' +JJJJ ?\>m0M='+l> /+l   d]@ŵLҦ]]LF L}BBL] X  ` 鷎귭෍ᷩ췩緈JJJJx Lȿ L8ᷭ緍췩 緍i 8 `巬 췌`x (`(8`I`B` ``>J>J>VU)?`8'x0|&HhHh VY)'&Y)xꪽ)' `Hh`V0^*^*>&` aI꽌ɪVɭ&Y&&Y& 꽌ɪ\8`&&꽌ɪɖ'*&%&,E'зЮ꽌ɪФ`+*xS&x'8*3Ixix&& 8  '  & x)*++`FG8`0($ p,&"ųųೳŪŪųųij  !"#$%&'()*+,-./0123456789:;<=>?   1 '" *"( (9"1 ( ,.(0# 2  /#0/#0 *?'#07#00/0/'#07#0:"4<*55/**5/*%5/)1/)1/)1/)'#0/#0*5/*75/**5/*:5//#0/#0'#07#0:::*::'#07#0"):$(%"%:$(%"%$$2%4%$$2%4%$(2()!)E(!8b $!H(+ "@H !D)"E` @ $ C ` DQ &J80^݌Hh ü ü݌ ռ ռ ռA ļD ļ? ļAEDE?HJ>h Լ ռ ռ ռ`HJ>݌h Hh݌`葠葠ȔЖȔЖȠHIHHHHhHH݌hHhHh݌H6 VDP (ED Z $0x8x D- ܸDD# H8`?E Vk *f???0xE Hh D#-EEE8` D ܸx D - ܸx8`-0ݩ?ʥD EEE`   LDcpq` [` ~ Lӌu`".Q`pNФbptťܥm2<(-Py0\|e<6e<g< JJJJj귍hI  aUL@ kU8  L  Q^R(jQ0l^l\  wUuW ԧ H h@ [_ /QSIRb_L`LLLL`ª`LQLYLeLXLeLee ўQH\(h0L& Ꝥ$`( R \ZLl8 ўR HH\`\Z[YS6`LxQɿu3'RͲʎRʎ]]]ɍuL͟ɍ}RLRɍg^H8 ^hZLɍR LͲɊRR% QLܤͲ Z@ -^ ş\[Z QY\[Z8`l6Lş_Ȍb_Ͳ] )Y h( ֭ͲLɍ [LLĦ__ ^ 9 LҦ3 9 a   0LjLY u< (_9 ˭ɠuɠK_9 ?LˆʎõĵL õ ĵµ aµ`` L̦µ_bJLuLz`  ȟ QlXJ̥KlV  ȟ QlV eօ3L e3L &RL &QL d L4 Ne)n `@-eff L f`L . tQLѤ LҦL` OPu d L Ne)noon 8ɍ` ^f\õL ^NR  RΩLҦ)\Z ʽ LHv 3h`0h8` [L NС õ`A@` ŵL^Lõ`  \ 濭0 \  ȟ Q ^\lZl^?cqH şch`fhjõĵ@OAP`u@`@&`QR`E Ls  @DAE@u`8` %@ @A@`@`@A`Mµ ) LЦ`8@AWc@8@-@HAȑ@hHȑ@ȑ@hHȑ@Ȋ@ch8&ȑ@Hȑ@Ah@LHȑ@ȑ@ htphso`hMhL`9V8U897T6S67`INILOASAVRUCHAIDELETLOCUNLOCCLOSREAEXEWRITPOSITIOOPEAPPENRENAMCATALOMONOMOPRINMAXFILEFINBSAVBLOABRUVERIF!pppp p p p p`" t""#x"p0p@p@@@p@!y q q p@  LANGUAGE NOT AVAILABLRANGE ERROWRITE PROTECTEEND OF DATFILE NOT FOUNVOLUME MISMATCI/O ERRODISK FULFILE LOCKESYNTAX ERRONO BUFFERS AVAILABLFILE TYPE MISMATCPROGRAM TOO LARGNOT DIRECT COMMANč$3>L[dmx-(# ˠ-@跻~!Wo*9~~~~ɬƬ~_ j ʪHɪH`Lc (L ܫ㵮赎 ɱ^_ J QL_Ls贩紎 DǴҵԵƴѵӵµȴ 7 ַ :ŵƴѵǴҵȴµ納贍﵎ٵ്ᵭⳍڵL^ѵ-I `  4 ò-յ!  8صٵ紭ﵝ 7L (0+BC  7L HH`LgL{0 HH` õL H hBL BH [ h`Lo õ ڬL B ڬ LʬH hB@ յյ [L (ȴ) ȴ 7L L ( L (ȴL{ƴѵ洩ƴǴҵ 7 ^* B0 HȱBh ӵԵ 8 L8 ݲ` ܫ  / / ED B / / ]ƴS0Jȴ ȴ)  紅D贅E B ƴ  / 0L Ν `HD٤DEEhiHLGh ` ŵBѵ-` ѵB-` ܫ XI볩쳢8 DH E𳈈췍Ȍ X0 · JLǵBȵC`,յp` 䯩 R-յյ`յ0` K R-յյ`ɵʵӵԵ` 4 K ( ѵҵLBȱBL8` DBHBH : ַ޵BȭߵBhhӵԵ RBܵmڵ޵ȱBݵm۵ߵ` 䯩LR˵̵ֵ׵`êĪLR E( 8` R` ELRŪƪ`췌 յյI뷭鷭귭ⵍ㵍跬ª 뷰` Lf ݵܵߵ޵ ^`8ܵ i B8` 4L ֵȱB׵ ܯ䵍൭嵍 ` DȑB׵Bֵ  ַ յյ`굎뵎쵬 뵎쵌``õĵBCõĵ`µµ`L õBĵCصص Qƴ0"Bƴ 󮜳` 0۰ϬBƴ8`i#`ЗLw!0>ﵭ` m ﳐ 7i볍 8 ЉLw`H h ݲL~ `浍국䵍뵩嵠Jm赍嵊mjnnn浈ۭm浍浭m䵍䵩m嵍`"L ŵ8ŵH ~(` d ֠Ġz# u` ACWCW(10)(11)(12)DM4:M1M4ĺ"DATA ERROR IN LINE 320":kM1INIT4:M2M14:M3M24:M4M34uINITXM1M4:: rM4:M1M4ĺ"DATA ERROR IN LINE ";10010M3:@ |] E1,E2,E3,E4,E5,E6,E7,E8 M1M1E1E2E3E4E5E6E7E8 M4:M1M4ĺ"DATA ERROR IN LINE 360": EX,EY,OFF,CCW,CW,CW,M2,M3,M4 10,M2:11,M3:12,M4M1M1EXEYOFFCCW0,16587) 1,32,1,227,88,96,44,94,17170O "192,44,95,192,138,41,1,170,18043q ,32,30,251,76,145,3,0,0,18580 61,2,4,8,16,32,64,128,18835 @7,6,255,170,85,85,76,89,3,19611 JINIT:M1INIT TM3020:M207 ^M4:INITM38M2,M4 hM174* 96,120,32,12,225,166,161,224,11510O 6,240,51,224,7,240,47,142,12467t 167,3,44,94,192,44,91,192,13294 44,95,192,44,90,192,162,8,14121 10,44,97,192,16,2,9,1,14492 44,94,192,44,95,192,202,208,15563 239,45,167,3,168,240,2,1610' 3,141,166,3,32,248,230,138,5371L 45,167,3,141,167,3,173,166,6236o 3,77,167,3,141,166,3,168,6964 162,8,44,94,192,44,92,192,7792 14,166,3,144,3,44,93,192,8451 44,95,192,202,208,236,44,89,9561 192,44,88,192,140,166,3,88,104& FM1 - M4 ARE MOTOR SELECT COMMANDSF PE1 - E8 ARE DIGITAL INPUTSi ZEX AND EY ARE ANALOGUE INPUTS d768,169,0,240,48,169,3,208,10,1615 n169,12,208,6,169,48,208,2,2437 x169,192,120,141,167,3,169,44,3442 32,192,222,173,166,3,13,167,44v"LOADING DRIVER"A INTERFACE PROGRAM FOR APPLE IIqCOPYRIGHT (C) ARTUR FISCHER FORSCHUNG 1984COMMANDS FOR THE DRIVER :(CALL M1,CW CALL M1,OFF2CALL M1,CW CALL M1,CCW<USR(E1)...USR(E8) , USR(EX) , USR(EY)     I1240O")ĪSTA(M)OFF:STA$(M)"OFF"EK("Q")ĪSTA(M)CCW:STA$(M)"CCW"lK("P")ĪSTA(M)CW:STA$(M)"CW "K("X")Ģ23:K48K53ĪMK48I14M(I),STA(I)IMĞ20:5I3"M";I;(8);(8);22STA$(I); E4); 14:CLR$;(E5);.17:CLR$;(E6);C20:CLR$;(E7);X(23:CLR$;(E8);m228:CLR$;(EX);<32:CLR$;(EY);xK(16384)128K02000:NO KEY PRESSED16368,0K("C")āI14:STA(I)OFF:STA$(I)"OFF":IK("OTOR CCW"$" P : ACT. MOTOR CW"5" X : EXIT"U"1-4: SELECT MOTOR NUMBER"]:" E1 E2 E3 E4 E5 E6 E7 E8 EX EY"CLR$" "(8)(8)(8)172:CLR$;(E1);5:CLR$;(E2);8:CLR$;(E3);11:CLR$;(TUSI14,STA(I)OFF:STA$(I)"OFF"3IaM(4):6502-PROG. ADRESSES FOR MOTORS 1-4$M(1)M1:M(2)M2:M(3)M3:M(4)M4.M1:ACT. MOTORV"C O M M A N D S"`j" C : ALL MOTORS OFF"t" O : ACT. MOTOR OFF" ~" Q : ACT. MN DESCRIPTIONC*THIS PROGRAM CHECKS ALL FUNCTIONS OF THE MODELS.]4ALL INPUTS DISPLAYED>ALL OUTPUTS ARE CONTROLLED VIA THE KEYBOARD"FISCHERTECHNIK""COMPUTING""DIAGNOSTIC PROGRAM"STA(4),STA$(4):MOTOR STACWCW(10)(11)(12)DM4:M1M4ĺ"DATA ERROR IN LINE 320":kM1INIT4:M2M14:M3M24:M4M34uINIT{XbFISCHERTECHNIK COMPUTINGlvDIAGNOSTIC PROGRAMCOPYRIGHT (C) ARTUR FISCHER FORSCHUNG 1984  FUNCTIOM1M4:: rM4:M1M4ĺ"DATA ERROR IN LINE ";10010M3:@ |] E1,E2,E3,E4,E5,E6,E7,E8 M1M1E1E2E3E4E5E6E7E8 M4:M1M4ĺ"DATA ERROR IN LINE 360": EX,EY,OFF,CCW,CW,CW,M2,M3,M4 10,M2:11,M3:12,M4M1M1EXEYOFFCCW0,16587) 1,32,1,227,88,96,44,94,17170O "192,44,95,192,138,41,1,170,18043q ,32,30,251,76,145,3,0,0,18580 61,2,4,8,16,32,64,128,18835 @7,6,255,170,85,85,76,89,3,19611 JINIT:M1INIT TM3020:M207 ^M4:INITM38M2,M4 hM174* 96,120,32,12,225,166,161,224,11510O 