perm filename ALTASK.YEL[SYS,HE]1 blob
sn#182257 filedate 1975-10-22 generic text, type C, neo UTF8
COMMENT ⊗ VALID 00009 PAGES
C REC PAGE DESCRIPTION
C00001 00001
C00002 00002 TRANS VISE3 4.78 30.48 3.32 27.40 90.00 162.83
C00006 00003 DEFINE UPBOX
C00007 00004 DEFINE ALTASK
C00008 00005 DEFINE PUTTOP
C00009 00006 DEFINE UPSCREW
C00011 00007 0 0 -60
C00013 00008 DEFINE DRIVEIN
C00014 00009 DEFINE DOWNDRIVER
C00015 ENDMK
C⊗;
TRANS VISE3 4.78 30.48 3.32 27.40 90.00 162.83
TRANS SCE 17.46 30.95 5.11 178.30 89.89 .00
TRANS VISE4 5.42 30.03 3.36 -151.31 86.58 -17.20
TRANS VISE5 4.65 30.67 5.07 -135.46 89.95 .00
TRANS VISE6 4.75 30.68 4.41 -135.17 89.88 .00
TRANS BAR 11.49 38.43 10.61 -121.44 87.84 29.57
TRANS GBOX1 8.98 20.88 1.51 -90.00 90.00 .00
TRANS VISE7 5.41 30.10 3.47 133.06 88.66 -92.05
TRANS GBOX2 8.97 22.10 .80 -90.00 90.00 .00
TRANS FOO 5.00 32.14 10.54 -108.79 87.22 23.72
TRANS VISE8 5.41 30.06 3.00 121.78 88.78 -103.15
TRANS GTOP 13.86 22.40 1.50 -35.94 89.26 142.14
TRANS H1 7.09 30.09 8.50 -131.35 89.71 .00
TRANS H2 4.92 32.19 8.50 -98.08 89.78 .00
TRANS H3 3.19 30.46 8.50 145.25 89.09 -124.48
TRANS H4 5.36 28.39 8.50 -89.72 89.88 .00
TRANS SCRW 17.46 32.64 5.61 -156.04 90.00 26.18
TRANS MIDAIR 11.48 28.75 8.03 -149.05 87.04 -14.01
TRANS SCT 17.50 30.96 3.63 178.38 89.70 .00
TRANS VISE1 5.70 31.56 3.97 -135.94 89.95 .00
TRANS DRIVER 20.79 34.85 8.50 -89.19 89.93 .00
TRANS VISE2 5.88 31.01 4.83 178.17 90.00 -47.82
VECT UP2 .00 .00 2.00
VECT UP3 .00 .00 3.00
VECT X 1.00 .00 .00
VECT UP4 .00 .00 4.00
VECT ND .00 .00 3.00
VECT Y .00 1.00 .00
VECT Z .00 .00 1.00
VECT UP6 .00 .00 6.00
VECT F .00 .00 -60.00
VECT UP8 .00 .00 8.00
VECT UP6X -.75 .75 6.00
VECT DXV .71 -.71 .00
VECT SA .00 -1.00 3.00
VECT MV .00 .00 -100.00
VECT SD 1.00 1.00 .50
VECT FV .00 .00 -60.00
VECT NIL .00 .00 .00
VECT DFV 10.00 -10.00 .00
DEFINE UPBOX
FLUSH
