.Program MODS1
C --------------------------------------------------
C ????? ??????? ??? ??-01 ????? ?? 1
C --------------------------------------------------
C ?????? ???????:
C 1 GO.HOME - ??? ? ?????? ?????????
C 2 SET.SP - ???????? ????? ???????? ???
C 3 TAKE.G - ????? ???
C 4 PUT.G - ???????? ???
C 5 PUT.P - ???? ?????? ?????? ? ??? ????? ? ???
C 6 TAKE.T - ????? ????
C 7 TAPE.TV - ??????? ???? ??? ???
C 8 TAPE.W - ????? ???? ??? Willett
C 9 TAPE.L - ??????? ???? ??? ?????? ??????
C 10 PUT.T - ???????? ???? ? ???????
C 11 TAKE.C - ????? ????
C 12 SEND.C - ??? ? ???? ????? ????
C 13 PUT.C - ??????? ??????? ??????
C 14 BAD - ?????? ????????? ???????
C 15 PRESS - ???????? ????
C 16 LOAD.G - ??????? ???? ? ???????? ?? ??????
C 17 TAKE.P - ???????? ?????? ?? ????? ?????? ?? ???
C 18 Exit - ??? ?? ?????
C
C ?????????? ????? ?? 1
CALL INIMS
C ????
RETURN
C ------
C
PRINT 'Robot is ready'
C
10 PRINT '$'
C <==> ??? - ???????? ???????
CALL SWITCH.
JUMP 101
JUMP 10
C 1 ??????
CALL GO.HOME
JUMP 101
JUMP 10
C 2 ??????
CALL SET.SP
JUMP 101
JUMP 10
C 3 ??????
CALL TAKE.G
JUMP 101
JUMP 10
C 4 ??????
CALL PUT.G
JUMP 101
JUMP 10
C 5 ??????
CALL PUT.P
JUMP 101
JUMP 10
C 6 ??????
CALL TAKE.T
JUMP 101
JUMP 10
C 7 ??????
CALL TAPE.TV
JUMP 101
JUMP 10
C 8 ??????
CALL TAPE.W
JUMP 101
JUMP 10
C 9 ??????
CALL TAPE.L
JUMP 101
JUMP 10
C 10 ??????
CALL PUT.T
JUMP 101
JUMP 10
C 11 ??????
CALL TAKE.C
JUMP 101
JUMP 10
C 12 ??????
CALL SEND.C
JUMP 101
JUMP 10
C 13 ??????
CALL PUT.C
JUMP 101
JUMP 10
C 14 ??????
CALL BAD
JUMP 101
JUMP 10
C 15 ??????
CALL PRESS
JUMP 101
JUMP 10
C 16 ??????
CALL LOAD.G
JUMP 101
JUMP 10
C 17 ??????
CALL TAKE.P
JUMP 101
JUMP 10
C 18 ?????? - ??? ?? ?????
RETURN
C ------
C
101 CALL ERROR.
JUMP 10
.End
C
C
C ????? ???????
C
C
.Program GO.HOME
C --------------------------
C 1 ??? ? ?????? ?????????
C --------------------------
C ??????:
C PAR1. - ????? ????? ? ?????? ????????? (1-5)
C
IF PAR1. = 1 THEN JUMP 10
IF PAR1. = 2 THEN JUMP 20
IF PAR1. = 3 THEN JUMP 30
IF PAR1. = 4 THEN JUMP 40
IF PAR1. = 5 THEN JUMP 50
C ???? ? ??????
SET ERRORW. = ER1
JUMP 102
C ?? ???? ? #HOME
10 GO #HOME
JUMP 90
C ?? #HOME ? #HOME.1
20 GO #HOME.1
JUMP 90
C ?? #HOME ??? #HOME.1 ? #HOME.2
30 GO #GO.1
GO #GO.2
GO #HOME.2
JUMP 90
C ?? #HOME.2 ? #HOME.1
40 GO #GO.2
GO #GO.1
GO #HOME.1
JUMP 90
C ?? #HOME.2 ? #HOME
50 GO #GO.2
GO #GO.1
GO #HOME
C ???????? ??? ??? ????? ??????
90 OUT O.R1.N, O.R2.N, O.R3.N
OUT O.R4.N, O.R5.N
C ==> ???
SET MARKER. = NULL.
CALL TRANSC.
JUMP 101
C
RETURN 1
C ==> ???
102 SET MARKER. = ERRORW.
CALL TRANSC.
JUMP 101
C ????
101 RETURN
.End
.Program SET.SP
C ---------------------------------------
C 2 ???????? ????? ???????? ??? (%)
C ---------------------------------------
C ??????:
C PAR1. - ?????? ????? ??? (1%-127%)
C
IF PAR1. < 1 THEN JUMP 102
IF PAR1. > 300 THEN JUMP 102
SET SPEED = PAR1.
SPEED% SPEED
C ==> ???
SET MARKER. = NULL.
CALL TRANSC.
JUMP 101
C
RETURN 1
C ???? ? ??????
102 SET ERRORW. = ER1
C ==> ???
SET MARKER. = ERRORW.
CALL TRANSC.
JUMP 101
C ????
101 RETURN
.End
.Program TAKE.G
C -----------
C 3 ????? ???