6,240,51,224,7,240,47,142,12467t 167,3,44,94,192,44,91,192,13294 44,95,192,44,90,192,162,8,14121 10,44,97,192,16,2,9,1,14492 44,94,192,44,95,192,202,208,15563 239,45,167,3,168,240,2,1610' 3,141,166,3,32,248,230,138,5371L 45,167,3,141,167,3,173,166,6236o 3,77,167,3,141,166,3,168,6964 162,8,44,94,192,44,92,192,7792 14,166,3,144,3,44,93,192,8451 44,95,192,202,208,236,44,89,9561 192,44,88,192,140,166,3,88,104& FM1 - M4 ARE MOTOR SELECT COMMANDSF PE1 - E8 ARE DIGITAL INPUTSi ZEX AND EY ARE ANALOGUE INPUTS d768,169,0,240,48,169,3,208,10,1615 n169,12,208,6,169,48,208,2,2437 x169,192,120,141,167,3,169,44,3442 32,192,222,173,166,3,13,167,44 "LOADING DRIVER"A INTERFACE PROGRAM FOR APPLE IIqCOPYRIGHT (C) ARTUR FISCHER FORSCHUNG 1984COMMANDS FOR THE DRIVER :(CALL M1,CW CALL M1,OFF2CALL M1,CW CALL M1,CCW<USR(E1)...USR(E8) , USR(EX) , USR(EY)     z#???    Үɠ ҠƠɮɠȠԮɠà̮ɠҮɠ Ҡ̮ɠ"˦ŮɠîɠˠàԮɠ ĮǮɠ Š̮ɠ Ԯɠ̠Үɠ Үɠ KEY$(13)ī260 :, "(4);"CATALOG"SO"' "AS A STARTING POINT FOR YOUR"H "OWN EXPERIMENTS. A LOT OF"o "OTHER MODELS -ALSO SET UP USING" "MORE FISCHERTECHNIK SYSTEM KITS-" "ARE POSSIBLE." "PRESS >RETURN< TO SEE THE CONTENTS" "OF THE DISK." KEY$ HERTECHNIK"" "AND COMPUTERS !"J "THE PROGRAMS OF THIS DISK DEMON-"r "STRATE HOW TO CONTROL MODELS SET" "UP FROM THE FISCHERTECHNIK COMPU-" "TING KIT BY USE OF THE FISCHER-" "TECHNIK INTERFACE." "PLEASE REGARD THE PROGRAMS AL- HELLO PROGRAM ; FISCHERTECHNIK COMPUTINGA(m2 COPYRIGHT (C) ARTUR FISCHER FORSCHUNG|< 26/02/86FP"FISCHERTECHNIK"Z"COMPUTING"dn"DEAR FISCHERTECHNIK ENTHUSIAST !"x "WELCOME TO THE WORLD OF FISC   YELLOWOFFREDCW(PAUSE1000/7G"RED-PERIOD "Q2000Wa21020qDELAY LOOPZ0PAUSEM1,REDM2,YELLOWM3,GNZ M3,REDZ D GNCWYELLOWOFF)REDOFF9PAUSE1000@7W$"GREEN-PERIOD "a.2000g8zBYELLOW PERIODLGNOFFVYELLOWCW`REDOFFjPAUSE200o7t"YELLOW-PERIOD "~2000RED PERIODGNOFF OR THE INTERFACE"RED=M11YELLOW=M2?GREEN=M3E U FUNCTION :* TRAFFIC LIGHT WITH CHANGING GREEN, YELLOW AND RED PERIODS4"FISCHERTECHNIK""COMPUTING""TRAFFIC LIGHT"GREEN PERIOCWCW(10)(11)(12)DM4:M1M4ĺ"DATA ERROR IN LINE 320":kM1INIT4:M2M14:M3M24:M4M34uINIT{XbFISCHERTECHNIK COMPUTINGlvTRAFFIC LIGHTCOPYRIGHT(C) ARTUR FISCHER FORSCHUNG 1984ASSIGNMENTS FM1M4:: rM4:M1M4ĺ"DATA ERROR IN LINE ";10010M3:@ |] E1,E2,E3,E4,E5,E6,E7,E8 M1M1E1E2E3E4E5E6E7E8 M4:M1M4ĺ"DATA ERROR IN LINE 360": EX,EY,OFF,CCW,CW,CW,M2,M3,M4 10,M2:11,M3:12,M4M1M1EXEYOFFCCW0,16587) 1,32,1,227,88,96,44,94,17170O "192,44,95,192,138,41,1,170,18043q ,32,30,251,76,145,3,0,0,18580 61,2,4,8,16,32,64,128,18835 @7,6,255,170,85,85,76,89,3,19611 JINIT:M1INIT TM3020:M207 ^M4:INITM38M2,M4 hM174* 96,120,32,12,225,166,161,224,11510O 6,240,51,224,7,240,47,142,12467t 167,3,44,94,192,44,91,192,13294 44,95,192,44,90,192,162,8,14121 10,44,97,192,16,2,9,1,14492 44,94,192,44,95,192,202,208,15563 239,45,167,3,168,240,2,1610' 3,141,166,3,32,248,230,138,5371L 45,167,3,141,167,3,173,166,6236o 3,77,167,3,141,166,3,168,6964 162,8,44,94,192,44,92,192,7792 14,166,3,144,3,44,93,192,8451 44,95,192,202,208,236,44,89,9561 192,44,88,192,140,166,3,88,104& FM1 - M4 ARE MOTOR SELECT COMMANDSF PE1 - E8 ARE DIGITAL INPUTSi ZEX AND EY ARE ANALOGUE INPUTS d768,169,0,240,48,169,3,208,10,1615 n169,12,208,6,169,48,208,2,2437 x169,192,120,141,167,3,169,44,3442 32,192,222,173,166,3,13,167,44 "LOADING DRIVER"A INTERFACE PROGRAM FOR APPLE IIqCOPYRIGHT (C) ARTUR FISCHER FORSCHUNG 1984COMMANDS FOR THE DRIVER :(CALL M1,CW CALL M1,OFF2CALL M1,CW CALL M1,CCW<USR(E1)...USR(E8) , USR(EX) , USR(EY)     0. IF NOT GREEN PERIOD, DON'T SCAN THE KEYG(E8)1ĪZPAUSE10| IF PUSHBUTTON WAS PRESSED, SHORTEN GREEN PERIOD*Z4I7t"YELLOW PERIOD "$~2000*:RED PERIODFGNOFFVYELLOWOFFbREDCWrPAUSE1000y7"RED PERIOD "200021020DELAY LOOPZ0PAUSEM1,REDM2,YELLOWM3,GNGNCW209LIGHT WITH PUSHBUTTON"-"FOR PEDESTRIANS"39KGREEN PERIODVGNCWfYELLOWOFFsREDOFFPAUSE10007$"GREEN PERIOD ".20008BYELLOW PERIODLGNOFFVYELLOWCW`REDOFFjPAUSE200oR FORSCHUNG 19849ASSIGNMENTS FOR THE INTERFACE?KRED=M1ZYELLOW=M2hGREEN=M3n E8=PUSHBUTTOM *FUNCTION4TRAFFIC LIGHT WITH PUSHBUTTON>"FISCHERTECHNIK""COMPUTING""TRAFFIC CWCW(10)(11)(12)DM4:M1M4ĺ"DATA ERROR IN LINE 320":kM1INIT4:M2M14:M3M24:M4M34uINIT{XbFISCHERTECHNIK COMPUTINGlvTRAFFIC LIGHT WITH A PUSHBUTTON FOR PEDESTRIANCROSSINGCOPYRIGHT(C) ARTUR FISCHEM1M4:: rM4:M1M4ĺ"DATA ERROR IN LINE ";10010M3:@ |] E1,E2,E3,E4,E5,E6,E7,E8 M1M1E1E2E3E4E5E6E7E8 M4:M1M4ĺ"DATA ERROR IN LINE 360": EX,EY,OFF,CCW,CW,CW,M2,M3,M4 10,M2:11,M3:12,M4M1M1EXEYOFFCCW0,16587) 1,32,1,227,88,96,44,94,17170O "192,44,95,192,138,41,1,170,18043q ,32,30,251,76,145,3,0,0,18580 61,2,4,8,16,32,64,128,18835 @7,6,255,170,85,85,76,89,3,19611 JINIT:M1INIT TM3020:M207 ^M4:INITM38M2,M4 hM174* 96,120,32,12,225,166,161,224,11510O 6,240,51,224,7,240,47,142,12467t 167,3,44,94,192,44,91,192,13294 44,95,192,44,90,192,162,8,14121 10,44,97,192,16,2,9,1,14492 44,94,192,44,95,192,202,208,15563 239,45,167,3,168,240,2,1610' 3,141,166,3,32,248,230,138,5371L 45,167,3,141,167,3,173,166,6236o 3,77,167,3,141,166,3,168,6964 162,8,44,94,192,44,92,192,7792 14,166,3,144,3,44,93,192,8451 44,95,192,202,208,236,44,89,9561 192,44,88,192,140,166,3,88,104& FM1 - M4 ARE MOTOR SELECT COMMANDSF PE1 - E8 ARE DIGITAL INPUTSi ZEX AND EY ARE ANALOGUE INPUTS d768,169,0,240,48,169,3,208,10,1615 n169,12,208,6,169,48,208,2,2437 x169,192,120,141,167,3,169,44,3442 32,192,222,173,166,3,13,167,44 "LOADING DRIVER"A INTERFACE PROGRAM FOR APPLE IIqCOPYRIGHT (C) ARTUR FISCHER FORSCHUNG 1984COMMANDS FOR THE DRIVER :(CALL M1,CW CALL M1,OFF2CALL M1,CW CALL M1,CCW<USR(E1)...USR(E8) , USR(EX) , USR(EY)     jI15002tM3,CW:SWITCH ON BUSY INDICATOR 9~I`M3,OFF:SWITCH OFF BUSY INDICATORi980F:SWITCH OFF TURN TABLE MOTOR%:7G="MOVE DRILLING MACHINE DOWN"dBM2,CCW:MOVE DRILL DOWNL(E4)0ī1100:DRILLING MACHINE IN BOTTOM POSITION ?VM2,OFF:SWITCH OFF DRILL`DELAY FOR DRILLINGb7e"MACHINE WORKPIECE " UP=(E5)0ī1010:CHECK IF DRILL IS IN THE TOP POSITION[M2,OFF:SWITCH OFF DRILLb7"NEXT WORKPIECE "DELAY LOOP FOR TURN TABLEI1200M1,CW$I.(E3)0ī1070:DRILLING POSITION REACHED ?8M1,OFINDICATOR>+HFUNCTION DESCRIPTION :MRCYCLIC CONTROL OF TURN TABLEg\AND DRILLING MACHINEmfspz"FISCHERTECHNIK""COMPUTING""MACHINE TOOL"7"MOVE THE DRILLING MACHINE UP"M2,CW:MOVE THE DRILLOR THE INTERFACE!INPUTFE3= STOP POSITION OF TURN TABLEwE4= BOTTOM POSITION OF THE DRILLING MACHINE E5= TOP POSITION OF THE DRILLING MACHINE OUTPUT*M1= TURN TABLE MOTOR4M2= DRILLING MACHINE MOTOR 9M3= BUSY CWCW(10)(11)(12)DM4:M1M4ĺ"DATA ERROR IN LINE 320":kM1INIT4:M2M14:M3M24:M4M34uINIT{XbFISCHERTECHNIK COMPUTINGlvMACHINE TOOLCOPYRIGHT (C) ARTUR FISCHER FORSCHUNG 1984ASSIGNMENTS FM1M4:: rM4:M1M4ĺ"DATA ERROR IN LINE ";10010M3:@ |] E1,E2,E3,E4,E5,E6,E7,E8 M1M1E1E2E3E4E5E6E7E8 M4:M1M4ĺ"DATA ERROR IN LINE 360": EX,EY,OFF,CCW,CW,CW,M2,M3,M4 10,M2:11,M3:12,M4M1M1EXEYOFFCCW0,16587) 1,32,1,227,88,96,44,94,17170O "192,44,95,192,138,41,1,170,18043q ,32,30,251,76,145,3,0,0,18580 61,2,4,8,16,32,64,128,18835 @7,6,255,170,85,85,76,89,3,19611 JINIT:M1INIT TM3020:M207 ^M4:INITM38M2,M4 hM174* 96,120,32,12,225,166,161,224,11510O 6,240,51,224,7,240,47,142,12467t 167,3,44,94,192,44,91,192,13294 44,95,192,44,90,192,162,8,14121 10,44,97,192,16,2,9,1,14492 44,94,192,44,95,192,202,208,15563 239,45,167,3,168,240,2,1610' 3,141,166,3,32,248,230,138,5371L 45,167,3,141,167,3,173,166,6236o 3,77,167,3,141,166,3,168,6964 162,8,44,94,192,44,92,192,7792 14,166,3,144,3,44,93,192,8451 44,95,192,202,208,236,44,89,9561 192,44,88,192,140,166,3,88,104& FM1 - M4 ARE MOTOR SELECT COMMANDSF PE1 - E8 ARE DIGITAL INPUTSi ZEX AND EY ARE ANALOGUE INPUTS d768,169,0,240,48,169,3,208,10,1615 n169,12,208,6,169,48,208,2,2437 x169,192,120,141,167,3,169,44,3442 32,192,222,173,166,3,13,167,44j "LOADING DRIVER"A INTERFACE PROGRAM FOR APPLE IIqCOPYRIGHT (C) ARTUR FISCHER FORSCHUNG 1984COMMANDS FOR THE DRIVER :(CALL M1,CW CALL M1,OFF2CALL M1,CW CALL M1,CCW<USR(E1)...USR(E8) , USR(EX) , USR(EY)     T UP&M3,CW:LAMP FOR MOVING UP ON0AZ0:1140I(E4)1IP1:LIFT IS IN THE SECOND FLOORY(E5)1IP0:LIFT IS IN THE FIRST FLOORySPIP1200:MOVE LIFT DOWNSPIP1240:MOVE LIFT UP1050M1,CCW:LIFT DOWNM2,CW:LAMP FOR MOVING DOWN ONAZ01140M1,CW:LIFIP0ĺ"FIRST FLOOR ".8IP1ĺ"SECOND FLOOR"HBIP2ĺ"THIRD FLOOR "RLAZ1{V(E6)1SP2:GO TO THE THIRD FLOOR`(E7)1SP1:GO TO THE SECOND FLOORj(E8)1SP0:GO TO THE FIRST FLOORt(E3)1IP2:LIFT IS IN THE THIRD FLOOR+~CHNIK"p"COMPUTING"z)"LIFT"/5PSP0:NOMIAL POSITIONkIP0:ACTUAL POSITIONAZ0:PRINTER FLIP FLOPM1,CCW:LIFT DOWN(E5)01030:IS LIFT DOWN ?INIT:SWITCH ALL DEVICES OFF$AZ1ī1110)7.FLOOR OUTPUT+ M1= LIFT MOTORFM2= LIFT IS MOVING UPc M3= LIFT IS MOVING DOWNi*y4FUNCTION :>LIFT WITH THREE FLOORSHTHE LIFT IS POSITIONED BY PRESSINGRTHE KEY BELONGING TO THE DESIRED FLOOR.\f"FISCHERTENTERFACEINPUT6E3= KEY FOR THIRD FLOORTE4= KEY FOR SECOND FLOORqE5= KEY FOR FIRST FLOORE6= KEY TO CALL THE LIFT TO THE THIRD FLOORE7= KEY TO CALL THE LIFT TO THE SECOND FLOORE8= KEY TO CALL THE LIFT TO THE FIRST CWCW(10)(11)(12)DM4:M1M4ĺ"DATA ERROR IN LINE 320":kM1INIT4:M2M14:M3M24:M4M34uINIT{XbFISCHERTECHNIK COMPUTINGlvLIFTCOPYRIGHT (C) ARTUR FISCHER FORSCHUNG 1984ASSIGNMENTS FOR THE IM1M4:: rM4:M1M4ĺ"DATA ERROR IN LINE ";10010M3:@ |] E1,E2,E3,E4,E5,E6,E7,E8 M1M1E1E2E3E4E5E6E7E8 M4:M1M4ĺ"DATA ERROR IN LINE 360": EX,EY,OFF,CCW,CW,CW,M2,M3,M4 10,M2:11,M3:12,M4M1M1EXEYOFFCCW0,16587) 1,32,1,227,88,96,44,94,17170O "192,44,95,192,138,41,1,170,18043q ,32,30,251,76,145,3,0,0,18580 61,2,4,8,16,32,64,128,18835 @7,6,255,170,85,85,76,89,3,19611 JINIT:M1INIT TM3020:M207 ^M4:INITM38M2,M4 hM174* 96,120,32,12,225,166,161,224,11510O 6,240,51,224,7,240,47,142,12467t 167,3,44,94,192,44,91,192,13294 44,95,192,44,90,192,162,8,14121 10,44,97,192,16,2,9,1,14492 44,94,192,44,95,192,202,208,15563 239,45,167,3,168,240,2,1610' 3,141,166,3,32,248,230,138,5371L 45,167,3,141,167,3,173,166,6236o 3,77,167,3,141,166,3,168,6964 162,8,44,94,192,44,92,192,7792 14,166,3,144,3,44,93,192,8451 44,95,192,202,208,236,44,89,9561 192,44,88,192,140,166,3,88,104& FM1 - M4 ARE MOTOR SELECT COMMANDSF PE1 - E8 ARE DIGITAL INPUTSi ZEX AND EY ARE ANALOGUE INPUTS d768,169,0,240,48,169,3,208,10,1615 n169,12,208,6,169,48,208,2,2437 x169,192,120,141,167,3,169,44,3442 32,192,222,173,166,3,13,167,44; "LOADING DRIVER"A INTERFACE PROGRAM FOR APPLE IIqCOPYRIGHT (C) ARTUR FISCHER FORSCHUNG 1984COMMANDS FOR THE DRIVER :(CALL M1,CW CALL M1,OFF2CALL M1,CW CALL M1,CCW<USR(E1)...USR(E8) , USR(EX) , USR(EY)      BM1,OFFL1000IK""COMPUTING"."AERIAL ROTOR"4\X(EX):POSITION OF CONTROL WHEELY(EY):POSITION OF THE ROTOR7"NOMINAL=";X;" ACTUAL=";Y;" "D(XY)YXČM1,CWYXČM1,CCW$D10ī1000.I0D8IOR THE INTERFACE!INPUTJEX= POTENTIOMETER FOR CONTROL WHEELkEY= POTENTIOMETER FOR ROTORq }OUTPUT M1= MOTOR FOR ROTOR*4FUNCTION :>ROTOR FOLLOWS THE MOVEMENT OF THE CONTROL WHEELH"FISCHERTECHNCWCW(10)(11)(12)DM4:M1M4ĺ"DATA ERROR IN LINE 320":kM1INIT4:M2M14:M3M24:M4M34uINIT{XbFISCHERTECHNIK COMPUTINGlvAERIAL ROTORCOPYRIGHT (C) ARTUR FISCHER FORSCHUNG 1984ASSIGNMENTS FM1M4:: rM4:M1M4ĺ"DATA ERROR IN LINE ";10010M3:@ |] E1,E2,E3,E4,E5,E6,E7,E8 M1M1E1E2E3E4E5E6E7E8 M4:M1M4ĺ"DATA ERROR IN LINE 360": EX,EY,OFF,CCW,CW,CW,M2,M3,M4 10,M2:11,M3:12,M4M1M1EXEYOFFCCW0,16587) 1,32,1,227,88,96,44,94,17170O "192,44,95,192,138,41,1,170,18043q ,32,30,251,76,145,3,0,0,18580 61,2,4,8,16,32,64,128,18835 @7,6,255,170,85,85,76,89,3,19611 JINIT:M1INIT TM3020:M207 ^M4:INITM38M2,M4 hM174* 96,120,32,12,225,166,161,224,11510O 6,240,51,224,7,240,47,142,12467t 167,3,44,94,192,44,91,192,13294 44,95,192,44,90,192,162,8,14121 10,44,97,192,16,2,9,1,14492 44,94,192,44,95,192,202,208,15563 239,45,167,3,168,240,2,1610' 3,141,166,3,32,248,230,138,5371L 45,167,3,141,167,3,173,166,6236o 3,77,167,3,141,166,3,168,6964 162,8,44,94,192,44,92,192,7792 14,166,3,144,3,44,93,192,8451 44,95,192,202,208,236,44,89,9561 192,44,88,192,140,166,3,88,104& FM1 - M4 ARE MOTOR SELECT COMMANDSF PE1 - E8 ARE DIGITAL INPUTSi ZEX AND EY ARE ANALOGUE INPUTS d768,169,0,240,48,169,3,208,10,1615 n169,12,208,6,169,48,208,2,2437 x169,192,120,141,167,3,169,44,3442 32,192,222,173,166,3,13,167,44 "LOADING DRIVER"A INTERFACE PROGRAM FOR APPLE IIqCOPYRIGHT (C) ARTUR FISCHER FORSCHUNG 1984COMMANDS FOR THE DRIVER :(CALL M1,CW CALL M1,OFF2CALL M1,CW CALL M1,CCW<USR(E1)...USR(E8) , USR(EX) , USR(EY)     1000DICATOR FOR SHORT BRICK*V(E3)0ī1110F`M1,CW:CARRIAGE RETURNYj(E4)0ī1130ct1000u~"LONG BRICK"M1,CW:SORT OUTM3,CW:SWITCH ON INDICATOR FOR LONG BRICK(E5)0ī1180M1,CCW:CARRIAGE RETURN(E4)0ī1200AIT FOR START KEY!DELAY LOOP.I15005I\M1,CCW:GET PIECE FOR MEASUREMENT$(E1)0(E2)0ī1150:MEASUREMENT OF LONG BRICK.(E1)1(E2)1ī1090:MEASUREMENT OF SHORT BRICK81060B"SHORT BRICK"LM2,CW: SWITCH ON INBRICK R%\FUNCTION DESCRIPTIONGpSORTING SYSTEM SORTS OUT THEquSHORT AND LONG FISCHERTECHNIK BRICKSwz}"FISCHERTECHNIK""COMPUTING""SORTING SYSTEM""SYSTEM READY"INIT(E1)1ī1010:W FOR THE INTERFACE#INPUT6E1= START KEYSE2= KEY FOR MEASUREMENTqE3= SORT OUT SHORT PIECE E4= START POSITIONE5= SORT OUT LONG PIECE *OUTPUT4M1= CARRIAGE>M2= LAMP FOR SHORT BRICKHM3= LAMP FOR LONG CWCW(10)(11)(12)DM4:M1M4ĺ"DATA ERROR IN LINE 320":kM1INIT4:M2M14:M3M24:M4M34uINIT{XbFISCHERTECHNIK COMPUTINGlvSORTING SYSTEMCOPYRIGHT (C) ARTUR FISCHER FORSCHUNG 1984ASSIGNMENTSM1M4:: rM4:M1M4ĺ"DATA ERROR IN LINE ";10010M3:@ |] E1,E2,E3,E4,E5,E6,E7,E8 M1M1E1E2E3E4E5E6E7E8 M4:M1M4ĺ"DATA ERROR IN LINE 360": EX,EY,OFF,CCW,CW,CW,M2,M3,M4 10,M2:11,M3:12,M4M1M1EXEYOFFCCW0,16587) 1,32,1,227,88,96,44,94,17170O "192,44,95,192,138,41,1,170,18043q ,32,30,251,76,145,3,0,0,18580 61,2,4,8,16,32,64,128,18835 @7,6,255,170,85,85,76,89,3,19611 JINIT:M1INIT TM3020:M207 ^M4:INITM38M2,M4 hM174* 96,120,32,12,225,166,161,224,11510O 6,240,51,224,7,240,47,142,12467t 167,3,44,94,192,44,91,192,13294 44,95,192,44,90,192,162,8,14121 10,44,97,192,16,2,9,1,14492 44,94,192,44,95,192,202,208,15563 239,45,167,3,168,240,2,1610' 3,141,166,3,32,248,230,138,5371L 45,167,3,141,167,3,173,166,6236o 3,77,167,3,141,166,3,168,6964 162,8,44,94,192,44,92,192,7792 14,166,3,144,3,44,93,192,8451 44,95,192,202,208,236,44,89,9561 192,44,88,192,140,166,3,88,104& FM1 - M4 ARE MOTOR SELECT COMMANDSF PE1 - E8 ARE DIGITAL INPUTSi ZEX AND EY ARE ANALOGUE INPUTS d768,169,0,240,48,169,3,208,10,1615 n169,12,208,6,169,48,208,2,2437 x169,192,120,141,167,3,169,44,3442 32,192,222,173,166,3,13,167,44 "LOADING DRIVER"A INTERFACE PROGRAM FOR APPLE IIqCOPYRIGHT (C) ARTUR FISCHER FORSCHUNG 1984COMMANDS FOR THE DRIVER :(CALL M1,CW CALL M1,OFF2CALL M1,CW CALL M1,CCW<USR(E1)...USR(E8) , USR(EX) , USR(EY)     M2,OFF $ ". M2,CW:LIFT ARM58 (E2)0ī2360AB M2,OFFGL \M3,OFF:SWITCH MAGNET OFF$fDPOSITIONAL CONTROL ROUTINEYD(EY)NOMINALiD1ČM1,CW{D1ČM1,CCWD(D)D2ČM1,OFF:D5ī2210I0DIM1,OFF2210 M2,CCW:LOWER ARM (E1)0ī2310 WER ARM)M3,CW:SWITCH MAGNET ON =2350:LIFT ARMU NOMINALPILE(Z(M))j2210:TURN BODY 2310:LOWER ARM*2130:MAGNET OFF42350:LIFT ARM>HMAGNET-OFF ROUTINERM3,CCW:REVERSE MAGNET CURRENT FOR DEMAGNETIZATION";X(M);" FROM PILE ";Y(M);" TO PILE ";Z(M)C2000:ROBOT ROUTINENMM1aX(M)X(M1)1{Y(M)6Y(M1)Z(M1)Z(M)Z(M1)&1700:RECURSION0MM1:ROBOT ROUTINENOMINALPILE(Y(M))2210:TURN BODY2310:LOE TOWER ?";NJN1Ā TM0<^X(M)N:Y(M)1:Z(M)3Fh1700LriPSEUDORECURSIVE ROUTINEwX(M)0ıMM1:LEVEL OF RECURSIONX(M)X(M1)1Y(M)Y(M1)Z(M)6Y(M1)Z(M1)1700:RECURSIONMM1*"DISC FROM BUDDHIST TRADITION.p5X(31),Y(31),Z(31)_POSITION OF PILES (EMPIRICAL VALUES)oPILE(1)85PILE(2)110PILE(3)135"FISCHERTECHNIK""COMPUTING""TOWER OF HANOI" @"HOW MANY DISCS HAS GOT TH FOR THE INTERFACE#INPUT3E1= BOTTOM@E2= TOPX