRINT
 1540 PRINT "TOWER OF HANOI"
 1550 PRINT
 1600 INPUT "HOW MANY DISCS DOES THE TOWER HAVE ",N
 1610 IF N<1 THEN END
 1620 LET M=0
 1630 LET X(M)=N:LET Y(M)=1:LET Z(M)=3
 1640 GOSUB 1700
 1650 END
 1690 REM PSEUDORECURSIVE ROUTINE
 1700 IF X(M)=0 THEN RETURN
 1710 LET M=M+1
 1720 LET X(M)=X(M-1)-1
 1730 LET Y(M)=Y(M-1)
 1740 LET Z(M)=6-Y(M-1)-Z(M-1)
 1750 GOSUB 1700
 1760 LET M=M-1
 1770 PRINT "DISC ";X(M);"FROM PILE ";Y(M);" TO PILE ";Z(M)  
 1780 GOSUB 2000:REM ROBOT ROUTINE
 1790 LET M=M+1
 1800 LET X(M)=X(M-1)-1
 1810 LET Y(M)=6-Y(M-1)-Z(M-1)
 1820 LET Z(M)=Z(M-1)
 1830 GOSUB 1700
 1840 LET M=M-1
 1850 RETURN
 2000 REM ROBOT ROUTINE
 2010 LET AIM=PILE(Y(M))
 2020 GOSUB 2200:REM TURN BODY
 2030 GOSUB 2310:REM LOWER ARM
 2040 CALL M1,GO%:REM SWITCH MAGNET ON
 2050 GOSUB 2350:REM LIFT ARM
 2060 LET AIM=PILE(Z(M))
 2070 GOSUB 2200:REM TURN BODY
 2080 GOSUB 2310:REM LOWER ARM
 2090 GOSUB 2120:REM MAGNET OFF
 2100 GOSUB 2350:REM LIFT ARM
 2110 RETURN
 2120 REM MAGNET-OFF ROUTINE
 2130 CALL M1,CCW%:REM REVERSE MAGNET CURRENT FOR DEMAGETIZATION 
 2140 CALL M1,HALT%:REM MAGNET OFF 
 2150 RETURN
 2200 REM POSITIONAL CONTROL ROUTINE
 2210 LET D=FNUSR(EY)-AIM 
 2220 IF D>0 THEN CALL M3,CW%  
 2230 IF D<0 THEN CALL M3,CCW% 
 2240 IF D=0 THEN RETURN
 2250 LET D=ABS(D)
 2260 IF D>5 THEN GOTO 2210
 2270 FOR I=0 TO D
 2280 NEXT I
 2290 CALL M3,HALT% 
 2300 GOTO 2210
 2310 CALL M2,CCW%:REM LOWER ARM 
 2320 IF FNUSR(E1)=0 THEN GOTO 2310 
 2330 CALL M2,HALT%
 2340 RETURN
 2350 CALL M2,CW%:REM LIFT ARM  
 2360 IF FNUSR(E2)=0 THEN GOTO 2360 
 2370 CALL M2,HALT%
 2380 RETURN
 2390 DEF PROCsetpile:OK=FALSE
 2395 FOR n=1 TO 3:OK=FALSE
 2400 REPEAT
 2410 IF FNUSR(E4)=1 THEN CALL M3,CW%:OK=TRUE
 2420 IF FNUSR(E5)=1 THEN CALL M3,CCW%:OK=TRUE
 2430 UNTIL OK 
 2440 REPEAT:UNTIL FNUSR(E3)=1
 2450 CALL M3,HALT%
 2460 PILE(n)=FNUSR(EY)
 2470 NEXT n:ENDPROC 


 � 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
X � 
b � FISCHERTECHNIK COMPUTING
l � 
v � TOWER OF HANOI
� � 
� � COPYRIGHT (C) 1984
�! � BY ARTUR FISCHER FORSCHUNG
� � 
�$ � ASSIGNMENTS FOR THE INTERFACE
� �
� � INPUT
� � E1=BOTTOM
�
 � E2=TOP