C -----------
C ??????:
C PAR1. - ????? ????? ??? ? ???????? (1-3)
C
IF PAR1. = 1 THEN JUMP 10
IF PAR1. = 2 THEN JUMP 20
IF PAR1. = 3 THEN JUMP 30
C ???? ? ??????
SET ERRORW. = ER1
JUMP 102
C ?????? 1
10 LOCATE #GRIP.P = #GRIP1.P
LOCATE #GRIP.T = #GRIP1.T
JUMP 50
C ?????? 2
20 LOCATE #GRIP.P = #GRIP2.P
LOCATE #GRIP.T = #GRIP2.T
JUMP 50
C ?????? 3
30 LOCATE #GRIP.P = #GRIP3.P
LOCATE #GRIP.T = #GRIP3.T
C
50 GONEAR #GRIP.T,40
OPEN
SPEED% 100
SPEED NEXT 150
GOS #GRIP.T
CLOSE
SPEED NEXT 150
GOS #GRIP.P
SPEED% SPEED
GO #GRIP
GO #GO.1
GO #HOME
C ==> ???
SET MARKER. = NULL.
CALL TRANSC.
JUMP 101
C
RETURN 1
C --------
C ==> ???
102 SET MARKER. = ERRORW.
CALL TRANSC.
JUMP 101
C ????
101 RETURN
.End
.Program PUT.G
C --------------
C 4 ???????? ???
C --------------
C ??????:
C PAR1. - ????? ????? ??? ? ???????? (1-3)
C
IF PAR1. = 1 THEN JUMP 10
IF PAR1. = 2 THEN JUMP 20
IF PAR1. = 3 THEN JUMP 30
C ???? ? ??????
SET ERRORW. = ER1
JUMP 102
C ?????? 1
10 LOCATE #GRIP.P = #GRIP1.P
LOCATE #GRIP.T = #GRIP1.T
JUMP 50
C ?????? 2
20 LOCATE #GRIP.P = #GRIP2.P
LOCATE #GRIP.T = #GRIP2.T
JUMP 50
C ?????? 3
30 LOCATE #GRIP.P = #GRIP3.P
LOCATE #GRIP.T = #GRIP3.T
C
50 GO #GO.1
GO #GRIP
GO #GRIP.P
C
DELAY 0.1
SPEED% 100
SPEED NEXT 150
GOS #GRIP.T
OPEN
SPEED% SPEED
GOSNEAR #GRIP.T,40
GO #HOME
C ==> ???
SET MARKER. = NULL.
CALL TRANSC.
JUMP 101
C
RETURN 1
C --------
C ==> ???
102 SET MARKER. = ERRORW.
CALL TRANSC.
JUMP 101
C ????
101 RETURN
.End
.Program PUT.P
C ---------------------------------------------------------
C 5 ????? ?????? ?????? ? ??? ????? ? ??? (????? 1)
C ---------------------------------------------------------
C ???????:
C PAR3. - ????? ??? ????? (1,3)
C PAR2. - ????? ??? ????? (2,4,6,8)
C PAR1. - ????? ?????? ? ??? (1-10)
C
SET J = PAR3.
SET I = 1
C ??????? ????????? ??? ??????
CALL PAL.Z
JUMP 102
C ????? ?????? ??????
GO #POS
OUT O.GY3.P, O.GY4.P
ENABLE BREAK
GONEAR POS,25
SPEED% 100
SPEED NEXT 30
GOS POS
OUT O.GY3.A, O.GY4.A
DELAY 0.5
SPEED% SPEED
GOSNEAR POS,25
DISABLE BREAK
C
IF IN I.GP.Y THEN JUMP 10
C ???? - ????? ?? ????
SET ERRORW. = ER4
OUT O.GY3.P ,O.GY4.P
GO #POS
GO #POS1
JUMP 102
C
10 GOS #POS
GO #POS2
C
SET I = PAR1.
SET J = PAR2.
C ??????? ??????? ????????? ??????
CALL PAL.Z
JUMP 102
C ???????? ?????????? ??? ?????
WAIT IN I.R1.N
C ?????? ????? ??????
OUT O.R1.Y
C ???????? ?????? ?????? ? ???
GO #POS2
C ???????? ????? ??????
OUT O.R1.N
C
GOS #POS
ENABLE BREAK
GONEAR POS,25
SPEED% 100
SPEED NEXT 30
GOS POS
OUT O.GY3.P, O.GY4.P
DELAY 0.5
SPEED% SPEED
GOSNEAR POS,25
DISABLE BREAK
C
IF IN I.GP.N THEN JUMP 20
C ???? - ????? ?? ?????
SET ERRORW. = ER5
JUMP 102
C
20 GO #POS
GO #POS1
C ==> ???
100 SET MARKER. = NULL.
CALL TRANSC.
JUMP 101
C
RETURN 1
C ==> ???
102 SET MARKER. = ERRORW.
CALL TRANSC.
JUMP 101
C ????
101 RETURN
.End
.Program TAKE.T
C ----------------------
C 6 ????? ???? ?? ??????
C ----------------------
C ???????:
C PAR1. - ????? ????? ? ????? (1-6)
C
SET K = PAR1.
SET J = 1
C ??????? ????????? ????? ? ?????
CALL PAL.TC
JUMP 102
C ????? ????