EY= ANGLE POSITION^j OUTPUTx*M1= BODY4M2= ARM>M3= MAGNETHRFUNCTION DESCRIPTION :\SORTING OF THE PILE OF DISCS FOLLOWING THEfPUZZLE ORIGINATING CWCW(10)(11)(12)DM4:M1M4ĺ"DATA ERROR IN LINE 320":kM1INIT4:M2M14:M3M24:M4M34uINIT{XbFISCHERTECHNIK COMPUTINGlvTOWER OF HANOICOPYRIGHT (C) ARTUR FISCHER FORSCHUNG 1984ASSIGNMENTSM1M4:: rM4:M1M4ĺ"DATA ERROR IN LINE ";10010M3:@ |] E1,E2,E3,E4,E5,E6,E7,E8 M1M1E1E2E3E4E5E6E7E8 M4:M1M4ĺ"DATA ERROR IN LINE 360": EX,EY,OFF,CCW,CW,CW,M2,M3,M4 10,M2:11,M3:12,M4M1M1EXEYOFFCCW0,16587) 1,32,1,227,88,96,44,94,17170O "192,44,95,192,138,41,1,170,18043q ,32,30,251,76,145,3,0,0,18580 61,2,4,8,16,32,64,128,18835 @7,6,255,170,85,85,76,89,3,19611 JINIT:M1INIT TM3020:M207 ^M4:INITM38M2,M4 hM174* 96,120,32,12,225,166,161,224,11510O 6,240,51,224,7,240,47,142,12467t 167,3,44,94,192,44,91,192,13294 44,95,192,44,90,192,162,8,14121 10,44,97,192,16,2,9,1,14492 44,94,192,44,95,192,202,208,15563 239,45,167,3,168,240,2,1610' 3,141,166,3,32,248,230,138,5371L 45,167,3,141,167,3,173,166,6236o 3,77,167,3,141,166,3,168,6964 162,8,44,94,192,44,92,192,7792 14,166,3,144,3,44,93,192,8451 44,95,192,202,208,236,44,89,9561 192,44,88,192,140,166,3,88,104& FM1 - M4 ARE MOTOR SELECT COMMANDSF PE1 - E8 ARE DIGITAL INPUTSi ZEX AND EY ARE ANALOGUE INPUTS d768,169,0,240,48,169,3,208,10,1615 n169,12,208,6,169,48,208,2,2437 x169,192,120,141,167,3,169,44,3442 32,192,222,173,166,3,13,167,44H "LOADING DRIVER"A INTERFACE PROGRAM FOR APPLE IIqCOPYRIGHT (C) ARTUR FISCHER FORSCHUNG 1984COMMANDS FOR THE DRIVER :(CALL M1,CW CALL M1,OFF2CALL M1,CW CALL M1,CCW<USR(E1)...USR(E8) , USR(EX) , USR(EY)     )1ī4010!D(EX)HEIGHT(ID)1D1ČM2,CWCD1ČM2,CCWOD(D)fD2ČM2,OFF:2410vDGXī2150M2,OFF 2150` ADJUST ANGLEj (E8)1ī4010t D(EY)ANGLE(ID)~ D1ČM1,CW D1ČM1,CCW D(D)  D2$(ID)"KEY 'START REPEAT MODE'5(E8)0ī1110?2910R(E8)1ī1700_IDID1rHEIGHT(ID)1EXECUTION OF MOVEMENTID14IDID1>ID;" ";HEIGHT(ID);" ";ANGLE(ID);" ";MAGNET$(ID)HHEIGHT(ID)1ī2010 f(E890M3,OFF"MG$"OFF",,LEARN KEY?6(E7)0ī1680m@WAITING UNTIL KEY IS NO LONGER DEPRESSEDJ(E7)1ī1610TIDID1^HEIGHT(ID)(EX)hANGLE(ID)(EY)rMAGNET$(ID)MG$|ID;" ";HEIGHT(ID);" ";ANGLE(ID);" ";MAGNET0 M2,OFFKEY 'RIGHT'1(E3)0ī1340<(M1,CWF21310R<M1,OFFcxKEY 'LEFT' v(E4)0ī1440M1,CCW1410M1,OFFKEY 'MAGNET ON'(E5)0ī1550M3,CWMG$"ON"KEY 'MAGNET OFF'(E6)0ī15W THE MOVEMENTS*YOU TAUGHT IT BEFORE.iTHIS MOVEMENTS ARE REPEATED UNTIL YOU PRESS KEY E8 AGAIN.s2900SCANNING LOOPLKEY 'UP'V(E1)0ī1140`M2,CWj1110tM2,OFFKEY 'DOWN'(E2)0ī1240M2,CCW121\!fFUNCTION DESCRIPTION :VzWHEN YOU START THE PROGRAM IT IS IN LEARN MODE.THE ROBOT IS CONTROLLED WITH THE KEYS E1-E6.WITH E7 YOU CAN LATCH THE CURRENT POSITION OF THE ROBOT.WITH E8 YOU ENTER THE REPEAT MODE. THE ROBOT DOES NO INPUTE1= UP'E2= DOWN6E3= RIGHTEE4= LEFT XE5= MAGNET ONlE6= MAGNET OFF{E7= LEARN E8= STARTEX= ARM POSITION EY= ANGLE POSITION*4OUTPUT>M1= TURN ROBOTHM2= UP/DOWNRM3= MAGNET)vHEIGHT(100),ANGLE(100),MAGNET$(100)8CONSTANTScGX30: BRAKE PERIOD ARM GY4: BRAKE PERIOD ANGLE ID1:POINTER TO TEACH TABLEMG$"OFF":START WITH MAGNET OFFASSIGNMENTS FOR THE INTERFACECWCW(10)(11)(12)DM4:M1M4ĺ"DATA ERROR IN LINE 320":kM1INIT4:M2M14:M3M24:M4M34uINIT{&0FISCHERTECHNIK COMPUTING:DTEACH IN ROBOTNXCOPYRIGHT (C) ARTUR FISCHER FORSCHUNG 1984blTEACH TABLEM1M4:: rM4:M1M4ĺ"DATA ERROR IN LINE ";10010M3:@ |] E1,E2,E3,E4,E5,E6,E7,E8 M1M1E1E2E3E4E5E6E7E8 M4:M1M4ĺ"DATA ERROR IN LINE 360": EX,EY,OFF,CCW,CW,CW,M2,M3,M4 10,M2:11,M3:12,M4M1M1EXEYOFFCCW0,16587) 1,32,1,227,88,96,44,94,17170O "192,44,95,192,138,41,1,170,18043q ,32,30,251,76,145,3,0,0,18580 61,2,4,8,16,32,64,128,18835 @7,6,255,170,85,85,76,89,3,19611 JINIT:M1INIT TM3020:M207 ^M4:INITM38M2,M4 hM174* 96,120,32,12,225,166,161,224,11510O 6,240,51,224,7,240,47,142,12467t 167,3,44,94,192,44,91,192,13294 44,95,192,44,90,192,162,8,14121 10,44,97,192,16,2,9,1,14492 44,94,192,44,95,192,202,208,15563 239,45,167,3,168,240,2,1610' 3,141,166,3,32,248,230,138,5371L 45,167,3,141,167,3,173,166,6236o 3,77,167,3,141,166,3,168,6964 162,8,44,94,192,44,92,192,7792 14,166,3,144,3,44,93,192,8451 44,95,192,202,208,236,44,89,9561 192,44,88,192,140,166,3,88,104& FM1 - M4 ARE MOTOR SELECT COMMANDSF PE1 - E8 ARE DIGITAL INPUTSi ZEX AND EY ARE ANALOGUE INPUTS d768,169,0,240,48,169,3,208,10,1615 n169,12,208,6,169,48,208,2,2437 x169,192,120,141,167,3,169,44,3442 32,192,222,173,166,3,13,167,44"LOADING DRIVER"A INTERFACE PROGRAM FOR APPLE IIqCOPYRIGHT (C) ARTUR FISCHER FORSCHUNG 1984COMMANDS FOR THE DRIVER :(CALL M1,CW CALL M1,OFF2CALL M1,CW CALL M1,CCW<USR(E1)...USR(E8) , USR(EX) , USR(EY)     N  M3,OFF:SWITCH OFF MAGNET& 9T DISPLAY TITLE?