perm filename GAL.SAI[AL,HE]5 blob
sn#554608 filedate 1981-01-01 generic text, type C, neo UTF8
COMMENT ⊗ VALID 00005 PAGES
C REC PAGE DESCRIPTION
C00001 00001
C00002 00002 BEGIN "Force Graphics routines for AL"
C00003 00003 ! GET, FOVERLAY, NEW_AL_PROG
C00010 00004 ! globals, READ_DATA, GRAPH, PLOT_IT
C00020 00005 ! Main control loop
C00033 ENDMK
C⊗;
BEGIN "Force Graphics routines for AL"
REQUIRE "DDHDR.SAI[GRA,HE]" SOURCE_FILE;
DEFINE CRLF="('15&'12)",
CR ="'15",
LF ="'12",
! = "COMMENT ",
TIL="STEP 1 UNTIL";
REQUIRE "11UTIL.HDR[11,SYS]" SOURCE_FILE;
EXTERNAL INTEGER _SKIP_;
DEFINE MAP_OFFSET = "'160000"; ! Converts virtual addresses to physical ones;
DEFINE SAILID = "'0"; ! The location telling what program it is: 2 for us;
DEFINE NOTB10 = "'2"; ! The notebox from 11 to the 10 (byte address);
DEFINE NOTB11 = "'40"; ! The notebox from 10 to the 11 (byte address);
define ttyset = "'047000400121";
! GET, FOVERLAY, NEW_AL_PROG;
PROCEDURE GET (STRING gfile);
BEGIN "get file"
DEFINE block_size = '4000; ! Load in 2K blocks;
INTEGER ARRAY packed[1:block_size/2]; ! unpacked[1:block_size];
INTEGER addr,eof,chn,i;
chn ← getchan;
OPEN(chn,"DSK",'10,19,0,0,0,eof);
LOOKUP(chn,gfile,i);
IF i THEN BEGIN PRINT("Couldn't lookup ",gfile,crlf); RELEASE(chn); RETURN END;
WORDIN(chn); ! Ignore program starting address;
WORDIN(chn); ! Ignore DDT starting address;
addr ← WORDIN(chn); ! Low address of core image;
packed[1] ← WORDIN(chn); ! First word of core image;
DO BEGIN
ARRYIN(chn,packed[2],block_size/2-1);
! FOR i ← 1 TIL block_size/2 DO
! BEGIN ! Unpack it;
! unpacked[2*i-1] ← packed[i] LSH -18;
! unpacked[2*i] ← packed[i] LAND '777777;
! END;
POKEARRAY(addr,block_size/2,packed,TWRJ); ! block_size,unpacked);
addr ← addr + 2*block_size;
packed[1] ← WORDIN(chn); ! Make sure EOF gets set if no more;
END UNTIL eof;
CLOSE(chn);
RELEASE(chn);
END "get file";
BOOLEAN PROCEDURE FOVERLAY (STRING ofile);
BEGIN "overlay file"
INTEGER ARRAY data[1:500];
INTEGER addr,eof,chn,i,size,cksum;
SIMPLE INTEGER PROCEDURE READ_BYTE;
BEGIN
INTEGER b;
b ← WORDIN(chn); ! Read next byte;
cksum ← cksum + b;
RETURN(b)
END;
chn ← getchan;
OPEN(chn,"DSK",'10,19,0,0,0,eof);
LOOKUP(chn,ofile,i);
IF i THEN BEGIN RELEASE(chn); RETURN(false) END;
WHILE TRUE DO
BEGIN
DO i ← WORDIN(chn) UNTIL eof ∨ i=1; ! Find next data block;
IF eof THEN BEGIN RELEASE(chn); RETURN(TRUE) END;
IF WORDIN(chn) THEN ! Skip over 0 word;
BEGIN PRINT("Bad data in file - aborting"&crlf);
RELEASE(chn); RETURN(FALSE) END;
cksum ← 1;
size ← READ_BYTE + (READ_BYTE LSH 8) - 6; ! # bytes of data;
addr ← READ_BYTE + (READ_BYTE LSH 8); ! address of this block;
IF size≤0 THEN BEGIN RELEASE(chn); RETURN(TRUE) END;
ARRYIN(chn,data[1],size); ! Read in the data;
data[size+1] ← 0; ! In case size is odd;
size ← (size+1) div 2; ! Block size in words;
