10ENVELOPE1,0,-4,-8,-16,2,2,0,127,0,0,-2,127,127
   11ENVELOPE2,0,1,0,0,0,0,0,0,0,0,0,0,0
   20DEL=35
   21 ON ERROR RUN
   30?&FE6C=&CD:?&FE62=-1
  950*FX4,1
  960@%=3
  970*FX12,1
 1000DIMNOW(9),NAME$(9),SPEAK$(9),MIN(9),MAX(9)
 1005DIMSTORE(100,6)
 1006DIMMASK(8):FORI=0 TO 8:MASK(I)=2^I:NEXT
 1010FORI=1 TO 9:READNAME$(I):NEXT:FORI=1 TO 9:READSPEAK$(I):NEXT:FORI=1 TO 9:READMIN(I),MAX(I):NEXT
 1020NOW(1)=450:NOW(4)=39
 1021FORI=1 TO 6:STORE(1,I)=NOW(I):NEXT
 1022FORI=7 TO 9:NOW(I)=1:NEXT
 1023NOW(8)=2
 1024MAX(8)=2
 1030MODE7
 1035VDU23,0,10,32;0;0;0;
 1040PROCKEYS
 1042 ON ERROR GOTO 1050
 1050PROCTITLE
 1100PROCSETUPSCREEN
 1110X%=1:S%=2
 1300PROCMPSET(X%):PRINTTAB(0,5+X%)CHR$129
 1301E%=MIN(X%):F%=MAX(X%):G%=NOW(X%)
 1310A=INKEY(6000):IFA=-1  KJFGJKHFGJFJ
 1311*FX15,1
 1320IFA=136 AND G%>E% G%=G%-1:PRINTTAB(12,X%+5),G%:MRP=MDP EOR NB:?&FE60=MRP:?&FE60=MRP EOR 128:?&FE60=MRP:?&FE60=MEP:?&FE6C=&ED:?&FE6C=&CD:GOTO1310
 1321IFA=137 AND G%<F% G%=G%+1:PRINTTAB(12,X%+5),G%:?&FE60=MDP:?&FE60=MDP EOR 128:?&FE60=MDP:?&FE60=MEP:?&FE6C=&ED:?&FE6C=&CD:GOTO1310
 1324NOW(X%)=G%
 1325IFA=9 GOTO5000
 1329IFA=139 OR A=138 PRINTTAB(0,5+X%)"�"
 1330IFA=139 X%=X%-1-6*(X%=1):GOTO1300
 1340IFA=138 X%=X%+1+6*(X%=6):GOTO1300
 1370IFA>134 GOTO1310
 1380IFA<128 GOTO1500
 1385VDU26
 1390FORI%=14 TO 23:VDU31,S%*13-13,I%,132,157,135:NEXT:S%=(A-127)/2
 1400FORI%=14 TO 23:VDU31,S%*13-13,I%,129,157,135:NEXT:GOTO1310
 1500IFA=32 GOTO2000
 1510A=A AND 239:IFA<>44 AND A<>46 GOTO1310
 1520IFA=46 GOTO1600
 1530IF NOW(S%+6)<=MIN(S%+6) GOTO1310
 1540NOW(S%+6)=NOW(S%+6)-1:FORQ%=19 TO 20:PRINTTAB(S%*13-7+(NOW(S%+6)>9),Q%);" ";NOW(S%+6):NEXT:GOTO1310
 1600IF NOW(S%+6)>=MAX(S%+6) GOTO1310
 1610NOW(S%+6)=NOW(S%+6)+1:FORQ%=19 TO 20:PRINTTAB(S%*13-7+(NOW(S%+6)>9),Q%);" ";NOW(S%+6):NEXT:GOTO1310
 2000PROCBLEEP
 2005IFS%<>1 GOTO2500
 2010IF MAX(7)=0 THEN FORI%=200 TO 100 STEP -1:SOUND1,0,I%,1:SOUND0,-15,3,1:NEXT:GOTO1310
 2020FORI=6 TO 1 STEP -1
 2025PROCMPSET(I)
 2030L=STORE(NOW(7),I):Q=0:IFL<NOW(I) Q=-1
 2031IFL=NOW(I) GOTO2050
 2040FORO%=1 TO ABS(L-NOW(I)):PROCMOVE(Q):NEXT
 2050NOW(I)=L:NEXT:FORI=1 TO 6:PRINTTAB(0,I+5)"�"NAME$(I),NOW(I):NEXT:GOTO1300
 2500IFS%=2 GOTO3000
 2505IFMAX(9)=0 THEN FORI%=200 TO 100 STEP -1:SOUND1,0,I%,1:SOUND0,-15,3,1:NEXT:GOTO1310
 2510PROCDISPLAY(NOW(9)):GOTO1310
 3000FORI=1 TO 6:STORE(NOW(8),I)=NOW(I):NEXT:NOW(8)=NOW(8)+1:FORI=7 TO 9:MAX(I)=MAX(I)+1:NEXT
 3010FORQ%=19 TO 20:PRINTTAB(S%*13-7+(NOW(S%+6)>9),Q%);" ";NOW(S%+6):NEXT
 3013NOW(9)=NOW(8)-1