VOPEN 8
OPEN 2
MERGE
GOTO GBOX1 Z 4 NIL 0
L0: GO GBOX1
CENTER .3
SKIPE 2
JUMP L1
OPEN 2
MERGE
GO GBOX1 Z 4 NIL 0
WAIT THE BOX IS MISSING
JUMP L0
L1: ASSERT GBOX1
SAVE BOXC1
OPEN 1
DEPART UP3
OPEN 4
MERGE
CONO UP3 NIL 0 0 90
GOTO GBOX2
RESTORE BOXC1 0
CENTER 2.7
SAVE BOXC2
DEPART UP6
DEFINE INVISE
CONO UP3 NIL 19 0 0
MOVE VISE3 Z 3 NIL 0
VECT FV
0 0 -30
STOP FV NIL
CHANGE Z -4 NIL 0 60
SPIN 1 Z
STOP DFV NIL
CHANGE DXV 3 NIL 0 120
ASSERT VISE4
SAVE BOXC3
DEPART UP6
OPEN 4
DEFINE ALTASK
BEGIN ALTASK
UPBOX
INVISE
UPTOP
PUTTOP
UPDRIVER
SCREWS
DOWNDRIVER
FINUP
END
DEFINE UPTOP
FLUSH
CONO Z NIL 0 0 0
OPEN 4
MERGE
GOTO GTOP
L0: CENTER 2.7
SKIPE 2
JUMP L1
OPEN 4
MERGE
GO GTOP Z 4 NIL 0
WAIT THE TOP IS MISSING
GO GTOP
JUMP L0
L1: DEPART UP6
DEFINE PUTTOP
CONO UP4 NIL 8 0 0
GOTO VISE5
RESTORE BOXC3 0
OPEN 3.2
OPEN 4
MERGE
GO VISE6
CENTER 2.8
;WAIT CLOSE THE VISE TYPE P TO PROCEED
VCLOSE 3
OPEN 3.5
GO VISE7
SPIN 1 DXV
VECT FV
0 0 -80
STOP FV NIL
CHANGE Z -.75 NIL 0 0
ASSERT VISE8
SAVE BODY3C
GO VISE7
RESTORE BODY3C 0
CENTER 2.9
SAVE BODY3C
OPEN 4
DEPART UP6
DEFINE UPDRIVER
CONO NIL NIL 0 0 0
OPEN 3
MERGE
GOTO DRIVER
VECT FV
0 0 -150
FORCE FV NIL
VECT FV
0 0 -40
STOP FV NIL
SPIN 1 Z
FREE 1 X
CHANGE Z -4.5 NIL 0 120
CLOSE 1
DEPART UP4
→
%≥
∪+A'π% \∩~∃
1+'⊂~)π∨≥≡↓'αA'⊂@bf@@@`~∃5∨-
AMπ%.@@@@@@@@@@@@@@@@@@wβ≥⊂A∂≡AQ⊃
A)!
A ∪M! ≥'∃$~∃βM'∪∂≤↓'π% \@h@@@@@@@@@@@@@@w≥+≠ $A∨_A)∪≠∃&A)≡↓)%2AQ≡A!∪
⊗A+ ↓'π% \~∃∃+5 @d~)π∨≥≡↓≥λA'⊂@bf@@@`~∃0htA∂<A'π%\~∃!→¬π
~∃Y π(A_~∀`@H`@Zb@`~∃
I
@d↓2A4~)
∨%π∀A A≥%_~∃≥9+_~∃Mπ% .Zd`~)≠ %∂∀~∃ %%-
@b`@f`@@@@@@@@@@@@@@@@m!+'⊂↓)⊃
AMπ% /⊃%∪- HAβ∂β%≥'(AQ⊃
A %'! ≥M $~∀@@@@@@@@@@@@@@@@@@@@@@@@@wβ≥⊂A ∨/8A∨≤AQ⊃
A'
% .A¬&A∪(↓%∨)βQ &~∃Y π(A→,~∀``@Zj@~∃')= A
,↓≥∪_~)- π(↓
,~∀@@`@ZD``~∃→∨%π
↓
,A≥%_~∃/=¬¬→
\d~∃
⊃β≥∂∀A4@Z8jA≥∪0@`@b@@@@@@@@@@w!+M⊂A)⊃∀A'π%∃/ %∪Y $A∪9)≡A)!
A'πI .A⊃∃βλ~∃→%
@HA0A24∃π∨≥<A≥λAMλ@bf`@`~)π⊃β≥≥
A4@8d`A≥%_@`@Dd`@@@@@@@@w→%
(A)!