� � EY=POSITION OF THE ANGLE
� � 
�
 � OUTPUT
 � M1=BODY

 � M2=ARM
 � M3=MAGNET
  � 
* � FUNCTION DESCRIPTION :
4  � SORTING THE PILE OF DISCS
>? � FOLLOWING THE PUZZLE ORIGINATING FROM BUDDHIST TRADITION
H � 
R � 
�  � X(31),Y(31),Z(31),PILE(3)
�* � POSITON OF PILES (ARBITRARY VALUES)
�
 �setpile
� �6
� � "FISCHERTECHNIK"  
� � "COMPUTING"   
� �
 � "TOWER OF HANOI"
 �
@. � "HOW MANY DISCS DOES THE TOWER HAVE ",N
J � N<1 � �
T
 � M=0
^ � X(M)=N:� Y(M)=1:� Z(M)=3
h � �tdF
r �
� � PSEUDORECURSIVE ROUTINE
� � X(M)=0 � �
� � M=M+1
� � X(M)=X(M-1)-1
� � Y(M)=Y(M-1)
� � Z(M)=6-Y(M-1)-Z(M-1)
� � �tdF
� � M=M-1
�8 � "DISC ";X(M);"FROM PILE ";Y(M);" TO PILE ";Z(M)  
� � �dPG:� ROBOT ROUTINE
� � M=M+1
 � X(M)=X(M-1)-1
 � Y(M)=6-Y(M-1)-Z(M-1)
 � Z(M)=Z(M-1)
& � �tdF
0 � M=M-1
: �
� � ROBOT ROUTINE
� � AIM=PILE(Y(M))
� � �tXH:� TURN BODY
� � �TFI:� LOWER ARM
�  � M1,GO%:� SWITCH MAGNET ON
 � �TnI:� LIFT ARM
 � AIM=PILE(Z(M))
 � �tXH:� TURN BODY
  � �TFI:� LOWER ARM
* � �DHH:� MAGNET OFF
4 � �TnI:� LIFT ARM
> �
H � MAGNET-OFF ROUTINE
R; � M1,CCW%:� REVERSE MAGNET CURRENT FOR DEMAGETIZATION 
\ � M1,HALT%:� MAGNET OFF 
f �
�! � POSITIONAL CONTROL ROUTINE
� � D=�USR(EY)-AIM 
� � D>0 � � M3,CW%  
� � D<0 � � M3,CCW% 
� � D=0 � �
�
 � D=�(D)
� � D>5 � � �tbH
� � I=0 � D
� � I
� � M3,HALT% 
� � �tbH
	 � M2,CCW%:� LOWER ARM 
	 � �USR(E1)=0 � � �TFI 
	 � M2,HALT%
	$ �
	. � M2,CW%:� LIFT ARM  
	8 � �USR(E2)=0 � � �TxI 
	B � M2,HALT%
	L �
	V � �setpile:OK=�
	[ � n=1 � 3:OK=�
	` �
	j! � �USR(E4)=1 � � M3,CW%:OK=�
	t" � �USR(E5)=1 � � M3,CCW%:OK=�
	~
 � OK 
	� �:� �USR(E3)=1
	� � M3,HALT%
	� PILE(n)=�USR(EY)
	� � n:� 
�
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 (|
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00001020  44 4f 45 53 20 54 48 45  20 54 4f 57 45 52 20 48  |DOES THE TOWER H|
00001030  41 56 45 20 22 2c 4e 0d  06 4a 0e 20 e7 20 4e 3c  |AVE ",N..J. . N<|
00001040  31 20 8c 20 e0 0d 06 54  0a 20 e9 20 4d 3d 30 0d  |1 . ...T. . M=0.|
00001050  06 5e 1f 20 e9 20 58 28  4d 29 3d 4e 3a e9 20 59  |.^. . X(M)=N:. Y|
00001060  28 4d 29 3d 31 3a e9 20  5a 28 4d 29 3d 33 0d 06  |(M)=1:. Z(M)=3..|
