perm filename B[1,VDS]1 blob
sn#133088 filedate 1975-02-19 generic text, type T, neo UTF8
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 8.60 -131.35 89.71 .00
TRANS H2 4.92 32.19 8.63 -98.08 89.78 .00
TRANS H3 3.19 30.46 8.62 145.25 89.09 -124.48
TRANS H4 5.36 28.39 8.64 -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 15.00 -15.00 .00
DEFINE UPBOX
FLUSH
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
OPEN 3.5
GO VISE7
SPIN 1 DXV
VECT FV
0 0 -60
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
DEFINE UPSCREW
FLUSH
CONO SA SD 13 0 0
MOVE SCRW ;AND GO THE THE DISPENSER
ASSIGN SCREW 4 ;NUMBER OF TIMES TO TRY TO PICK UP SCREW
JUMP 2
CONO ND SD 13 0 0
L4: GO SCRW
PLACE
VECT F
0 20 -100
FREE 2 Y Z
FORCE F NIL
NNUL
SCREW -20
MERGE
DRIVE 1 0 30 ;PUSH THE SCREWDRIVER AGAINST THE DISPENSER
;AND DOWN ON THE SCREW AS IT ROTATES
VECT FV
0 0 -50
STOP FV NIL
VECT FV
0 0 -100
FORCE FV NIL
WOBBLE .2
CHANGE Z -.5 NIL 0 10 ;PUSH THE SCREWDRIVER INTO THE SCREW HEAD
FREE 2 X Y
CONO ND SD 13 0 0
CHANGE Z .20 NIL 0 120 ;LIFT THE SCREW UP OVER THE END STOP
NNUL
FREE 1 X
VECT F
0 -20 0
STOP F NIL
CONO ND SD 13 100 100
GO SCE ;AND TAKE IT OUT
SKIPN 23
JUMP L3 ;NO EXCESSIVE FORCE SO PROCEED
ASSIGN PULL 3 ;TIMES TO TRY PULLING OUT
L2: WOBBLE .5
VECT FV
0 0 100
STOP FV NIL
CHANGE Z 1 NIL 0 0
SKIPN 23
JUMP L5 ;CAME OUT FINE
SOJG PULL L2 ;TOO MUCH FORCE TRY AGAIN
JUMP L6 ;DO IT BY HAND
L5: SOJG SCREW 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
DEPART UP6X
CONO UP6 NIL 19 60 120
GOTO GBOX2 Z 1 NIL 0
PLACE
OPEN 4
DEPART UP4
GOTO MIDAIR