A'πI .A+@A∨- HA)⊃
↓ ≥λAM)∨ ~)≥≥+_4∃
% ∀@bA04∃- πPA ~∀@@Zd``~∃'Q∨ A ↓≥∪_~)π∨≥≡↓≥λA'⊂@bf@D``@b@`~∃∂<A'π
@@@@@@@@@@@@@@@@@@@@wβ≥λ↓)β↔
↓∪(A∨U(~∃'-∪!≤@Hf~∃∃U≠ A_L@@@@@@@@@@@@@@@@@@@@w≥≡A∃1π 'M∪-
A→∨%π
↓'≡A!I∨π ⊂~∃β'M∪∂≤AA+→_@L@@@@@@@@@@@@@@@@m)∪≠ LA)≡AQ%2A!U→→∪≥≤A∨+(4∃_dt↓/∨¬¬1
@\j4∃- πPA
,~(`@`@D``~∃M)∨ A→,A≥∪0~∃π⊃¬≥∂
Ah@bA≥%_@`@@~∃'↔%!≤@dL~∃∃+5 A_j@@@@@@@@@@@@@@@@@@@@mπβ≠
↓∨+(A→∪≥
~)'∨∃∞↓!+→_↓_d@@@@@@@@@@@@@@@@w)=≡A≠+
⊂A
∨Iπ
A)I2Aβ∂¬∪≤~∃)+≠ A0l@@@@@@@@@@@@@@@@@@@@w ≡↓∪(A¬dA⊃β≥⊂~∃_jhA'∨∃≤A'π%W L4
JUMP L6
VECT F
0 0 -60
L3: STOP F NIL ;DRIVER CAME OUT CHECK IF IT HAS SCREW
CONO ND SD 13 0 0
GO SCT
SKIPE 23
JUMP L7 ;ALL OK GO TO HOLE
NNUL
GOTO SCRW ;GO BACK TO BEGINNING
SOJG SCREW L4
L6: WAIT FREE THE SCREW DRIVER PUT A SCREW ON ITS END AND PROCEED
L7: DEPART UP3
JUMP 1
DEFINE TOH H HRC
FLUSH
ASSIGN MISS 10
SEARCH .07 Z Y
CONO UP3 SD 13 0 0
MOVE H Z .4 NIL 0 0
JUMP L2
L1: CONO Z SD 13 0 0
GOTO H Z .4 NIL 0 0
RESTORE HRC 0
VECT FV
0 0 -30
L2: STOP FV NIL
NNUL
CONO NIL SD 13 60 60
GO H
RESTORE HRC 0
SKIPN 23
JUMP L3
AOJ 1
SOJG MISS L1
JUMP L4
L3: STOP FV NIL
FREE 2 X Y
CHANGE Z -.4 NIL 0 60
SKIPE 23
JUMP L5
AOJ 1
SOJG MISS L1
L4: WAIT PUT THE SCREW IN THE HOLE PROCEED
L5: JUMP 1
DEFINE DRIVEIN
VECT FV
0 0 -60
FORCE FV NIL
NNUL
VECT MV
0 0 -100
CHANGE Z 0 Z 30 30
STOP NIL MV
FORCE FV NIL
NNUL
CONO NIL SD 13 0 0
SCREW -50
MERGE
CHANGE Z -.5 NIL 0 150
SKIPE 23
JUMP 1
DEFINE FREEDRIVER
CONO NIL SD 13 0 0
FLUSH
VECT FV
0 0 150
STOP FV NIL
WOBBLE .2
CHANGE Z .5 NIL 0 30
SKIPE 23
WAIT FREE THE DRIVER AND PROCEED
DEPART UP3
DEFINE ASCREW H
UPSCREW
TOH H BODY3C
DRIVEIN
FREEDRIVER
DEFINE SCREWS
ASCREW H1
ASCREW H3
ASCREW H2
ASCREW H4
DEFINE DOWNDRIVER
CONO NIL SD 13 0 120
GOTO DRIVER
VECT FV
0 0 -60
STOP FV NIL
SPIN 1 Z
CONO NIL SD 13 0 0
GO DRIVER Z -5 NIL 0
OPEN 3
DEPART UP4
DEFINE FINUP
CONO UP6 NIL 0 90 0
OPEN 4
MERGE
MOVE VISE4
CENTER 2.9
;WAIT OPEN THE VISE AND TYPE P TO PROCEED
VOPEN 2
DEPART UP6X
CONO UP6 NIL 19 60 120
GOTO GBOX2 Z 1 NIL 0
PLACE
OPEN 4
DEPART UP4
PARK