00001070  68 0b 20 e4 20 8d 74 64  46 0d 06 72 06 20 e0 0d  |h. . .tdF..r. ..|
00001080  06 9a 1e 20 f4 20 50 53  45 55 44 4f 52 45 43 55  |... . PSEUDORECU|
00001090  52 53 49 56 45 20 52 4f  55 54 49 4e 45 0d 06 a4  |RSIVE ROUTINE...|
000010a0  11 20 e7 20 58 28 4d 29  3d 30 20 8c 20 f8 0d 06  |. . X(M)=0 . ...|
000010b0  ae 0c 20 e9 20 4d 3d 4d  2b 31 0d 06 b8 14 20 e9  |.. . M=M+1.... .|
000010c0  20 58 28 4d 29 3d 58 28  4d 2d 31 29 2d 31 0d 06  | X(M)=X(M-1)-1..|
000010d0  c2 12 20 e9 20 59 28 4d  29 3d 59 28 4d 2d 31 29  |.. . Y(M)=Y(M-1)|
000010e0  0d 06 cc 1b 20 e9 20 5a  28 4d 29 3d 36 2d 59 28  |.... . Z(M)=6-Y(|
000010f0  4d 2d 31 29 2d 5a 28 4d  2d 31 29 0d 06 d6 0b 20  |M-1)-Z(M-1).... |
00001100  e4 20 8d 74 64 46 0d 06  e0 0c 20 e9 20 4d 3d 4d  |. .tdF.... . M=M|
00001110  2d 31 0d 06 ea 38 20 f1  20 22 44 49 53 43 20 22  |-1...8 . "DISC "|
00001120  3b 58 28 4d 29 3b 22 46  52 4f 4d 20 50 49 4c 45  |;X(M);"FROM PILE|
00001130  20 22 3b 59 28 4d 29 3b  22 20 54 4f 20 50 49 4c  | ";Y(M);" TO PIL|
00001140  45 20 22 3b 5a 28 4d 29  20 20 0d 06 f4 1b 20 e4  |E ";Z(M)  .... .|
00001150  20 8d 64 50 47 3a f4 20  52 4f 42 4f 54 20 52 4f  | .dPG:. ROBOT RO|
00001160  55 54 49 4e 45 0d 06 fe  0c 20 e9 20 4d 3d 4d 2b  |UTINE.... . M=M+|
00001170  31 0d 07 08 14 20 e9 20  58 28 4d 29 3d 58 28 4d  |1.... . X(M)=X(M|
00001180  2d 31 29 2d 31 0d 07 12  1b 20 e9 20 59 28 4d 29  |-1)-1.... . Y(M)|
00001190  3d 36 2d 59 28 4d 2d 31  29 2d 5a 28 4d 2d 31 29  |=6-Y(M-1)-Z(M-1)|
000011a0  0d 07 1c 12 20 e9 20 5a  28 4d 29 3d 5a 28 4d 2d  |.... . Z(M)=Z(M-|
000011b0  31 29 0d 07 26 0b 20 e4  20 8d 74 64 46 0d 07 30  |1)..&. . .tdF..0|
000011c0  0c 20 e9 20 4d 3d 4d 2d  31 0d 07 3a 06 20 f8 0d  |. . M=M-1..:. ..|
000011d0  07 d0 14 20 f4 20 52 4f  42 4f 54 20 52 4f 55 54  |... . ROBOT ROUT|
000011e0  49 4e 45 0d 07 da 15 20  e9 20 41 49 4d 3d 50 49  |INE.... . AIM=PI|
000011f0  4c 45 28 59 28 4d 29 29  0d 07 e4 17 20 e4 20 8d  |LE(Y(M)).... . .|
00001200  74 58 48 3a f4 20 54 55  52 4e 20 42 4f 44 59 0d  |tXH:. TURN BODY.|
00001210  07 ee 17 20 e4 20 8d 54  46 49 3a f4 20 4c 4f 57  |... . .TFI:. LOW|