FOR i ← 1 TIL size DO ! Convert data from bytes to words;
BEGIN
cksum ← cksum + data[2*i] + data[2*i-1]; ! Compute checksum;
data[i] ← (data[2*i] LSH 8) + data[2*i-1]
END;
READ_BYTE; ! Read in the checksum;
IF cksum LAND '377 THEN ! Were low 8 bits of checksum zero?;
BEGIN PRINT("Checksum error - aborting"&crlf);
RELEASE(chn); RETURN(FALSE) END;
POKEARRAY(addr,size,data); ! Ship data over to the 11;
END
END "overlay file";
STRING alprog,oldppn;
PROCEDURE NEW_AL_PROG;
BEGIN "load a bin file"
STRING filnam,name,ext,ppn;
BOOLEAN success;
DO BEGIN ! Get a file name;
PRINT(" file name: ");
filnam ← INCHWL;
IF filnam = NULL ∨ _SKIP_ = '175 THEN
BEGIN
PRINT(" aborted"&crlf);
RETURN;
END;
name ← ext ← ppn ← NULL;
WHILE LENGTH(filnam) > 0 ∧ filnam ≠ "." ∧ filnam ≠ "[" DO
name ← name & LOP(filnam);
WHILE LENGTH(filnam) > 0 ∧ filnam ≠ "[" DO ext ← ext & LOP(filnam);
IF EQU(ext,".") THEN ext ← NULL;
IF filnam = "[" THEN ppn ← filnam;
success ← FOVERLAY(name&ext&ppn); ! Try just what we were given;
IF ¬success ∧ ext = NULL ∧ FOVERLAY(name&".BIN"&ppn) THEN
BEGIN success ← TRUE; ext ← ".BIN" END; ! Try making it a .BIN file;
IF ¬success ∧ ppn = NULL THEN
IF FOVERLAY(name&ext&oldppn) THEN ! Try what we were given on old ppn area;
BEGIN success ← TRUE; ppn ← oldppn END
ELSE IF ext = NULL ∧ FOVERLAY(name&".BIN"&oldppn) THEN
BEGIN success←TRUE;ppn←oldppn;ext←".BIN" END; ! Try making it a .BIN file;
IF ¬success THEN PRINT("Can't find file: ",name,ext,ppn," - Try again."&crlf)
END UNTIL success;
alprog ← name & ext & ppn;
oldppn ← ppn;
END "load a bin file";
! globals, READ_DATA, GRAPH, PLOT_IT;
DEFINE DSIZE = 900; ! Allow for 30 seconds of force sampling;
PRELOAD_WITH "FX","FY","FZ","MX","MY","MZ","T1","T2","T3","T4","T5","T6";
STRING ARRAY CTLCHR[1:12];
PRELOAD_WITH 1,2,4,'10,'20,'40,'100,'200,'400,'1000,'2000,'4000;
INTEGER ARRAY CTLMASK[1:12];
PRELOAD_WITH "OZ","OZ","OZ","OZ-IN","OZ-IN","OZ-IN",
"OZ-IN","OZ-IN","OZ","OZ-IN","OZ-IN","OZ-IN";
STRING ARRAY YLAB[1:12];
INTEGER ID,CTL,NPTS,fixed_scaling,graph_mode;
BOOLEAN ARRAY GOT[1:12];
INTEGER ARRAY RDATA[1:12*DSIZE];
REAL ARRAY DATA[1:12,1:DSIZE];
PROCEDURE READ_DATA;
BEGIN "read data"
INTEGER i,j,k,addr,ncpn,offset;
addr ← PEEK(NOTB10+MAP_OFFSET); ! Get address of buffer;
id ← PEEK(addr+MAP_OFFSET); ! Get id number;
ctl ← PEEK(addr+2+MAP_OFFSET); ! Get force bits;
npts ← PEEK(addr+4+MAP_OFFSET); ! Get number of data points;
PRINT("Data being gathered"&crlf);
! DETERMINE WHICH DATA WAS COLLECTED;
NCPN←0;
FOR I← 1 STEP 1 UNTIL 12 DO
IF CTL LAND CTLMASK[I] THEN
BEGIN
NCPN←NCPN+1;
GOT[I]←TRUE;
PRINT(" ",CTLCHR[I]," COLLECTED"&CRLF);
END
ELSE GOT[I]←FALSE;
PRINT("*");
! Read in the raw data - left justified;
PEEKARRAY(addr+6+MAP_OFFSET,ncpn*npts,RDATA,TWLM);
! STORE RAW DATA INTO SEPARATE ARRAYS;
OFFSET←1;
