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Transactor_15_1987_Transactor_Publishing.d64
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robot arm 2
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Commodore BASIC
|
2023-02-26
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1KB
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48 lines
5 rem demonstration program for robot arm
10 rem kevin o'connor april 1983
15 p=37136:rem port address
20 poke 37138,255:rem make all lines output
30 poke p,9:rem shoulder up
40 for i=1 to 15000:next i
50 poke p,21:rem wrist up
60 x=peek(36873):rem feedback for wrist
70 if x<>23 then goto 60
80 poke p,13:rem spin wrist
90 for i=1 to 10000:next i
100 poke p,2:rem rotate base cw
110 for i=1 to 15000:next i
120 poke p,6:rem elbow cw
130 x=peek(36872):rem feedback for elbow
140 if x<>48 then goto 130
150 poke p,22:rem wrist down
160 x=peek(36873)
170 if x<>77 then goto 160
180 poke p,10:rem shoulder down
190 for i=1 to 14000:next i
200 poke p,18:rem open hand
210 for i=1 to 5000:next i
220 poke p,0:rem off
230 ti$="000000" :rem 15 second wait
240 if ti$<>"000015" then goto 240
250 poke p,17:rem close hand
260 for i=1 to 5000:next i
270 poke p,9:rem shoulder up
275 for i=1 to 15000:next i
280 poke p,21:rem wrist up
290 x=peek(36873)
300 if x<>12 then goto 290
310 poke p,14:rem wrist ccw
320 for i=1 to 10000:next i
330 poke p,1:rem base ccw
340 for i=1 to 15000:next i
350 poke p,5:rem elbow ccw
360 x=peek(36872)
370 if x<>29 then goto 360
380 poke p,22:rem wrist down
390 x=peek(36873)
400 if x<>77 then goto 390
410 poke p,10:rem shoulder down
420 for i=1 to 14000:next i
430 poke p,0
440 end