00001220  45 52 20 41 52 4d 0d 07  f8 20 20 d6 20 4d 31 2c  |ER ARM...  . M1,|
00001230  47 4f 25 3a f4 20 53 57  49 54 43 48 20 4d 41 47  |GO%:. SWITCH MAG|
00001240  4e 45 54 20 4f 4e 0d 08  02 16 20 e4 20 8d 54 6e  |NET ON.... . .Tn|
00001250  49 3a f4 20 4c 49 46 54  20 41 52 4d 0d 08 0c 15  |I:. LIFT ARM....|
00001260  20 e9 20 41 49 4d 3d 50  49 4c 45 28 5a 28 4d 29  | . AIM=PILE(Z(M)|
00001270  29 0d 08 16 17 20 e4 20  8d 74 58 48 3a f4 20 54  |).... . .tXH:. T|
00001280  55 52 4e 20 42 4f 44 59  0d 08 20 17 20 e4 20 8d  |URN BODY.. . . .|
00001290  54 46 49 3a f4 20 4c 4f  57 45 52 20 41 52 4d 0d  |TFI:. LOWER ARM.|
000012a0  08 2a 18 20 e4 20 8d 44  48 48 3a f4 20 4d 41 47  |.*. . .DHH:. MAG|
000012b0  4e 45 54 20 4f 46 46 0d  08 34 16 20 e4 20 8d 54  |NET OFF..4. . .T|
000012c0  6e 49 3a f4 20 4c 49 46  54 20 41 52 4d 0d 08 3e  |nI:. LIFT ARM..>|
000012d0  06 20 f8 0d 08 48 19 20  f4 20 4d 41 47 4e 45 54  |. ...H. . MAGNET|
000012e0  2d 4f 46 46 20 52 4f 55  54 49 4e 45 0d 08 52 3b  |-OFF ROUTINE..R;|
000012f0  20 d6 20 4d 31 2c 43 43  57 25 3a f4 20 52 45 56  | . M1,CCW%:. REV|
00001300  45 52 53 45 20 4d 41 47  4e 45 54 20 43 55 52 52  |ERSE MAGNET CURR|
00001310  45 4e 54 20 46 4f 52 20  44 45 4d 41 47 45 54 49  |ENT FOR DEMAGETI|
00001320  5a 41 54 49 4f 4e 20 0d  08 5c 1d 20 d6 20 4d 31  |ZATION ..\. . M1|
00001330  2c 48 41 4c 54 25 3a f4  20 4d 41 47 4e 45 54 20  |,HALT%:. MAGNET |
00001340  4f 46 46 20 0d 08 66 06  20 f8 0d 08 98 21 20 f4  |OFF ..f. ....! .|
00001350  20 50 4f 53 49 54 49 4f  4e 41 4c 20 43 4f 4e 54  | POSITIONAL CONT|
00001360  52 4f 4c 20 52 4f 55 54  49 4e 45 0d 08 a2 16 20  |ROL ROUTINE.... |
00001370  e9 20 44 3d a4 55 53 52  28 45 59 29 2d 41 49 4d  |. D=.USR(EY)-AIM|
00001380  20 0d 08 ac 17 20 e7 20  44 3e 30 20 8c 20 d6 20  | .... . D>0 . . |
00001390  4d 33 2c 43 57 25 20 20  0d 08 b6 17 20 e7 20 44  |M3,CW%  .... . D|
000013a0  3c 30 20 8c 20 d6 20 4d  33 2c 43 43 57 25 20 0d  |<0 . . M3,CCW% .|
000013b0  08 c0 0e 20 e7 20 44 3d  30 20 8c 20 f8 0d 08 ca  |... . D=0 . ....|
000013c0  0d 20 e9 20 44 3d 94 28  44 29 0d 08 d4 13 20 e7  |. . D=.(D).... .|