FOR I←1 STEP 1 UNTIL 12 DO
IF GOT[I] THEN
BEGIN
K←OFFSET;
FOR J←1 STEP 1 UNTIL NPTS DO
BEGIN
IF RDATA[K]=0 THEN DATA[I,J] ← 0 ELSE
BEGIN ! Convert 11 floating point to 10 integer;
INTEGER SIGNEXPONENT,FRACTION,NEWNUM; REAL X;
SIGNEXPONENT←RDATA[K] LAND '777000000000;
FRACTION← ((RDATA[K] LAND '777777760) LSH -1)+'400000000;
NEWNUM←SIGNEXPONENT+FRACTION;
IF NEWNUM<0 THEN NEWNUM←((LNOT NEWNUM) + 1) LOR '400000000000;
MEMORY[LOCATION(X),INTEGER]←NEWNUM;
DATA[I,J] ← X;
END;
K←K+NCPN
END;
OFFSET←OFFSET+1;
END;
END "read data";
PROCEDURE GRAPH (INTEGER comp, range(87));
BEGIN "graph"
INTEGER I;
REAL DX,DY,MAXV,MINV,x,y,xx,yy;
STRING COM2;
SIMPLE PROCEDURE AVECT(REAL x,y);
BEGIN
LINE(xx,yy,x,y);
xx ← x; yy ← y;
END;
SIMPLE PROCEDURE AIVECT(REAL x,y);
BEGIN
xx ← x; yy ← y;
END;
SIMPLE PROCEDURE RVECT(REAL dx,dy);
AVECT(xx+dx,yy+dy);
SIMPLE PROCEDURE RIVECT(REAL dx,dy);
BEGIN
xx ← xx+dx; yy ← yy+dy;
END;
SIMPLE INTEGER PROCEDURE DRAW_AXIS(INTEGER X0,Y0;REAL DX,DY,NUMDIST;
INTEGER I0,IM; STRING UNITS);
! Draws an axis scale for a graph. X0,Y0 specify the origin of the
graph. DX,DY specify the direction (and scale) of the axis. I0,IM
specify the numeric range of the axis labelling. UNITS is the name
of the axis. Returns the distance between minor "tic" marks on the
axis;
BEGIN
INTEGER EI,I,DI,DIN,K,XP,YP;
REAL EX,EY,X,Y;
REAL DL;
DL←ABS(DX)+ABS(DY);
DIN←5;K←1;
WHILE DIN*DL<NUMDIST DO
DIN←DIN*(CASE (K←K+1) MOD 3 OF (2.5,2.0,2.0));
DI←DIN DIV 5;
IF ¬UNITS THEN RETURN(DI);
EX←(-10*DX)/DL;
EY←(-10*DY)/DL;
TXTPOS((XP←X0+(IM-I0)*DX)+10,YP←Y0+(IM-I0)*DY,24,40);
TEXT(UNITS);
AIVECT(XP,YP);
EI←I0 MOD DI;
IF EI≠0 THEN EI←DI-EI;
X←X0+EI*DX;
Y←Y0+EI*DY;
AVECT(X,Y);
I0←I0+EI;
FOR I←I0 STEP DI UNTIL IM DO
BEGIN
IF I MOD DIN =0 THEN
BEGIN
RVECT(3*EY,3*EX);
RIVECT(5*EY+EX,3*EX+EY);
IF I < 0 THEN RIVECT(-24,0);
K ← LOG(ABS(I) MAX 1)/LOG(10.0) - 1;
RIVECT(-24*K,0);
TXTPOS(xx,yy,24,40);
TEXT(CVS(I));
END
ELSE RVECT(EY,EX);
AIVECT(X←X+DI*DX,Y←Y+DI*DY);
END;
RETURN(DI);
END "DRAW_AXIS";
DEFINE X0 = -350; ! Graph orgin;
DEFINE Y0 = -260;
DEFINE NX = 680; ! Axis lengths;
DEFINE NY = 650;
SETFORMAT(1,0);
IF ¬GOT[comp] THEN
BEGIN
PRINT("Data not collected for that component"&CRLF);
RETURN;
END;
DDINIT;
IF fixed_scaling THEN
BEGIN
MINV ← -range;
MAXV ← range
END
ELSE
BEGIN ! Determine the min and max;
MINV ← MAXV ← data[comp,1];
FOR I ← 2 STEP 1 UNTIL npts DO
IF (y←data[comp,I]) > MAXV THEN MAXV←y
ELSE IF y < MINV THEN MINV←y
END;
DX ← NX / (npts-1); ! Scale the axes;
DY ← NY / (MAXV-MINV);
! DX ← NX DIV (npts-1); ! Scale the axes;
! DY ← NY DIV (MAXV-MINV);
! IF DX < 1 THEN DX ← NX/(npts-1); ! May need to rescale so DX,DY ≠ 0;
! IF DY < 1 THEN DY ← NY/(MAXV-MINV);
i ← DRAW_AXIS(X0,Y0,DX,0,100,1,npts,"Samples"); ! Draw the axes;
i ← DRAW_AXIS(X0,Y0,0,DY,40,MINV,MAXV,CTLCHR[comp]&" "&YLAB[comp]);