GO #POS
OUT O.GP1.O, O.GP2.O, O.GP3.O, O.GP4.O
GO POS1
ENABLE BREAK
SPEED% 100
SPEED NEXT 30
GOS POS
OUT O.GP1.C, O.GP2.C, O.GP3.C, O.GP4.C
DELAY 0.5
SPEED% SPEED
GOS POS1
DISABLE BREAK
GO #POS
GO #HOME.1
C ==> ???
100 SET MARKER. = NULL.
CALL TRANSC.
JUMP 101
C
RETURN 1
C ==> ???
102 SET MARKER. = ERRORW.
CALL TRANSC.
JUMP 101
C ????
101 RETURN
.End
.Program TAPE.TV
C -----------------------
C 7 ??????? ???? ??? ???
C -----------------------
C ??????:
C PAR1. - ????? ????? ??? ??? (1-4)
C
IF PAR1. = 1 THEN JUMP 10
IF PAR1. = 2 THEN JUMP 20
IF PAR1. = 3 THEN JUMP 30
IF PAR1. = 4 THEN JUMP 40
C ???? ? ??????
SET ERRORW. = ER1
JUMP 102
C ?????? 1
10 LOCATE #POS = #TV.T1
JUMP 50
C ?????? 2
20 LOCATE #POS = #TV.T2
JUMP 50
C ?????? 3
30 LOCATE #POS = #TV.T3
JUMP 50
C ?????? 4
40 LOCATE #POS = #TV.T4
C
50 GO #TV
C ???????? ?????????? ????? ???
WAIT IN I.R4.N
C ?????? ?????? ???
OUT O.R4.Y
C
GO #POS
C ==> ???
100 SET MARKER. = NULL.
CALL TRANSC.
JUMP 101
C
RETURN 1
C ==> ???
102 SET MARKER. = ERRORW.
CALL TRANSC.
JUMP 101
C ????
101 RETURN
.End
.Program TAPE.W
C ---------------------------
C 8 ????? ???? ??? Willett
C ---------------------------
C ?????? ???
C
GO #WIL
C ???????? ?????????? ????? Willett
WAIT IN I.R2.N
C ?????? ????? ??????, ??????
C ?????? ? Willett
OUT O.R2.Y, O.R3.Y, O.R1.Y
C
ENABLE BREAK
GO #WIL.T
DELAY 0.5
SPEED NEXT 50
MOVES ,-270
MOVES -100
DISABLE BREAK
GO #WIL
C ???????? ????? ??????, ??????
C ?????? ? Willett
OUT O.R2.N, O.R3.N, O.R1.N
C ==> ???
100 SET MARKER. = NULL.
CALL TRANSC.
JUMP 101
C
RETURN 1
C ????
101 RETURN
.End
.Program TAPE.L
C ----------------------------------------
C 9 ??????? ???? ??? ?????? ??????
C ----------------------------------------
C ?????? ???
C
GO #LS
C ????? ??????? ??????
OUT O.LS.P
C ???????? ?????????? ?????
C ??????? ??????
WAIT IN I.R3.N
C ?????? ?????? ??????? ??????
C ? Willett
OUT O.R3.Y, O.R2.Y
C
ENABLE BREAK
GO #LS.T
C ????? ??????? ??????
OUT O.LS.A
C
TMOVES ,,2
TMOVES ,,-2
DELAY 0.5
C ????? ??????? ??????
OUT O.LS.P
C
MOVES -2,-110
C ????? ??????? ??????
OUT O.LS.A
C
TMOVES ,,2
TMOVES ,,-2
DELAY 0.5
C ????? ??????? ??????
OUT O.LS.P
DISABLE BREAK
GO #LS
C ???????? ?????? ??????? ??????
C ? Willett
OUT O.R3.N, O.R2.N
C
GO #HOME
C ==> ???
100 SET MARKER. = NULL.
CALL TRANSC.
JUMP 101
C
RETURN 1
C ????
101 RETURN
.End
.Program PUT.T
C ---------------------------
C 10 ???????? ???? ? ???????
C ---------------------------
C ??????:
C PAR1. - ????? ????? ? ????? (1-6)
C
SET I = PAR1.
LOCATE P1 = W.T1
C ??????? ????????? ?????
C ? ??? ?????
CALL PAL.W
JUMP 102
C ???????? ????
GO #GO.1
GO #W.T
C ???????? ?????????? ??? ?????
WAIT IN I.R1.N
C ?????? ????? ?????? ? Willett
OUT O.R1.Y, O.R2.Y
C
ENABLE BREAK
GOS POS1
SPEED% 100
SPEED NEXT 30
GOS POS
OUT O.GP1.O, O.GP2.O, O.GP3.O, O.GP4.O
DELAY 0.5
GOSNEAR ,10
MOVES 3,-4
GOSNEAR ,-13
SPEED% SPEED
GOS POS1
DISABLE BREAK
GOS #W.T
C ???????? ????? ?????? ? Willett
OUT O.R1.N, O.R2.N
C
GO #GO.1
GO #HOME
C ==> ???
100 SET MARKER. = NULL.
CALL TRANSC.
JUMP 101
C
RETURN 1
C ==> ???
102 SET MARKER. = ERRORW.
CALL TRANSC.
JUMP 101
C ????
101 RETURN
.End
.Program TAKE.C
C ----------------------
C 11 ????? ???? ?? ??????