^ Uh "FISCHERTECHNIK"fr "COMPUTING"l|  "TEACH IN ROBOT"  "TEACH IN TABLE"  " # HEIGHT ANGLE MAGNET" STOP ROBOTINITNM1,OFF:2610 DGYī2410) M1,OFF3 2410F( SWITCH MAGNETc2 MAGNET$(ID)"ON"ČM3,CWp< I0100F (E8)1ī4010P IZ MAGNET$(ID)"OFF"İ2810 2100 MAGNET-OFF ROUTINE M3,CCW:REVERSE MAGNET CURRENT FOR DEMAGNETIZATIOOR ONM(S1330,1360,1420,1440,1520,1190,1200,1330,1600,1670,1720,1780,1810f23010: CO-ORDINATES|<X,Y: PLOT PIXELF1200P3010: CO-ORDINATESZX1XdY1Y: SAVE CO-ORDINATESn3010xX1,Y1X,Y:DRAW LINE12005010: INDICATOR OFF.M2,CW: READY INDICATOR ONII27: SCANNING LOOPcS(E2)7:SHIFT KEYoEJ2I(EJ)0ī1280SSI1I7: EXIT LOOP I (S0)(S7)ī1220M2,OFF: READY INDICATOR OFFM1,CW:ACTIVE INDICATCORNER"$`"DEPRESS READ-IN KEY !"Nj(E1)0ī1130: WAIT FOR READ-IN KEY\tA2(EY)x~B2(EX):PEN POSITION(E1)1ī1160:WAIT UNTIL KEY IS NO LONGER DEPRESSEDAF2.12058(A2A1)BF1.02102(B2B1):3M1,OFF: ACTIVE"!"IN THE LEFT UPPER CORNER">"DEPRESS READ-IN KEY !"f(E1)0ī1050:WAIT FOR ACCEPT KEYt$A1(EY).B1(EX):PEN POSITION8(E1)1ī1080: WAIT UNTIL KEY IS NO LONGER DEPRESSED BL"POSITION PEN"V"IN RIGHT LOWER -AXIS (PIXELS/MM) [pSY1.0267: SCALE FACTOR Y-AXIS (PIXELS/MM) z7500:INSTALLING PAINT-FUNCTION""FISCHERTECHNIK""COMPUTING""GRAPHIC-PANEL""PLEASE CALIBRATE""POSITION PENHE GRAPHIC SCREEN OF THE,COMPUTER.2 G*GEOMETRICALDATAn4WA0.68068:ANGLE ALPHA TOP LEFT>WB0.93724:ANGLE BETA TOP LEFTHA166:ARM LENGTHRX0137: ORIGIN OF CO-ORDINATE SYSTEM\Y061fSX1.0853: SCALE FACTOR XGLE / FILLED RECTANGLE5E7=CIRCLE / FILLED CIRCLE`E8=CLEAR SCREEN / FILL ANY GIVEN AREAnEX= BETA}EY= ALPHAOUTPUTM1= GRAPHIC ACTIVM2= READY FOR INPUTFUNCTION DESCRIPTION :TRANSFER A PICTURE ONTO TTHE INTERFACEN!XINPUTS :?bE1=READ IN ANGULAR VALUEQlE2=SHIFT KEYfvE3=PLOT A PIXELE4=DRAW A LINE(FIXED COORDINATES) /DRAW OFF HAND LINE - END-POINTS ARE FIXED BY PRESSING E1E5=TRIANGLE / FILLED TRIANGLEE6=RECTANCWCW(10)(11)(12)DM4:M1M4ĺ"DATA ERROR IN LINE 320":kM1INIT4:M2M14:M3M24:M4M34uINIT{FISCHERTECHNIK COMPUTINGGRAPHIC PANEL &0COPYRIGHT (C) ARTUR FISCHER FORSCHUNG: DASSIGNMENTS FOR M1M4:: rM4:M1M4ĺ"DATA ERROR IN LINE ";10010M3:@ |] E1,E2,E3,E4,E5,E6,E7,E8 M1M1E1E2E3E4E5E6E7E8 M4:M1M4ĺ"DATA ERROR IN LINE 360": EX,EY,OFF,CCW,CW,CW,M2,M3,M4 10,M2:11,M3:12,M4M1M1EXEYOFFCCW0,16587) 1,32,1,227,88,96,44,94,17170O "192,44,95,192,138,41,1,170,18043q ,32,30,251,76,145,3,0,0,18580 61,2,4,8,16,32,64,128,18835 @7,6,255,170,85,85,76,89,3,19611 JINIT:M1INIT TM3020:M207 ^M4:INITM38M2,M4 hM174* 96,120,32,12,225,166,161,224,11510O 6,240,51,224,7,240,47,142,12467t 167,3,44,94,192,44,91,192,13294 44,95,192,44,90,192,162,8,14121 10,44,97,192,16,2,9,1,14492 44,94,192,44,95,192,202,208,15563 239,45,167,3,168,240,2,1610' 3,141,166,3,32,248,230,138,5371L 45,167,3,141,167,3,173,166,6236o 3,77,167,3,141,166,3,168,6964 162,8,44,94,192,44,92,192,7792 14,166,3,144,3,44,93,192,8451 44,95,192,202,208,236,44,89,9561 192,44,88,192,140,166,3,88,104& FM1 - M4 ARE MOTOR SELECT COMMANDSF PE1 - E8 ARE DIGITAL INPUTSi ZEX AND EY ARE ANALOGUE INPUTS d768,169,0,240,48,169,3,208,10,1615 n169,12,208,6,169,48,208,2,2437 x169,192,120,141,167,3,169,44,3442 32,192,222,173,166,3,13,167,44i"LOADING DRIVER"A INTERFACE PROGRAM FOR APPLE IIqCOPYRIGHT (C) ARTUR FISCHER FORSCHUNG 1984COMMANDS FOR THE DRIVER :(CALL M1,CW CALL M1,OFF2CALL M1,CW CALL M1,CCW<USR(E1)...USR(E8) , USR(EX) , USR(EY)          #`P4:PNTP38P2,P4(#jP1P1P4:\#tP4:P1P4ĺ"DATA ERROR IN LINE ";710010P3:b#~h#145,26,200,165,48,145,26,200,20995J" 132,26,208,12,230,27,165,27,21822r" 201,128,208,4,169,96,133,27,22788" 96,0,208,64,95,192,129,39,23611" 0,0,0,0,0,0,0,0,23611"LPNT:P1PNT:STARTING ADDRESS FOR PAINT PROCEDURE#VP3026:P20740,4,147370!\ 32,4,245,96,32,213,244,96,15699W!f 160,0,177,24,72,200,177,24,16533!p 133,38,200,177,24,133,39,200,17477!z 177,24,133,48,104,168,96,152,18379! 164,26,162,0,134,26,145,26,19062! 200,165,38,145,26,200,165,39,20040"" 200,165,27,197,25,208,194,96,8787K  138,74,170,144,25,152,221,239,9950p * 2,208,8,165,48,221,237,2,10841 4 208,1,96,138,240,4,32,103,11663 > 244,96,32,138,244,96,165,39,12717 H 221,235,2,208,8,165,38,221,13815 !R 233,2,208,1,96,138,2,32,168,2,138,72,2807: 32,112,2,177,38,41,127,37,3373_ 48,208,6,32,90,244,32,191,4224 2,104,170,202,16,229,165,24,5136 24,105,4,133,24,208,12,230,5876 25,165,25,201,128,208,4,169,6801  96,133,25,165,26,197,24,208,7675" CTERS,2THE PAINT PROCEDURE WILL BE DESTROYED.WSTARTING ADDRESS IS $220 = 544.]CALLING : HPLOT X,Y: CALL PNT . (FILLS AREA AROUND X,Y) 544,169,0,133,24,133,26,169,96,1294 133,25,133,27,164,229,32,191,2228 2,162,30TWOPI1(R1)4XX1R(ANGLE):YY1R(ANGLE)^(X0)(X279)(Y0)(Y191)ēX,YiANGLEoXINIT PAINT PROCEDUREblTHE PAINT PROCEDURE IS LOADED INTOvINPUT LINE BUFFER. IF AN INPUT TOTHE PROGRAM EXCEEDS 31 CHARAE 3010X1XY1Y)30103X2X=Y2YG3010gX1,Y1X2,Y2:DRAW TRIANGLEqX,Y}X1,Y1pSUBROUTINE CIRCLEz3010X1XY1Y3010R((X1X)2(Y1Y)2)TWOPI6.28318531ANGLEHA((EY)A1)AFWA.BETA((EX)B1)BFWB>READ ANGLElX1(SX(X0A(ALPHA)A(BETAALPHA)))Y1(SY(A(ALPHA)A(BETAALPHA)Y0))X10ĪX10X1279ĪX1279Y10ĪY10Y1191ĪY1191SUBROUTINE TRIANGL READ ANGLE9 X(SX(X0A(ALPHA)A(BETAALPHA)))f Y(SY(A(ALPHA)A(BETAALPHA)Y0))t X0ĪX0 X279ĪX279 Y0ĪY0 Y191ĪY191& (E1)1ī31100  READ CO-ORDINATES WITHOUT WAITING FOR READ-IN KEYALPX2,Y:X2: DRAW BLOCK120066010:DRAW CIRCLESX1,Y1:PNT:FILL CIRCLE]1200v3010: CO-ORDINATESX,Y:PNT:FILL AREA&1200 READ CO-ORDINATES (E1)0ī3010 ALPHA((EY)A1)AFWA BETA((EX)B1)BFWB  T4010: CO-ORDINATES%^X1,Y1/|161095010MXM(X1X2X)3aYM(Y1Y2Y)3|XM,YM:PNT:FILL AREA12003010: CO-ORDINATESX1XY1Y: SAVE CO-ORDINATES3010: CO-ORDINATESX2X1X2(XX1)1:X2,Y1DRAW TRIANGLE120013010: CO-ORDINATES;X1XYY1Y: SAVE CO-ORDINATESr3010: CO-ORDINATESX1,Y1X1,YX,YX,Y1X1,Y1:DRAW RECTANGLE12006010:DRAW CIRCLE1200@3010:START