IF graph_mode THEN
BEGIN ! Continuous;
AIVECT(X0,dy*(data[comp,1]-MINV)+Y0); ! Graph it;
FOR I ← 2 STEP 1 UNTIL npts DO AVECT(dx*(I-1)+X0,dy*(data[comp,I]-MINV)+Y0);
END
ELSE
BEGIN ! Discrete;
y ← dy*(data[comp,1]-MINV)+Y0;
AIVECT(X0-dx/2,y);
x ← X0+dx/2;
AVECT(x,y);
FOR I ← 2 STEP 1 UNTIL npts DO
BEGIN
y ← dy*(data[comp,I]-MINV)+Y0;
AVECT(x,y);
x ← X0+dx*(I-0.5);
AVECT(x,y);
END
END;
x ← X0 + dx * (npts -30); ! Show where the arm servo stopped;
FOR I ← 20 STEP 70 UNTIL NY DO
BEGIN
AIVECT(x,Y0+I);
RVECT(0,10)
END;
COM2←"Duration = "&CVS(NPTS/60)&"."&CVS((NPTS MOD 60)/6)&" Seconds";
TXTPOS(-10-12*LENGTH(COM2),-360,24,40);
TEXT(COM2);
PPPOS(-365,-480);
DPYUP(-1);
quick_code
hrroi 1,['004000000120]; comment [004000,,"P"];
ttyset 1, ; ! this last stuff does an esc-P;
end;
END "graph";
PROCEDURE PLOT_IT;
BEGIN "plot" ! SAVE PLT FILE IF REQUESTED;
STRING FILNAM;
PRINT("lot title: ");
FILNAM ← INCHWL;
TXTPOS(-10-12*LENGTH(FILNAM),-400,24,40);
TEXT(FILNAM);
DPYUP(-1);
PRINT("Plot file name: ");
quick_code
hrroi 1,['004000000120]; comment [004000,,"P"];
ttyset 1, ; ! this last stuff does an esc-P;
end;
FILNAM←INCHWL;
IF FILNAM = NULL ∨ _SKIP_ = '175 THEN
BEGIN
PRINT(" aborted"&crlf);
RETURN;
END;
PUTDDF(FILNAM &".PLT"); ! Save plot file;
END "plot";
! Main control loop;
INTEGER i,j,k,command,dum,dat11,auto_continue,freeze11,idle;
REAL scale_factor;
STRING ANS,DISCM;
PRELOAD_WITH CVSIX("DSK"),CVSIX("11TTY"),CVSIX("DMP"),0,CVSIX(" 1 3"),0;
SAFE INTEGER ARRAY RUN[1:6]; ! This is used to swap to 11TTY;
PRINT(crlf&"AL Force Data Gathering Module"&crlf&crlf&crlf);
! Set up our default operating modes;
auto_continue ← FALSE;
fixed_scaling ← FALSE;
graph_mode ← TRUE; ! Continuous;
freeze11 ← TRUE;
alprog ← NULL;
oldppn ← "[f,arg]";
dat11 ← FALSE;
idle ← 0;
scale_factor ← 1;
alinit; ! Grab the elf;
POKE(SAILID+MAP_OFFSET,2); ! Tell AL that we're here to talk to it;
SCREEN(-512,-480,512,480); ! Set up screen dimensions for graphics routines;
LITEN;
WHILE true DO
BEGIN
PRINT("*");
WHILE (command←INCHRS)<0 DO
BEGIN
IF ¬dat11 ∧ PEEK(NOTB10+MAP_OFFSET) ∧ PEEK(NOTB10+2+MAP_OFFSET) THEN
BEGIN ! Buffer present & data valid;
READ_DATA;
IF auto_continue THEN POKE(NOTB10+MAP_OFFSET,0) ! Clear buffer pointer;
ELSE dat11 ← TRUE;
IF ¬freeze11 THEN POKE(NOTB10+2+MAP_OFFSET,0); ! Clear valid data flag;
idle ← 0;
END
ELSE CALL(0,"SLEEP"); ! Sleep for 1 tick;
idle ← idle + 1;
IF idle = 20000 THEN PRINT("Are you still there???" & crlf & "*");
IF idle ≥ 36000 THEN
BEGIN
PRINT("Auto-exit!!!" & crlf);
POKE(SAILID+MAP_OFFSET,0); ! Tell AL that we're no longer here to talk to it;
CALL(0,"EXIT");
END;
END;
IF "A" ≤ command ≤ "Z" THEN command ← command LOR '40; ! Make it lower case;
idle ← 0;
CASE command OF ! = a,c,d,e,f,g,h,l,m,p,q,r,s,t,w,x,z,?,1,↑,↓;
BEGIN
["f"] BEGIN "display force"