C ----------------------
C ???????:
C PAR1. - ????? ????? ? ????? (1-6)
C
SET K = PAR1.
SET J = 3
C ??????? ????????? ???? ? ?????
CALL PAL.TC
JUMP 102
C ????? ????
GO #POS
ENABLE BREAK
GO POS1
SPEED% 100
SPEED NEXT 30
GOS POS
OUT O.GY3.A, O.GY4.A
DELAY 0.5
SPEED% SPEED
GOS POS1
DISABLE BREAK
GO #POS
GO #HOME.1
C
IF IN I.G2.Y THEN JUMP 100
C ???? - ???? ?? ?????
SET ERRORW. = ER7
OUT O.GY3.P ,O.GY4.P
JUMP 102
C ==> ???
100 SET MARKER. = NULL.
CALL TRANSC.
JUMP 101
C
RETURN 1
C ==> ???
102 SET MARKER. = ERRORW.
CALL TRANSC.
JUMP 101
C ????
101 RETURN
.End
.Program SEND.C
C -----------------------------
C 12 ??? ? ???? ????? ????
C -----------------------------
C ?????? ???
C
IF IN I.G2.Y THEN JUMP 10
C ???? - ???? ?? ?????
SET ERRORW. = ER7
JUMP 102
C ??? ? ????
10 OUT O.R5.Y
C
GO #GO.1
C ???????? ??????? ????
WAIT IN I.R5.Y
C
GO #MEET
C ??????? ????? ????
OUT O.R5.N
C ???????? ????? ???? ? ????
WAIT IN I.R5.N
C
GO #HOME
C ==> ???
100 SET MARKER. = NULL.
CALL TRANSC.
JUMP 101
C
RETURN 1
C ==> ???
102 SET MARKER. = ERRORW.
CALL TRANSC.
JUMP 101
C ????
101 RETURN
.End
.Program PUT.C
C --------------------------
C 13 ??????? ??????? ??????
C --------------------------
C ??????:
C PAR1. - ????? ????? ? ??? ????? (1-6)
C
IF IN I.G2.Y THEN JUMP 10
C ???? - ???? ?? ?????
SET ERRORW. = ER7
JUMP 102
C
10 SET I = PAR1.
LOCATE P1 = W.C1
C ??????? ????????? ????
C ? ??? ?????
CALL PAL.W
JUMP 102
C ???????? ???? ? ??????
GO #GO.1
GO #W.C
C ???????? ?????????? ??? ?????
WAIT IN I.R1.N
C ?????? ????? ?????? ? Willett
OUT O.R1.Y, O.R2.Y
C
ENABLE BREAK
GOS POS1
SPEED% 100
SPEED NEXT 30
GOS POS
OUT O.GY3.P, O.GY4.P
DELAY 0.5
SPEED% SPEED
GOS POS1
DISABLE BREAK
C
IF IN I.G2.N THEN JUMP 20
C ???? - ???? ?? ?????
SET ERRORW. = ER8
GOS #W.C
GO #GO.1
GO #HOME
C ???????? ????? ?????? ? Willett
OUT O.R1.N, O.R2.N
JUMP 102
C
20 GOS #W.C
C ???????? ????? ?????? ? Willett
OUT O.R1.N, O.R2.N
C
GO #GO.1
GO #HOME
C ==> ???
100 SET MARKER. = NULL.
CALL TRANSC.
JUMP 101
C
RETURN 1
C ==> ???
102 SET MARKER. = ERRORW.
CALL TRANSC.
JUMP 101
C ????
101 RETURN
.End
.Program BAD
C -----------------------------
C 14 ?????? ????????? ???????
C -----------------------------
C ??????:
C PAR1. - ????? ????? ? ??? ????? (1-12)
C
SET I = PAR1.
C ??????? ????????? ?????????
C ??????? ? ??? ?????
CALL PAL.B
JUMP 102
C ????? ????????? ???????
GO #GO.1
GO #BAD
C ???????? ?????????? ??? ?????
WAIT IN I.R1.N
C ?????? ????? ?????? ? Willett
OUT O.R1.Y, O.R2.Y
C
ENABLE BREAK
GOS POS1
SPEED% 100
SPEED NEXT 30
GOS POS
OUT O.GB1.A, O.GB2.A
DELAY 0.5
SPEED% SPEED
GOS POS1
DISABLE BREAK
C
IF IN I.GB.Y THEN JUMP 10
C ???? - ???? ?? ????
SET ERRORW. = ER7
OUT O.GB1.P ,O.GB2.P
DELAY 0.5
GOS #BAD
GO #GO.1
GO #HOME
C ???????? ????? ?????? ? Willett
OUT O.R1.N, O.R2.N
JUMP 102
C
10 GOS #BAD
GO #GO.1
C ???????? ????? ?????? ? Willett
OUT O.R1.N, O.R2.N
C
GO #HOME.1
GO #BOX
OUT O.GB1.P, O.GB2.P
DELAY 0.5
GO #HOME.1
GO #HOME
C
IF IN I.GB.N THEN JUMP 100
C ???? - ???? ?? ?????
SET ERRORW. = ER8
JUMP 102
C ==> ???
100 SET MARKER. = NULL.
CALL TRANSC.
JUMP 101
C
RETURN 1
C ==> ???
102 SET MARKER. = ERRORW.
CALL TRANSC.