SIGNALEX,YJ(E1)1ī1200r TAKE THE VALUES5 INIT:ALL MOTORS OFFH (E4)0ī3045S M1,CW] 3020i M1,OFF| (E5)0ī3080 M1,CCW 3050 M1,OFF (E6)0ī3120 M2,CW& 30900 M2,OFF: (E7)0ī3160D M2,CCWN 3130X NT#II PLOT BORDERS OF SEGMENTS-SS0;S1SG1OSSSSSEG(S1)jAA0((AMA0)SS.5)wPENOFF5010:A-MOVEMENT"RRM,6010:PEN DOWN64010:R-MOVEMENT@RR0JPENOFFT4010:R-MOVEMENT^Sh1140: R-MOVEMENTFAA0$PPENOFF:Z5010:A-MOVEMENTDdAAMXn6010:PEN DOWNnx5010:A-MOVEMENTxRRMPENCW4010:R-MOVEMENTAA06010:PEN DOWN5010:A-MOVEMENTRR06010:PEN DOWN4010:R-MOVEMENT #";S;SEG(S1)*SSSSSEG(S1)1SISTANDARDIZE VALUESUS1SGoSEG(S1)SEG(S1)SSvS"PLEASE INSERT PAPER !""DEPRESS E3 WHEN READY !" (E3)0ī1290PLOTI BOUNDARY(RR02PENOFF <4010THE KEYS TO : "A$;"RIGHT - OUTER POSITION"E3010O$RMRY.AMAa8A$~B"LEFT - INNER POSITION"L3010VR0R`A0AjDATA INPUTSt~"NUMBER OF SEGMENTS : ";SGSG0ĀSS0S1SG"AMOUAFTER THE START OF THE PROGRAM THE PLOTTERc4IS CALIBRATED. THEREAFTER YOU INPUT THE NUMBERS AND>THE GRAPHIC IS PLOTTED.HR\"FISCHERTECHNIK"f"COMPUTING"pz"PLOTTER"A$"PLEASE POSITION PLOTTER VIA L POSITION"EY= ANGLE POSITION(4OUTPUTPM1= AZIMUTHAL MOVEMENTiM2= RADIAL MOVEMENTyM3= MAGNET FUNCTION DESCRIPTION THIS PROGRAM CONTROLS THE PLOTTER WHICH DRAWS A GRAPHIC CONSISTING**OF SEGMENTS OF A CIRCLE. NSEG(9)XCONSTANTS :6bBR30:BRAKE PERIOD RPlBA5:BRAKE PERIOD AsvASSIGNMENTS FOR THE INTERFACEyINPUT E3= TAKE VALUES GIVEN BY POTENTIOMETERE4= RIGHTE5= LEFTE6= FORWARDE7= BACKWARD EX= RADIAWCWCW(10)(11)(12)EM4:M1M4ĺ"DATA ERROR IN LINE 320":lM1INIT4:M2M14:M3M24:M4M34vINIT|FISCHERTECHNIK COMPUTINGPLOTTER&0COPYRIGHT (C) ARTUR FISCHER FORSCHUNG 1984:DSEGMENT TABLE : M1M4:; rM4:M1M4ĺ"DATA ERROR IN LINE ";10010M3:A |^ E1,E2,E3,E4,E5,E6,E7,E8 M1M1E1E2E3E4E5E6E7E8 M4:M1M4ĺ"DATA ERROR IN LINE 360": EX,EY,OFF,CCW,CW,CW,M2,M3,M4 10,M2:11,M3:12,M4M1M1EXEYOFFCC60,16587* 1,32,1,227,88,96,44,94,17170P "192,44,95,192,138,41,1,170,18043r ,32,30,251,76,145,3,0,0,18580 61,2,4,8,16,32,64,128,18835 @7,6,255,170,85,85,76,89,3,19611 JINIT:M1INIT TM3020:M207 ^M4:INITM38M2,M4 hM1474+ 96,120,32,12,225,166,161,224,11510P 6,240,51,224,7,240,47,142,12467u 167,3,44,94,192,44,91,192,13294 44,95,192,44,90,192,162,8,14121 10,44,97,192,16,2,9,1,14492 44,94,192,44,95,192,202,208,15563 239,45,167,3,168,240,2,1410( 3,141,166,3,32,248,230,138,5371M 45,167,3,141,167,3,173,166,6236p 3,77,167,3,141,166,3,168,6964 162,8,44,94,192,44,92,192,7792 14,166,3,144,3,44,93,192,8451 44,95,192,202,208,236,44,89,9561 192,44,88,192,140,166,3,88,10& FM1 - M4 ARE MOTOR SELECT COMMANDSF PE1 - E8 ARE DIGITAL INPUTSj Z EX AND EY ARE ANALOGUE INPUTS d768,169,0,240,48,169,3,208,10,1615 n169,12,208,6,169,48,208,2,2437 x169,192,120,141,167,3,169,44,3442 32,192,222,173,166,3,13,167,4 "LOADING DRIVER"A INTERFACE PROGRAM FOR APPLE IIqCOPYRIGHT (C) ARTUR FISCHER FORSCHUNG 1984COMMANDS FOR THE DRIVER :(CALL M1,CW CALL M1,OFF2CALL M1,CW CALL M1,CCW<USR(E1)...USR(E8) , USR(EX) , USR(EY)     IM2,OFF4020,A-MOVEMENT8M3,PENGD(EY)AWD1ČM1,CWiD1ČM1,CCWuD(D)D2ČM1,OFF:DBA5010I0DIM1,OFF5010pPEN DOWNzPENCWI0100M3,PEN:DELAY LOOPM2,OFFb (E3)0ī3010'l R(EX)4v A(EY)G (E3)1ī3200s WAIT UNTIL KEY IS NO LONGER DEPRESSEDy R-MOVEMENTM3,PEND(EX)RD1ČM2,CWD1ČM2,CCWD(D)D2ČM2,OFF:DBR4020I0DA$" EAST"&"FACING THE HORIZON"02010:Y0YDE0XTA$" WEST"s"FACING STRAIGHT UPWARDS"}2010A0(YY0)2FA(Y0Y)180 FE(XE0)90"INPUT TIME""HOUR : ";H$(H$("00"H$,2)2"MINUTE : ";AR : ";YEAR>`"DAY OF YEAR : ";DAY`j"TIME ZONE : ";ZZt"DEGREE OF LATITUDE : ";LA~"DEGREE OF LONGITUDE : ";LOCALIBRATION"PLEASE CALIBRATE SOLAR CELL"A$"MOVE SOLAR CELL EXACTLY TO"  NEEDS A REAL-TIME CLOCK CONTROLLING TI$.hIF THE STARTTIME EQUALS ZERO OR NO SYSTEM-CLOCK WAS FOUNDTHE PROGRAM PROCEEDS AS FASTAS POSSIBLE."FISCHERTECHNIK"$"COMPUTING".8"SOLAR CELL"B"TRACKING"LV"YE*PI AND PI/180* 6.2831853,0.0174532938TWOPI,RDUAL20:MIN. VALUE OF EYsAR200:MAX. VALUE OF EYEM20:MIN. VALUE OF EXER200:MAX. VALUE OF EXGA5:BRAKE PERIOD FOR AZIMUTH MOTOREAEMAAAL)THIS PROGRAMDE (POSITIVE TO THE NORTH).GHTHE LOCAL LONGITUDE WEST TO GREENWICH.hRTHE FORMULAS ARE TAKEN FROM\R.WALRAVEN IN SOLAR ENERGY, VOL.20f(1978), P.393-397pzDEFINE THE FUNCTION ARC SINEAS(X)(X(1XX))CONSTANTS 2TION OF LEAP YEARS WHERE8COUNTING STARTS WITH ZERO.q HOURS, MINUTES AND SECONDS OF YOUR LOCAL TIME ZONE.*THE TIME ZONE RELATIVE TO GREENWICH UNIVERSAL TIME.4COUNTING IS POSITIVE TO THE WEST AND NEGATIVE TO THE EAST.>THE LOCAL LATITU#FUNCTION DESCRIPTIONS :eTHE FOLLOWING PROGRAM CALCULATES THE POSITION OF THE SUN ANDCONTROLS THE SOLAR CELL TRACKING.INPUT PARAMETERS ARE :THE YEAR, THE DAY IN THE YEAR, STARTING WITH 1 ON JANUARY 1ST, WITH THE EXCEPS FOR THE INTERFACEN$XINPUTDbE3=MANUAL CONTROL UP/RIGHTelE4=MANUAL CONTROL DOWN/LEFTzvE5=MOTOR SELECTE6=ACCEPT SIGNALEX=ELEVATIONEY=AZIMUTHOUTPUTM1=AZIMUTHAL DRIVE MOTORM2=ELEVATION DRIVE MOTORCWCW(10)(11)(12)DM4:M1M4ĺ"DATA ERROR IN LINE 320":kM1INIT4:M2M14:M3M24:M4M34uINIT{FISCHERTECHNIK COMPUTINGSOLAR CELL TRACKING &0COPYRIGHT (C) ARTUR FISCHER FORSCHUNG:DASSIGNMENTM1M4:: rM4:M1M4ĺ"DATA ERROR IN LINE ";10010M3:@ |] E1,E2,E3,E4,E5,E6,E7,E8 M1M1E1E2E3E4E5E6E7E8 M4:M1M4ĺ"DATA ERROR IN LINE 360": EX,EY,OFF,CCW,CW,CW,M2,M3,M4 