i ← (INCHRW LOR '40) - "w"; ! Get which force component;
IF 1 ≤ i ≤ 3 THEN
BEGIN ! Okay value;
PRINT(crlf);
GRAPH(i,87*scale_factor); ! Default range for forces = 87;
END
ELSE PRINT("?"&crlf);
END "display force";
["m"] BEGIN "display moment"
i ← (INCHRW LOR '40) - "w" + 3; ! Get which moment component;
IF 4 ≤ i ≤ 6 THEN
BEGIN ! Okay value;
PRINT(crlf);
GRAPH(i,300*scale_factor); ! Default range for moments = 300;
END
ELSE PRINT("?"&crlf);
END "display moment";
["t"] BEGIN "display joint torque"
i ← (INCHRW LOR '40) - "0" + 6; ! Get which joint torque component;
IF 7 ≤ i ≤ 12 THEN
BEGIN ! Okay value;
PRINT(crlf);
GRAPH(i,1000*scale_factor); ! Default range for joint torques = 1000;
END
ELSE PRINT("?"&crlf);
END "display joint torque";
["d"] BEGIN "start"
PRINT("dt started"&crlf);
STRT11('130000);
END "start";
["z"] BEGIN "zero"
PRINT("ero memory [Confirm] ");
IF (i←INCHRW) = cr ∨ (i LOR '40) = "y" THEN
FILL(0,'500000/2,0)
ELSE PRINT(" Aborted"&crlf);
IF (i LOR '40) = "y" THEN PRINT(crlf) ELSE INCHRS
END "zero";
["c"] BEGIN "continue"
PRINT("ontinue"&crlf);
POKE(NOTB10+MAP_OFFSET,0); ! Clear buffer pointer;
POKE(NOTB10+2+MAP_OFFSET,0); ! Clear valid data flag;
dat11 ← FALSE;
END "continue";
["a"] BEGIN "auto_continue"
PRINT("uto-continue now ");
auto_continue ← ¬ auto_continue; ! Toggle auto_continue;
IF auto_continue THEN PRINT("on"&crlf) ELSE PRINT("off"&crlf);
IF auto_continue THEN freeze11 ← FALSE; ! Don't stop after each gathering move;
END "auto_continue";
["w"] BEGIN "wait"
PRINT("ait after gathering moves now ");
freeze11 ← ¬ freeze11; ! Toggle waiting;
IF freeze11 THEN PRINT("on"&crlf) ELSE PRINT("off"&crlf);
END "wait";
["s"] BEGIN "fixed_scaling"
PRINT("caling is now ");
fixed_scaling ← ¬ fixed_scaling; ! Toggle fixed_scaling;
IF fixed_scaling THEN PRINT("fixed"&crlf) ELSE PRINT("automatic"&crlf);
END "fixed_scaling";
["↑"] BEGIN "double scaling"
scale_factor ← 2 * scale_factor; ! Double default scaling;
SETFORMAT(5,2);
PRINT(" double scaling - scale factor is now = ",scale_factor,crlf);
END "double scaling";
["↓"] BEGIN "halve scaling"
scale_factor ← 0.5 * scale_factor; ! Halve default scaling;
SETFORMAT(5,2);
PRINT(" halve scaling - scale factor is now = ",scale_factor,crlf);
END "halve scaling";
["g"] BEGIN "graph_mode"
PRINT("raph mode is now ");
graph_mode ← ¬ graph_mode; ! Toggle graph_mode;
IF graph_mode THEN PRINT("continuous"&crlf) ELSE PRINT("discrete"&crlf);
END "graph_mode";
["p"] BEGIN "plot file"
PLOT_IT;
END "plot file";
["l"] BEGIN "load new bin file"
PRINT("oad new AL program"&crlf);
NEW_AL_PROG;
STRT11('130000); ! Start up DDT too;
END "load new bin file";
["r"] BEGIN "reload AL runtime"
PRINT("eload AL runtime system [Confirm] ");
IF (i←INCHRW) = cr ∨ (i LOR '40) = "y" THEN
BEGIN
IF (i LOR '40) = "y" THEN PRINT(crlf) ELSE INCHRS;