JUMP 101
C ????
101 RETURN
.End
.Program PRESS
C ---------------
C 15 ???????? ????
C ---------------
C ?????? ???
C
IF IN I.PU.Y THEN JUMP 103
IF IN I.PD.N THEN JUMP 103
C ???????? ?????????? ??? ?????
WAIT IN I.R1.N
C ?????? ????? ?????? ? Willett
OUT O.R1.Y, O.R2.Y
C ?????
OUT O.P1.U, O.P2.U
WAIT IN I.PU.Y
C ????
DELAY 0.5
OUT O.P1.D, O.P2.D
WAIT IN I.PD.Y
C ???????? ????? ?????? ? Willett
OUT O.R1.N, O.R2.N
C ==> ???
100 SET MARKER. = NULL.
CALL TRANSC.
JUMP 101
C
RETURN 1
C ????
103 OUT O.P1.D, O.P2.D
SET ERRORW. = ER6
C ==> ???
102 SET MARKER. = ERRORW.
CALL TRANSC.
JUMP 101
C ????
101 RETURN
.End
.Program LOAD.G
C ---------------------------------------
C 16 ??????? ???? ? ???????? ?? ??????
C ---------------------------------------
C ??????:
C PAR1. - ????? ????? ??? ? ???????? ? ????? (1-3)
C
DISABLE BREAK
IF PAR1. = 3 THEN JUMP 13
IF PAR1. = 2 THEN JUMP 12
IF PAR1. = 1 THEN JUMP 11
C ???? ? ??????
SET ERRORW. = ER1
JUMP 102
C ?????? 1 ? ?????
11 LOCATE P.P = PT1.P
LOCATE P.T = PT1.T
JUMP 50
C ?????? 2 ? ?????
12 LOCATE P.P = PT2.P
LOCATE P.T = PT2.T
JUMP 50
C ?????? 3 ? ?????
13 LOCATE P.P = PT3.P
LOCATE P.T = PT3.T
C
50 IF PAR2. = 0 THEN JUMP 70
GO #GRIP.P
GONEAR P.P,40
OPEN
GONEAR P.T,60
DELAY 0.2
SPEED% 100
SPEED NEXT 50
GOS P.T
CLOSE
DELAY 0.5
SPEED% SPEED
GOS P.P
GO #HOME.1
GONEAR #HERT,100
GOS #HERT
DELAY 1
GOSNEAR #HERT,100
GO #HOME
JUMP 100
C
70 CALL G.UN
C ==> ???
100 SET MARKER. = NULL.
CALL TRANSC.
JUMP 101
C
RETURN 1
C ????
103 OUT O.P1.D, O.P2.D
SET ERRORW. = ER6
C ==> ???
102 SET MARKER. = ERRORW.
CALL TRANSC.
JUMP 101
C ????
101 RETURN
.End
.Program TAKE.P
C ------------------------------------------------------
C 17 ???????? ?????? ?? ????? ?????? ?? ??? (????? 1)
C ------------------------------------------------------
C ???????:
C PAR3. - ????? ??? ????? (1,3)
C PAR2. - ????? ??? ????? (6-8)
C PAR1. - ????? ?????? ? ??? (1-10)
C
SET I = PAR1.
SET J = PAR2.
C ??????? ????????? ?????? ? ???
CALL PAL.Z
JUMP 102
C ????? ?????? ?? ???
GO #POS
OUT O.GY3.P, O.GY4.P
ENABLE BREAK
GONEAR POS,25
SPEED% 100
SPEED NEXT 30
GOS POS
OUT O.GY3.A, O.GY4.A
DELAY 0.5
SPEED% SPEED
GOSNEAR POS,25
DISABLE BREAK
C
IF IN I.GP.Y THEN JUMP 10
C ???? - ????? ?? ????
SET ERRORW. = ER4
OUT O.GY3.P ,O.GY4.P
GO #POS
GO #POS1
JUMP 102
C
10 GOS #POS
GO #POS2
C
SET I = 1
SET J = PAR3.
C ??????? ????????? ??? ??????
CALL PAL.Z
JUMP 102
C ???????? ?????????? ??? ?????
WAIT IN I.R1.N
C ?????? ????? ??????
OUT O.R1.Y
C ???????? ?????? ?? ????? ??????
GO #POS2
C ???????? ????? ??????
OUT O.R1.N
C
GOS #POS
ENABLE BREAK
GONEAR POS,25
SPEED% 100
SPEED NEXT 30
GOS POS
OUT O.GY3.P, O.GY4.P
DELAY 0.5
SPEED% SPEED
GOSNEAR POS,25
DISABLE BREAK
C
IF IN I.GP.N THEN JUMP 20
C ???? - ????? ?? ?????
SET ERRORW. = ER5
JUMP 102
C
20 GO #POS
GO #POS1
C ==> ???
100 SET MARKER. = NULL.
CALL TRANSC.
JUMP 101
C
RETURN 1
C ==> ???
102 SET MARKER. = ERRORW.
CALL TRANSC.
JUMP 101
C ????
101 RETURN
.End
C
C
C ????????