10,M2:11,M3:12,M4M1M1EXEYOFFCCW0,16587) 1,32,1,227,88,96,44,94,17170O "192,44,95,192,138,41,1,170,18043q ,32,30,251,76,145,3,0,0,18580 61,2,4,8,16,32,64,128,18835 @7,6,255,170,85,85,76,89,3,19611 JINIT:M1INIT TM3020:M207 ^M4:INITM38M2,M4 hM174* 96,120,32,12,225,166,161,224,11510O 6,240,51,224,7,240,47,142,12467t 167,3,44,94,192,44,91,192,13294 44,95,192,44,90,192,162,8,14121 10,44,97,192,16,2,9,1,14492 44,94,192,44,95,192,202,208,15563 239,45,167,3,168,240,2,1610' 3,141,166,3,32,248,230,138,5371L 45,167,3,141,167,3,173,166,6236o 3,77,167,3,141,166,3,168,6964 162,8,44,94,192,44,92,192,7792 14,166,3,144,3,44,93,192,8451 44,95,192,202,208,236,44,89,9561 192,44,88,192,140,166,3,88,104& FM1 - M4 ARE MOTOR SELECT COMMANDSF PE1 - E8 ARE DIGITAL INPUTSi ZEX AND EY ARE ANALOGUE INPUTS d768,169,0,240,48,169,3,208,10,1615 n169,12,208,6,169,48,208,2,2437 x169,192,120,141,167,3,169,44,3442 32,192,222,173,166,3,13,167,44"LOADING DRIVER"A INTERFACE PROGRAM FOR APPLE IIqCOPYRIGHT (C) ARTUR FISCHER FORSCHUNG 1984COMMANDS FOR THE DRIVER :(CALL M1,CW CALL M1,OFF2CALL M1,CW CALL M1,CCW<USR(E1)...USR(E8) , USR(EX) , USR(EY)          !!! ! ! ! ! !!!N 3090 X EAES" b ASAA32707 l AZIMUTH CONTROLG v D(EY)ASW D1ČM1,CWi D1ČM1,CCWu D(D) D2ČM1,OFF:3270 DGA3190 M1,OFF 3190 AAAS I E0ı AS(AFAA00.5)5 ES(EFEE00.5)G ASALĪASALY ASARĪASARk ESAMĪESEM} ESERĪESER ESEA3160 ELEVATION CONTROL D(EX)ES D1ČM2,CW0 D1ČM2,CCW: D(D)D D2ī3160I M2,OFF E3)0ī2080 M,CW:UP/RIGHT)20505 M1,OFFA*M2,OFFT4(E4)0ī2130j>M,CCW:DOWN/LEFTtH2100RM1,OFF\M2,OFFf(E6)0ī2030pX(EX):ELEVATIONzY(EY):AZIMUTH(E6)1ī2180 MOVEMENT ROUTINE­HOUR24ī1920lHOUR0)vDAYDAY18M$(MIN)HH$(HOUR)XZR1ī1500qT100(MIN100UHR)(TI$)Tī19601500ACCEPT CALIBRATED VALUES"WHEN DIRECTION OK,""PRESS E6 KEY"MM1(E5)1ĪMM2 (!AAS((DEKL)(H)(E))RDA(E)(DEKL)(PHI)ī1810SA0ĪAA360`A180AlEERDH$;":";M$;":";S$&"A=";A;" DEG E=";E;" DEG"03010:CONTROL ROUTINE:MINMIN10DMIN60ī1890NMIN0XHOURHOUR1b335TWOPI(TIME365.25DF)(3.694E7)TIMEISIDTWOPIĪSIDSIDTWOPI]SIDERIALE TIMEySSID(TTIME15LO)RDSTWOPIĪSSTWOPILOCAL SUN TIMEHRASHOUR ANGLEPHILARDEAS((PHI)(DEKL)(PHI)(DEKL)(H))3.5 DEGREES^CP(EPS)/_RA(SELCPCL)9`RL0SbSELCP0ĪRLTWOPI2scSELCPCL0ĪRLRLTWOPI4dRHRLTWOPI4fRARLĪRARATWOPI4:1638hRARHĪRARATWOPI4:1640rDEKLAS(SEL(EPS))|DECLINATION*SID1.759G0.031271(4.53963E7)TIMETHETAFEL4.900968(3.67474E7)TIMEo"ELEL(0.033434(2.3E9)TIME)(G),ELEL(3.49E4)(2G)THETA6LENGTH OF THE SUN@SEL(EL)JCL(EL)TEPS0.40914(6.2149E9)TIME Y ECLIPTIC APPROX. 2980LEAPYEAR(DF4))HOUR(H$)8MIN(M$)FSK(S$)hTTIMEHOUR(MINSK60)60ZZTIMEDF365LEAPYEARDAY1TTIME24DF4LEAPYEARĪTIMETIME1(DF0)(DF4LEAPYEAR)ĪTIMETIME1THETA(TWOPITIME365.25)#M$<M$("00"M$,2)+F"SECOND : ";S$@PS$("00"S$,2)RZTI$H$M$S$\dZR0tnTI$"000000"ĪZR1xI02000WAIT AT LEAST ONE SECONDITI$H$M$S$ĪZR1THERE EXISTS NO CLOCK WHEN TI$ IS UNCHANGED.DFYEAR10041400E1ČM1,CW2D1ČM1,CCW&<D(D)9FD2ČM1,OFF:HPD5ī1310TZM1,OFF^d1310xPOSITIONAL CONTROL ROUTINE FOR ARMD(EX)NOMINALD1ČM2,CWD1ČM2,CCWD(D)D2ČM2,OFF:D20ī1400M2,OFF14I0100M3,CWI0NOMINALARM(2):1400ONOMINALTURN(2)Y1300mNOMINALARM(1)w1400M3,OFF:MAGNET OFFNOMINALARM(2)1400 1060POSITIONAL CONTROL ROUTINE FOR TURNINGD(EY)NOMINAL(D"FISCHERTECHNIK"+"COMPUTING"1E"PICK & PLACE"Ki$"PLEASE PRESS START KEY"t.START8(E2)0ī1080BM4,CWL(E1)0ī1100VM4,OFF`NOMINALTURN(1)j1300tNOMINALARM(1)~1400MAGNET ON AFTER START KEY WAS DEPRESSED,X4THE CONVEYOR-BELT TRANSPORTS THE COIN TO THE ROBOTp>WHICH PLACES IT TOHTHE SLIDE.TURNING POSITIONS (EMPIRICAL VALUES)TURN(2),ARM(2)TURN(1)128TURN(2)35ARM(1)120ARM(2)30OR THE INTERFACEN!XINPUT>bE1=PHOTO SENSITIVE CELLLlE2=STARTavEX=ARM POSITIONxEY=ANGLE POSITION~OUTPUTM1=TURN TABLE DRIVEM2=ARM DRIVEM3=MAGNETM4=CONVEYOR-BELT FUNCTION DESCRIPTION : *CWCW(10)(11)(12)DM4:M1M4ĺ"DATA ERROR IN LINE 320":kM1INIT4:M2M14:M3M24:M4M34uINIT{FISCHERTECHNIK COMPUTINGPICK & PLACE&0COPYRIGHT (C) ARTUR FISCHER FORSCHUNG 1985:DASSIGNMENTS FM1M4:: rM4:M1M4ĺ"DATA ERROR IN LINE ";10010M3:@ |] E1,E2,E3,E4,E5,E6,E7,E8 M1M1E1E2E3E4E5E6E7E8 M4:M1M4ĺ"DATA ERROR IN LINE 360": EX,EY,OFF,CCW,CW,CW,M2,M3,M4 10,M2:11,M3:12,M4M1M1EXEYOFFCCW0,16587) 1,32,1,227,88,96,44,94,17170O "192,44,95,192,138,41,1,170,18043q ,32,30,251,76,145,3,0,0,18580 61,2,4,8,16,32,64,128,18835 @7,6,255,170,85,85,76,89,3,19611 JINIT:M1INIT TM3020:M207 ^M4:INITM38M2,M4 hM174* 96,120,32,12,225,166,161,224,11510O 6,240,51,224,7,240,47,142,12467t 167,3,44,94,192,44,91,192,13294 44,95,192,44,90,192,162,8,14121 10,44,97,192,16,2,9,1,14492 44,94,192,44,95,192,202,208,15563 239,45,167,3,168,240,2,1610' 3,141,166,3,32,248,230,138,5371L 45,167,3,141,167,3,173,166,6236o 3,77,167,3,141,166,3,168,6964 162,8,44,94,192,44,92,192,7792 14,166,3,144,3,44,93,192,8451 44,95,192,202,208,236,44,89,9561 192,44,88,192,140,166,3,88,104& FM1 - M4 ARE MOTOR SELECT COMMANDSF PE1 - E8 ARE DIGITAL INPUTSi ZEX AND EY ARE ANALOGUE INPUTS d768,169,0,240,48,169,3,208,10,1615 n169,12,208,6,169,48,208,2,2437 x169,192,120,141,167,3,169,44,3442 32,192,222,173,166,3,13,167,44 "LOADING DRIVER"A INTERFACE PROGRAM FOR APPLE IIqCOPYRIGHT (C) ARTUR FISCHER FORSCHUNG 1984COMMANDS FOR THE DRIVER :(CALL M1,CW CALL M1,OFF2CALL M1,CW CALL M1,CCW<USR(E1)...USR(E8) , USR(EX) , USR(EY)"" " " " " """""""