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