C
C
.Program G.UN
GO #GO.1
GO #GRIP
GO #GRIP.P
GO P.P
SPEED% 100
SPEED NEXT 100
GOS P.T
OPEN
DELAY 0.5
SPEED% SPEED
GOSNEAR P.T,60
GONEAR P.P,40
GO #HOME
RETURN
.End
.Program PAL.TC
C ---------------------------------------------
C ??????? ????????? ????? ? ??? ?????
C ---------------------------------------------
C
IF K < 1 THEN JUMP 102
IF K > 6 THEN JUMP 102
C
IF J = 1 THEN JUMP 1
IF J = 3 THEN JUMP 3
C ???? ? ???????
JUMP 102
C ?????? 1
1 LOCATE #POS = #POS.1
LOCATE P1 = O.1
LOCATE P2 = POS.1
JUMP 10
C ?????? 3
3 LOCATE #POS = #POS.3
LOCATE P1 = O.3
LOCATE P2 = POS.3
JUMP 10
C ??????? ???????? Y
10 IF K <= 3 THEN JUMP 30
SHIFT P2 = ,220
SET K = K - 3
C ??????? ???????? X
30 IF K <= 1 THEN JUMP 40
SHIFT P2 = 100
SET K = K - 1
JUMP 30
C ??????? ??????? ?????????
40 LOCATE POS = P1(P2)
C ??????? ??????? ?????????
SHIFT P2 = ,,-25
LOCATE POS1 = P1(P2)
C
100 RETURN 1
C ???? ? ???????
102 SET ERRORW. = ER1
RETURN
.End
.Program PAL.B
C ----------------------------------------------------------
C ??????? ????????? ?????????? ??????? ? ??? ?????
C ----------------------------------------------------------
C
IF I < 1 THEN JUMP 102
IF I > 12 THEN JUMP 102
C
LOCATE P1 = BAD.1
SET I = I - 1
C ??????? ???????? Y
SET K = I MOD 4
10 IF K < 1 THEN JUMP 20
SHIFT P1 = ,110
SET K = K - 1
JUMP 10
C ??????? ???????? X
20 SET J = I / 4
30 IF J < 1 THEN JUMP 40
SHIFT P1 = 100
SET J = J - 1
JUMP 30
C ??????? ??????? ?????????
40 LOCATE POS = O.W(P1)
C ??????? ??????? ?????????
SHIFT P1 = ,,-25
LOCATE POS1 = O.W(P1)
C
100 RETURN 1
C ???? ? ???????
102 SET ERRORW. = ER1
RETURN
.End
.Program PAL.W
C ------------------------------------------------------
C ??????? ????????? ????? ? ???? ? ??? ?????
C ------------------------------------------------------
C
IF I < 1 THEN JUMP 102
IF I > 6 THEN JUMP 102
C ??????? ???????? Y
IF I <= 3 THEN JUMP 30
SHIFT P1 = ,220
SET I = I - 3
C ??????? ???????? X
30 IF I <= 1 THEN JUMP 40
SHIFT P1 = 100
SET I = I - 1
JUMP 30
C ??????? ??????? ?????????
40 LOCATE POS = O.W(P1)
C ??????? ??????? ?????????
SHIFT P1 = ,,-25
LOCATE POS1 = O.W(P1)
C
100 RETURN 1
C ???? ? ???????
102 SET ERRORW. = ER1
RETURN
.End
.Program PAL.Z
C -----------------------------------
C ??????? ????????? ?????? ? ???
C -----------------------------------
C
IF I < 1 THEN JUMP 102
IF I > 10 THEN JUMP 102
C
IF J = 1 THEN JUMP 1
IF J = 2 THEN JUMP 2
IF J = 3 THEN JUMP 3
IF J = 4 THEN JUMP 4
IF J = 5 THEN JUMP 5
IF J = 6 THEN JUMP 6
IF J = 7 THEN JUMP 7
IF J = 8 THEN JUMP 8
JUMP 102
C ?????? 1
1 LOCATE #POS = #PAL.1
LOCATE #POS1 = #HOME.1
LOCATE #POS2 = #PAL.T1
LOCATE P1 = O.1
LOCATE P2 = PAL.1
JUMP 10
C ?????? 2
2 LOCATE #POS = #PAL.2
LOCATE #POS1 = #HOME.1
LOCATE #POS2 = #PAL.T1
LOCATE P1 = O.2
LOCATE P2 = PAL.2
JUMP 10
C ?????? 3
3 LOCATE #POS = #PAL.3
LOCATE #POS1 = #HOME.1
LOCATE #POS2 = #PAL.T1
LOCATE P1 = O.3
LOCATE P2 = PAL.3
JUMP 10
C ?????? 4
4 LOCATE #POS = #PAL.4
LOCATE #POS1 = #HOME.1
LOCATE #POS2 = #PAL.T1
LOCATE P1 = O.4
LOCATE P2 = PAL.4
JUMP 10
C ?????? 5
5 LOCATE #POS = #PAL.5
LOCATE #POS1 = #HOME.2
LOCATE #POS2 = #PAL.T2
LOCATE P1 = O.5
LOCATE P2 = PAL.5
JUMP 10
C ?????? 6
6 LOCATE #POS = #PAL.6
LOCATE #POS1 = #HOME.2
LOCATE #POS2 = #PAL.T2
LOCATE P1 = O.6
LOCATE P2 = PAL.6
JUMP 10
C ?????? 7
7 LOCATE #POS = #PAL.7
LOCATE #POS1 = #HOME.2
LOCATE #POS2 = #PAL.T2
LOCATE P1 = O.7
LOCATE P2 = PAL.7
JUMP 10
C ?????? 8
8 LOCATE #POS = #PAL.8
LOCATE #POS1 = #HOME.2
LOCATE #POS2 = #PAL.T2
LOCATE P1 = O.8
LOCATE P2 = PAL.8
C ??????? ???????? Z
10 IF I <= 1 THEN JUMP 20
SHIFT P2 = ,,-24.8
SET I = I - 1
JUMP 10
C ??????? ????????? ??????
