1) POINTY.PAL[PNT,HE] and 2) POINTY.PAL[PNT,MSM]	3-15-78 15:53	pages 1,1

**** File 1) POINTY.PAL[PNT,HE], Page 1 line 5
1)	C00004 00003	ROUTINE TO EXECUTE A MOVE WITH NO 'AL ROUTINES
1)	C00008 00004	 LOOK IF ANYONE HIT KEYBOARD, DO A WHERE, AND SEE IF MOTION WANTED
1)	C00011 00005	ROUTINE TO DISPLAY CURRENT JOINT ANGLES
1)	C00015 00006	ROUTINE TO DISPLAY CURRENT REFERENCE POWER SUPPLY READINGS
1)	C00017 00007	FORCE SENSING/COMPLIANCE PATCH AREA
1)	C00019 00008	SIMULTANEOUS HAND OPERATION
1)	C00021 00009	LOCAL STORAGE AREA
1)	C00027 ENDMK
1)	C⊗;
1)	.TITLE POINTY
1)	TRANS ==1	;SET TO 1 TO PRINT OUT EULER AS WELL AS JOINT ANGLES
**** File 2) POINTY.PAL[PNT,MSM], Page 1 line 5
2)	C00005 00003	ROUTINE TO EXECUTE A MOVE WITH NO 'AL ROUTINES
2)	C00009 00004	 LOOK IF ANYONE HIT KEYBOARD, DO A WHERE, AND SEE IF MOTION WANTED
2)	C00012 00005	ROUTINE TO DISPLAY CURRENT JOINT ANGLES
2)	C00016 00006	ROUTINE TO DISPLAY CURRENT REFERENCE POWER SUPPLY READINGS
2)	C00018 00007	FORCE SENSING/COMPLIANCE PATCH AREA
2)	C00020 00008	SIMULTANEOUS HAND OPERATION
2)	C00022 00009	LOCAL STORAGE AREA
2)	C00028 ENDMK
2)	C⊗;
2)	.TITLE POINTY
2)			; VERSION 2
2)	TRANS ==1	;SET TO 1 TO PRINT OUT EULER AS WELL AS JOINT ANGLES
***************


**** File 1) POINTY.PAL[PNT,HE], Page 2 line 36
1)	MASTR5==12121	;CHECK NUMBER TO PDP10
1)	;COMMUNICATION LOCATION BETWEEN MOVE.SAI AND MOVE.PAL
1)	MCLOC==	100000
1)	;DEVICE MECHANISM BITS
**** File 2) POINTY.PAL[PNT,MSM], Page 2 line 36
2)	MASTR5==12121	;CHECK NUMBER TO PDP10 TO INDICATE WE ARE ALIVE
2)	;COMMUNICATION LOCATION BETWEEN MOVE.SAI AND MOVE.PAL
2)	MCLOC==	100000
2)	MOVCOM==54321	;MASTER NUMBER FROM PDP10 SAYING 10 HAS JUST LOADED SOMTHING INTO 11
2)	OKMOV==12345	;CHECK NUMBER TO PDP10 THAT WE ARE READY TO ACCEPT MOVE COMMAND
2)	NOKMOV==13131	;CHECK NUMBER TO PDP10 THAT WE ARE MOVING SO CANT ACCEPT MOVE COMMAND
2)	;DEVICE MECHANISM BITS
***************


**** File 1) POINTY.PAL[PNT,HE], Page 4 line 12
1)	ELFRDY:	CMP	#54321,MCLOC	;CHECK IF DATA BLOCK ARRIVED FROM 10
1)		BEQ	MOTION
1)		MOV	#12345,MCLOC    ;INDICATE ELF READY FOR DATA BLOCK
  1) POINTY.PAL[PNT,HE] and 2) POINTY.PAL[PNT,MSM]	3-15-78 15:53	pages 4,4

1)		MOV	#BARM+BHAND,WLST	;DO A WHERE FOR THE BLUE ARM
**** File 2) POINTY.PAL[PNT,MSM], Page 4 line 12
2)	ELFRDY:	CMP	MOVCOM,MCLOC	;CHECK IF DATA BLOCK ARRIVED FROM 10
2)		BEQ	MOTION
2)		MOV	OKMOV,MCLOC    ;INDICATE ELF READY FOR DATA BLOCK
2)		MOV	#BARM+BHAND,WLST	;DO A WHERE FOR THE BLUE ARM
***************


**** File 1) POINTY.PAL[PNT,HE], Page 4 line 28
1)	MOTION:	MOV	#12345,MCLOC    ;INDICATE ELF ALIVE FOR DATA BLOCK
1)		MOV	#MCLOC+4,R0	;POINT TO COEFFICIENT LIST
**** File 2) POINTY.PAL[PNT,MSM], Page 4 line 28
2)	MOTION:	MOV	NOKMOV,MCLOC    ;INDICATE ELF CANNOT TAKE ANYMORE DATA BLOCKS
2)		MOV	#MCLOC+4,R0	;POINT TO COEFFICIENT LIST
***************


**** File 1) POINTY.PAL[PNT,HE], Page 4 line 38
1)		JMP	MLOOP
**** File 2) POINTY.PAL[PNT,MSM], Page 4 line 38
2)		MOV	OKMOV,MCLOC	;INDICATE ELF READY FOR MORE DATA BLOCKS
2)		JMP	MLOOP
***************