000013d0  20 44 3e 35 20 8c 20 e5  20 8d 74 62 48 0d 08 de  | D>5 . . .tbH...|
000013e0  0e 20 e3 20 49 3d 30 20  b8 20 44 0d 08 e8 08 20  |. . I=0 . D.... |
000013f0  ed 20 49 0d 08 f2 10 20  d6 20 4d 33 2c 48 41 4c  |. I.... . M3,HAL|
00001400  54 25 20 0d 08 fc 0b 20  e5 20 8d 74 62 48 0d 09  |T% .... . .tbH..|
00001410  06 1b 20 d6 20 4d 32 2c  43 43 57 25 3a f4 20 4c  |.. . M2,CCW%:. L|
00001420  4f 57 45 52 20 41 52 4d  20 0d 09 10 1b 20 e7 20  |OWER ARM .... . |
00001430  a4 55 53 52 28 45 31 29  3d 30 20 8c 20 e5 20 8d  |.USR(E1)=0 . . .|
00001440  54 46 49 20 0d 09 1a 0f  20 d6 20 4d 32 2c 48 41  |TFI .... . M2,HA|
00001450  4c 54 25 0d 09 24 06 20  f8 0d 09 2e 1a 20 d6 20  |LT%..$. ..... . |
00001460  4d 32 2c 43 57 25 3a f4  20 4c 49 46 54 20 41 52  |M2,CW%:. LIFT AR|
00001470  4d 20 20 0d 09 38 1b 20  e7 20 a4 55 53 52 28 45  |M  ..8. . .USR(E|
00001480  32 29 3d 30 20 8c 20 e5  20 8d 54 78 49 20 0d 09  |2)=0 . . .TxI ..|
00001490  42 0f 20 d6 20 4d 32 2c  48 41 4c 54 25 0d 09 4c  |B. . M2,HALT%..L|
000014a0  06 20 f8 0d 09 56 14 20  dd 20 f2 73 65 74 70 69  |. ...V. . .setpi|
000014b0  6c 65 3a 4f 4b 3d a3 0d  09 5b 13 20 e3 20 6e 3d  |le:OK=...[. . n=|
000014c0  31 20 b8 20 33 3a 4f 4b  3d a3 0d 09 60 06 20 f5  |1 . 3:OK=...`. .|
000014d0  0d 09 6a 21 20 e7 20 a4  55 53 52 28 45 34 29 3d  |..j! . .USR(E4)=|
000014e0  31 20 8c 20 d6 20 4d 33  2c 43 57 25 3a 4f 4b 3d  |1 . . M3,CW%:OK=|
000014f0  b9 0d 09 74 22 20 e7 20  a4 55 53 52 28 45 35 29  |...t" . .USR(E5)|
00001500  3d 31 20 8c 20 d6 20 4d  33 2c 43 43 57 25 3a 4f  |=1 . . M3,CCW%:O|
00001510  4b 3d b9 0d 09 7e 0a 20  fd 20 4f 4b 20 0d 09 88  |K=...~. . OK ...|
00001520  13 20 f5 3a fd 20 a4 55  53 52 28 45 33 29 3d 31  |. .:. .USR(E3)=1|
00001530  0d 09 92 0f 20 d6 20 4d  33 2c 48 41 4c 54 25 0d  |.... . M3,HALT%.|
00001540  09 9c 15 20 50 49 4c 45  28 6e 29 3d a4 55 53 52  |... PILE(n)=.USR|
00001550  28 45 59 29 0d 09 a6 0b  20 ed 20 6e 3a e1 20 0d  |(EY).... . n:. .|
00001560  ff                                                |.|
00001561
TOWER.m0
TOWER.m1
TOWER.m2
TOWER.m4
TOWER.m5

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