20 LOCATE POS = P1(P2)
C
100 RETURN 1
C ???? ? ???????
102 SET ERRORW. = ER1
RETURN
.End
.Program INIMS
C -----------------------------
C ?????????? ????? ?? 1
C -----------------------------
C
C ?????????? ??????????? ????
CALL INID2.
C
C ***** ?????????? ??? / ???? *****
C ???? ???????? ??????
SET I.P.Y = 1
SET I.P.N = -1
C ???? ?????? ?????????? (24 ?)
SET I.E.Y = 2
SET I.E.N = -2
C ????? ????
C ?????
SET I.PU.Y = 3
SET I.PU.N = -3
C ??????
SET I.PD.Y = 4
SET I.PD.N = -4
C ????? ??????
SET I.S.O = 5
SET I.S.C = -5
C ????? ??? Y
C ??? ?????
SET I.GP.Y = 6
SET I.GP.N = -6
C 1 ????
SET I.G1.Y = 8
SET I.G1.N = -8
C 2 ????
SET I.G2.Y = 7
SET I.G2.N = -7
C ???? ??? B
SET I.GB.Y = 7
SET I.GB.N = -7
C ??????? ?? ????? ???
C ?????? ??????
SET I.R1.Y = -11
SET I.R1.N = 11
C ?????? Willett
SET I.R2.Y = -12
SET I.R2.N = 12
C ?????? ??????? ??????
SET I.R3.Y = -13
SET I.R3.N = 13
C ?????? ???
SET I.R4.Y = -14
SET I.R4.N = 14
C ???? ?????
SET I.R5.Y = -15
SET I.R5.N = 15
C ???????? ????? ?????
SET I.R6.Y = -16
SET I.R6.N = 16
C
C ------------------------------------------------
C ???????? ??? Y
C 1 ???? ????
SET O.GY1.A = 5
SET O.GY2.A = -6
SET O.GY1.P = -5
SET O.GY2.P = 6
C 2 ???? ????
SET O.GY3.A = 1
SET O.GY4.A = -2
SET O.GY3.P = -1
SET O.GY4.P = 2
C ???????? ??? B
SET O.GB1.A = -1
SET O.GB2.A = 2
SET O.GB1.P = 1
SET O.GB2.P = -2
C ???????? ??? P
SET O.GP1.C = -1
SET O.GP2.C = 2
SET O.GP3.C = 5
SET O.GP4.C = -6
SET O.GP1.O = 1
SET O.GP2.O = -2
SET O.GP3.O = -5
SET O.GP4.O = 6
C ???????? ????
C ?????
SET O.P1.U = 3
SET O.P2.U = -4
C ????
SET O.P1.D = -3
SET O.P2.D = 4
C ???????? ?????? ???????
SET O.LS.A = 10
SET O.LS.P = -10
C ??????? ??? ????? ???
C ?????? ??????
SET O.R1.Y = 11
SET O.R1.N = -11
C ?????? Willett
SET O.R2.Y = 12
SET O.R2.N = -12
C ?????? ??????? ??????
SET O.R3.Y = 13
SET O.R3.N = -13
C ?????? ???
SET O.R4.Y = 14
SET O.R4.N = -14
C ???? ?????
SET O.R5.Y = 15
SET O.R5.N = -15
C ???????? ?????
SET O.R6.Y = 16
SET O.R6.N = -16
C
C **********
C
SPEED% SPEED
ODELAY 1
CDELAY 1
TOL NARROW
TOOL
C
C ***** ???? *****
C ?????? ??????
SET ER1 = 50
C ??? ???????? ??????
SET ER2 = 51
C ??? ?????????? 24 ?
SET ER3 = 52
C ????? ?? ????
SET ER4 = 53
C ????? ?? ?????
SET ER5 = 54
C ?????????? ????
SET ER6 = 55
C ???? ?? ?????
SET ER7 = 56
C ???? ?? ?????
SET ER8 = 57
C
C ***** ??????? *****
C
C ??????: I, J, K
C ??? ??????
SET MAX.FR. = 18
C ?????? ?????? ????? ???
SET SPEED = 100
C
C ===== ????? ?????? ????? =====
C
IF START <> 0 THEN JUMP 99
C ????? ????? (START=0)
SET START = 1
C ?????? ?????
OUTGROUP 1 = 0
C ?? ????? ??????
OUT O.R1.Y, O.R2.Y, O.R3.Y, O.R4.Y
C ????? ?? ???
OUT O.R6.N, O.R5.N
C ???? ????
OUT O.P1.D, O.P2.D
C
C ***** ???? *****
C ???? ??????????
10 IF IN I.E.Y THEN JUMP 20
SET ERRORW. = ER3
JUMP 102
C ???? ???????? ??????
