COMMENT ⊗   VALID 00002 PAGES
C REC  PAGE   DESCRIPTION
C00001 00001
C00002 00002	! CREATED DEC 30, 1977  ALL PNT,MSM CHANGED TO PNT,HE 
C00005 ENDMK
C⊗;
! CREATED DEC 30, 1977  ALL PNT,MSM CHANGED TO PNT,HE ;
REQUIRE "MOVE.DEF[PNT,HE]" SOURCE_FILE;

REQUIRE "TLKF5B[PNT,HE]" LOAD_MODULE;
	! NOTE THAT TLKEF5[PNT,MSM] IS NOT THE SAME AS TLKEF5[11,BES];

EXTERNAL INTEGER PROCEDURE TLKEF5(REAL ARRAY TNS,ANGLES);
	! fills TNS with transpose(<arm trans>), ANGLES with
	  joint angles (ANGLES[7]=hand) in degrees & inches.
	  Returns 0 if all ok, otherwise returns ERROR CODE;


PRESET_WITH
	"ELF IS BUSY, SOMEONE IS USING IT",
	"ELF STATUS WORD INDICATES ERROR CONDITION",
	"UNABLE TO SERO MASTER NUMBER IN ELF",
	"ELF NOT TRANSFERRING ARM POSITION",
	"BAD READ FROM ELF DURING POSITION DATA TRANSFER",
	"IOPDLOV WHEN TRYING TO SAVE CHANNEL 1 FOR ELF";
INTERNAL STRING ARRAY ARMERR[1:6];

INTERNAL REAL ARRAY BANGLE,YANGLE[1:7];

INTERNAL PROCEDURE READ_ARM(INTEGER ARM);
	BEGIN
	INTEGER I,J;
	OWN REAL ARRAY BESTNS[1:4,1:3], A[1:5,1:4],BESANGLES[1:7];
	IF ARM=BLUE
	THEN BEGIN
		IF (I←TLKEF5(BESTNS,BESANGLES))>0 THEN 
			ABORT1(ARMERR[I],NULL);
		ARRCLR(A);
		FOR I← 1 STEP 1 UNTIL 3
			DO FOR J←1 STEP 1 UNTIL 4
				DO A[I,J]←BESTNS[J,I];
		A[4,4]←1.0;
		SETABS(F_BARM,A);
		FOR I←1 STEP 1 UNTIL 7 DO BANGLE[I]←BESANGLES[I];
	        BHAND←BESANGLES[7];	! RETURNS BLUE HAND OPENING;
	     END
	ELSE ABORT1("CANT READ YELLOW ARM YET",NULL);

	END;

PROCEDURE READ_BLUE;
	READ_ARM(BLUE);

! PROCEDURE READ_YELLOW(REAL ARRAY A);
!	READ_TRANS("YELLOW", A);
IFC NOT DECLARATION(#MOVE) THENC DEFINE #MOVE=TRUE;ENDC

IFC #MOVE THENC
REQUIRE "MOVARM[PNT,HE]" LOAD_MODULE;

EXTERNAL PROCEDURE DRIVE(INTEGER ARM,JOINT,ABSREL; REAL DIF,TT(2.0));
EXTERNAL PROCEDURE MOVE(RPTR(FRAME)ARM,DEST;real tt(2.0));
EXTERNAL PROCEDURE CENTER(INTEGER ARM);

ELSEC

PROCEDURE DUMMY;
	PRINT(#VERSION);

DEFINE  DRIVE(A,J,D,T,TT)"[][]"=[ DUMMY ],
	CENTER(A,J,D,T,TT)"[][]"=[ DUMMY ],
	MOVE(A,J,D,T,TT)"[][]"=[ DUMMY ];
ENDC