 3014FORQ%=19 TO 20:PRINTTAB(3*13-7+(NOW(9)>9),Q%);" ";NOW(9):NEXT
 3015PROCDISPLAY(NOW(9))
 3020GOTO1310
 5000IF NOW(9)=0 FORI=200 TO 100 STEP -1:SOUND1,0,I,1:SOUND0,-15,3,1:NEXT:GOTO1300
 5010FORI=1 TO NOW(9)
 5013PROCBLEEP
 5015VDU26,31,25,0:PRINT"WORKING ON:";I
 5020FORJ=6 TO 1 STEP -1:PROCMPSET(J):L=STORE(I,J):Q=0:IFL<NOW(J) Q=-1
 5022SOUND18,-15,50,1
 5023IFL=NOW(J) GOTO5031
 5030FORO%=1 TO ABS(L-NOW(J)):PROCMOVE(Q):NEXT:NOW(J)=L
 5031PRINTTAB(0,J+5)" "NAME$(J),NOW(J):NEXT:NEXTI
 5040VDU26,31,25,0:PRINT"FINISHED!!!   "
 5050FORJ%=4 TO 50:FORI%=0 TO 255 STEP J%:SOUND3,-15,I%,0:NEXT:NEXT:VDU26,31,25,0:PRINT"            ":GOTO1300
 9999END
10000DEFPROCKEYS
10010*KEY0 |!|A
10020*KEY1 |!|B
10030*KEY2 |!|C
10040*KEY3 |!|D
10050*KEY4 |!|E
10060*KEY5 |!|F
10110*KEY10 OLD|MRUN|M
10120ENDPROC
10200DEFPROCTITLE
10205VDU26
10210CLS
10220A$=CHR$141+"�ROBOT�ARM�CONTROLLER�(NEW EDITION)":PRINTA$'A$''''
10230PRINT"BY�DAVID FRANKLIN�1/8/83"
10235PRINT''''
10240PRINT"Use the gray�up�and�down�keys to select which joint you wish to move.           ( The one selected will be highlighted    in�red�.)"'
10250PRINT"Use the gray�[�and�]�keys to move that  joint."
10260PRINT''''"PRESS�SPACE�TO CONTINUE"
10270REPEAT:UNTILGET=32:CLS
10280PRINT"The computer can remember the position  that the robot is at, in fact it can    remember almost an unlimited (!) number of positions."'
10300PRINT"While the top left hand part of the     screen is used for moving the robot,    the rest of the screen is concerned withusing the stores. At the top right of   the screen is a white rectangle showing"
10310PRINT"what is in a certain store, while at    the bottom is a coloured rectangle,     where you can use the stores to move    the robot."
10320PRINT'"The rectangle is divided into three bitsthe first one, labelled�GET FROM�reads  information from the store number shown.The 2nd allows you to store the positionof the robot, while the third controls "
10330PRINT"the store displayed in the white        rectangle."
10350PRINT'"HIT�SPACE�TO CONTINUE";
10360REPEAT:UNTILGET=32:CLS
10370PRINT"You select which portion of the         rectangle you wish to use by pressing   one of the�red�function keys. (There    are 2 displayed under each bit of the   rectangle. To change the number use the ',' and '.' keys."
10380PRINT'"When you are happy with the number      displayed press�SPACE�to tell the       computer to act on the number."
10385PRINT'"Press TAB to run through all the stores in order."