20 IF IN I.P.Y THEN JUMP 30
SET ERRORW. = ER2
JUMP 102
C ???? ????
30 IF IN I.PD.Y, I.PU.N THEN JUMP 40
SET ERRORW. = ER6
JUMP 102
C ????? ???
40 OUT O.R6.Y
C ???????? ??????? ????? ?????
WAIT IN I.R6.Y
C ==> ???
100 SET MARKER. = NULL.
CALL TRANSC.
JUMP 101
C
RETURN 1
C -------- ==> ???
102 SET MARKER. = ERRORW.
CALL TRANSC.
JUMP 101
101 RETURN
C ------
C
C ***** ????????? *****
C ??????:
C #HOME - ????? 0
C #HOME.1 - ????? 1
C #HOME.2 - ????? 2
C #GO.1 - ??? ????? ?? #HOME.1 ? #HOME.2
C #GO.2 - ??? ????? ?? #HOME.2 ? #HOME.1
C #GRIP - ?????? ??? ??? ???
C #GRIP1.P- ??????? ??? ? ?????? 1 ????????
C #GRIP1.T- ???? ??? ?? ????? 1 ????????
C #GRIP2.P- ??????? ??? ? ?????? 2 ????????
C #GRIP2.T- ???? ??? ?? ????? 2 ????????
C #GRIP3.P- ??????? ??? ? ?????? 3 ????????
C #GRIP3.T- ???? ??? ?? ????? 3 ????????
C #PAL.W - ???? ??????
C #PAL.1 - ??? ?? ??? ????? ? ????? 1
C #PAL.2 - ??? ?? ??? ????? ? ????? 2
C #PAL.3 - ??? ?? ??? ????? ? ????? 3
C #PAL.4 - ??? ?? ??? ????? ? ????? 4
C #PAL.5 - ??? ?? ??? ????? ? ????? 5
C #PAL.6 - ??? ?? ??? ????? ? ????? 6
C #PAL.7 - ??? ?? ??? ????? ? ????? 7
C #PAL.8 - ??? ?? ??? ????? ? ????? 8
C PAL.1 - ???? ????? ? ??? ? ????? 1 ? ???? ??????? O.1
C PAL.2 - ???? ????? ? ??? ? ????? 2 ? ???? ??????? O.2
C PAL.3 - ???? ????? ? ??? ? ????? 3 ? ???? ??????? O.3
C PAL.4 - ???? ????? ? ??? ? ????? 4 ? ???? ??????? O.4
C PAL.5 - ???? ????? ? ??? ? ????? 5 ? ???? ??????? O.5
C PAL.6 - ???? ????? ? ??? ? ????? 6 ? ???? ??????? O.6
C PAL.7 - ???? ????? ? ??? ? ????? 7 ? ???? ??????? O.7
C PAL.8 - ???? ????? ? ??? ? ????? 8 ? ???? ??????? O.8
C #POS.1 - ??? ??? ????? ????? ?? ??? ????? 1
C #POS.3 - ??? ??? ????? ????? ?? ??? ????? 2
C #POS.5 - ??? ??? ????? ????? ?? ??? ????? 3
C #POS.7 - ??? ??? ????? ????? ?? ??? ????? 4
C O.1 - ???? ??????? ??? ????? 1
C O.2 - ???? ??????? ??? ????? 2
C O.3 - ???? ??????? ??? ????? 3
C O.4 - ???? ??????? ??? ????? 4
C O.5 - ???? ??????? ??? ????? 5
C O.6 - ???? ??????? ??? ????? 6
C O.7 - ???? ??????? ??? ????? 7
C O.8 - ???? ??????? ??? ????? 8
C O.W - ???? ??????? ??? ?????
C POS.1 - ???? ??? ????? ? ????? 1 ????? 1 ? ???? O.1
C POS.3 - ???? ??? ????? ? ????? 1 ????? 3 ? ???? O.3
C POS.5 - ???? ??? ????? ? ????? 1 ????? 5 ? ???? O.5
C POS.7 - ???? ??? ????? ? ????? 1 ????? 7 ? ???? O.7
C #TV - ?????? ??? ???
C #TV.T1 - ???? ??? ??? ? ????????? 1
C #TV.T2 - ???? ??? ??? ? ????????? 2
C #TV.T3 - ???? ??? ??? ? ????????? 3
C #TV.T4 - ???? ??? ??? ? ????????? 4
C #WIL - ?????? ??? Willett
C #WIL.T - ???? ??? Willett
C #LS - ?????? ??? ??????? ??????
C #LS.T - ???? ??? ?????? ???????
C #W.T - ?????? ??? ????? ????? ? ??????? ?? ??? ?????
C W.T1 - ???? ??? ????? ? ??? ????? ? ???? O.W
C #W.C - ?????? ??? ????? ???? ?? ??????? ?? ??? ?????
C W.C1 - ???? ??? ???? ? ??? ????? ? ???? O.W
C #MEET - ???? ?? ???? ? ????
C #BOX - ?? ??? ???
C #BAD - ?????? ??? ????? ?????????? ??????? ?? ??? ?????
C BAD.1 - ???? ????????? ??????? ? ??? ????? ? ???? O.W
C
C ??????:
C #GRIP.P, #GRIP.T, #POS, POS, #POS1, POS1, P1, P2
.End





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