FILL(0,'500000/2,0); ! Zero memory;
GET("AL.SAV[AL,HE]");
IF alprog ≠ NULL THEN FOVERLAY(alprog) ! Load the old one;
ELSE BEGIN PRINT("AL program"); NEW_AL_PROG; END; ! or get a new one;
POKE(SAILID+MAP_OFFSET,2); ! Tell AL that we're here to talk to it;
STRT11('130000); ! Start up DDT too;
END
ELSE PRINT(" Aborted"&crlf);
END "reload AL runtime";
["x"] BEGIN "reload ALX runtime"
PRINT("perimental AL runtime system being loaded [Confirm] ");
IF (i←INCHRW) = cr ∨ (i LOR '40) = "y" THEN
BEGIN
IF (i LOR '40) = "y" THEN PRINT(crlf) ELSE INCHRS;
FILL(0,'500000/2,0); ! Zero memory;
GET("ALX.SAV[AL,HE]");
IF alprog ≠ NULL THEN FOVERLAY(alprog) ! Load the old one;
ELSE BEGIN PRINT("AL program"); NEW_AL_PROG; END; ! or get a new one;
POKE(SAILID+MAP_OFFSET,2); ! Tell AL that we're here to talk to it;
STRT11('130000); ! Start up DDT too;
END
ELSE PRINT(" Aborted"&crlf);
END "reload ALX runtime";
["1"] BEGIN "11TTY"
PRINT("1TTY being swapped in [Confirm] ");
IF (i←INCHRW) = cr ∨ (i LOR '40) = "y" THEN
BEGIN
PRINT(crlf&crlf);
POKE(SAILID+MAP_OFFSET,0); ! Tell AL that we're no longer here to talk to it;
CALL('1000000+LOCATION(RUN[1]),"RUN")
END
ELSE PRINT(" Aborted"&crlf);
END "11TTY";
["e"] BEGIN "exit"
PRINT("xit"&crlf);
POKE(SAILID+MAP_OFFSET,0); ! Tell AL that we're no longer here to talk to it;
DONE;
END "exit";
["q"] BEGIN "quit"
PRINT("uit"&crlf);
POKE(SAILID+MAP_OFFSET,0); ! Tell AL that we're no longer here to talk to it;
DONE;
END "quit";
["?"]
["h"] BEGIN "help"
IF command = "h" THEN PRINT("elp"&crlf);
quick_code
hrroi 1,['004000000516]; comment [004000,,'400+"N"];
ttyset 1, ; ! this last stuff does a brk-N;
end;
PRINT("Commands are:
FX, FY, FZ - display force data along specified axis
MX, MY, MZ - display torque data about specified axis
T1, T2, T3, T4, T5, T6 - display torque data about specified joint
Graph mode select - toggles between continuous or discrete
Scaling for force axis of graphs - toggles between fixed & automatic
Plot, produces plot file for xgp (via PLOT) - asks for file name
Continue with next gathering move
Wait after each gathering move - toggled (cleared by Auto-continue)
Auto-continue, if on AL won't stop between gathering moves - toggled
DDT started
Zero 11's memory
Reload AL runtime system (or X for experimental AL system)
Load new AL program - asks for file name
11TTY should be loaded and run
Exit or Quit
Help or ? for this text
if a command asks for Confirmation type a ""y"""&crlf);
END "help";
[cr] BEGIN "crlf"
IF INCHRS< 0 THEN PRINT("?"&crlf); ! Gobble the line feed;
END "crlf";
[lf] BEGIN "lf" ! Ignore the line feed;
PRINT(cr&'0);
END "lf";
ELSE PRINT("?"&crlf)
END
END;
quick_code
hrroi 1,['004000000516]; comment [004000,,'400+"N"];
ttyset 1, ; ! this last stuff does a brk-N;
end;
CALL(0,"EXIT");
END