10390PRINT'''''''''"HIT�SPACE�TO USE THE PROGRAM"
10400REPEAT:UNTILGET=32
10500ENDPROC
11000DEFPROCSETUPSCREEN
11010VDU26,12:PRINT"  �ROBOT"'"�POSITIONS:"''
11020PRINT" Joint","      Pos" 
11040VDU151,96,96,96,96,96,32,32,32,32,32,32,96,96,96,10,13
11050FORI=1 TO 6:PRINT" "NAME$(I),NOW(I):NEXT
11060VDU28,0,24,39,14
11070FORI=1 TO 20:PRINT"�"CHR$157"�"TAB(13)"�"CHR$157"�"TAB(26)"�"CHR$157"�"
11080NEXT
11085PRINT"    f0,f1       f2,f3         f4,f5"CHR$30
11090PRINTTAB(3,2)"GO TO :",TAB(16,2)"STORE AT:",TAB(30,2)"EXAMINE:"
11100FORI=5 TO 6:PRINTTAB(3,I)CHR$141;TAB(7,I);NOW(7)TAB(20,I);NOW(8)TAB(33,I);NOW(9):NEXT
11108PROCDISPLAY(1):ENDPROC
11109DEFPROCDISPLAY(U%)
11110VDU28,20,13,39,3
11120CLS:FORI%=1 TO 20:VDU135,157,132,10,13:NEXT:VDU28,23,13,39,3:CLS:PRINT"THE CONTENTS"'"OF STORE NO."'U%;" ARE:"'
11130FORI=1 TO 6:PRINTNAME$(I),STORE(U%,I):NEXT
11200VDU26:ENDPROC
11500DEFPROCMPSET(A%)
11510BIN=MASK(A%-1):MDP=0-8*(A%=5):IFA%=5 OR A%=4 MEP=24:NB=63 ELSE MEP=BIN:NB=-1
11511IFA%=2 OR A%=6 MDP=MDP EOR -1:ENDPROC ELSE ENDPROC
11520DEFPROCMOVE(NEG)
11521LOCALQ
11525MWP=MDP
11530IFNEG=TRUE MWP=MDP EOR NB
11540?&FE60=MWP:?&FE60=MWP EOR 128:?&FE60=MWP:?&FE60=MEP:?&FE6C=&ED:Q=PI^5:?&FE6C=&CD:ENDPROC
12000DEFPROCCREDITS
12010CLS:A$="�ROBOT�ARM�CONTROLLER�V1.1 "
12011FORI%=&7C00 TO &7FFF STEP 40:?I%=141:NEXT:VDU28,1,24,39,0
12020PROCSWOOSH(1,0,A$)
12025PROCSWOOSH(-1,4,"WRITTEN BY")
12030PROCSWOOSH(1,8,"DAVID")
12040PROCSWOOSH(-1,10,"FRANKLIN")
12050FORTD=1 TO 3000:NEXT
12060PROCSWOOSH(1,20,"Copyright"+CHR$136+"D.Franklin"+CHR$137+"1983.")
12070FORI=1 TO 40
12080X$=CHR$(128+RND(7)):Y$=CHR$(128+RND(7)):PRINTTAB(0,8)X$'X$'Y$'Y$
12090FORTD=1 TO 200:NEXT:NEXT
12095VDU26
12100ENDPROC
12300END
12500DEFPROCSWOOSH(A,B,C$)
12503SOUND17,2,50,30:SOUND16,-15,7,30
12505C$=CHR$141+C$
12510IFA=-1 GOTO12600
12520C$=STRING$(20-LEN(C$)/2," ")+C$
12530FORI=1 TO LEN(C$):FORJ=B TO B+1:PRINTTAB(0,J),MID$(C$,LEN(C$)-I):NEXT:FORTD=1 TO 10:NEXT:NEXT
12540ENDPROC
12600C$=C$+STRING$(20-LEN(C$)/2," ")
12610FORI=1 TO LEN(C$):FORJ=B TO B+1:PRINTTAB(40-I,J),LEFT$(C$,I):NEXT:FORTD=1 TO 10:NEXT:NEXT
12620ENDPROC
32000DATA"BASE:    ","SHOULDER:","ELBOW:   ","WRIST:   ","TWIST:   ","GRIP:    "
32005DATA"GO TO :","STORE AT:","SEE STORE"  
32006DATA"BASE","SHOULDER","ELBOW","WRIST","TWIST","GRIP","GET FROM","STORE AT","SEA STORE"
32010REM*MIN AND MAX PARAM*
32020DATA0,900,0,300,0,150,0,299,-90,90,0,130,1,1,1,1,1,1
32760DEFPROCBLEEP
32765SOUND17,1,250,1:ENDPROC