COMMENT ⊗   VALID 00002 PAGES
C REC  PAGE   DESCRIPTION
C00001 00001
C00002 00002	{ initial declarations for POINTY - please do not destroy this file
C00007 ENDMK
C⊗;
{ initial declarations for POINTY - please do not destroy this file
	or POINTY will not be able to be initialized }
			{ scalars }
ANGLE SCALAR DEG,DEGREE,DEGREES;
DISTANCE SCALAR INCH,INCHES,CM;
TIME SCALAR SECOND,SECONDS;
FORCE SCALAR OUNCES;
	REQUIRE ERROR_MODES "F";
DEG←1.0;
DEGREE←1.0;
DEGREES←1.0;
INCHES←1.0;
INCH←1.0;
SECOND←1.0;
SECONDS←1.0;
CM←(1.0/2.54);
OUNCES←1;
			{ vectors }
VECTOR XHAT,YHAT,ZHAT;

XHAT←VECTOR(1,0,0);
ZHAT←VECTOR(0,0,1);
YHAT←VECTOR(0,1,0);
NILVECT←VECTOR(0,0,0);

			{ rotation }

NILROT←ROT(XHAT,0);

			{ transes }
DISTANCE TRANS NILTRANS;
NILTRANS←TRANS(NILROT,NILVECT*INCHES);


			{ frames }

{ STATION←FRAME(NILROT,NILVECT); }

DISTANCE FRAME BPARK,YPARK,GPARK,RPARK;
YPARK←FRAME(ROT(YHAT,180.0),VECTOR(43.5,2.325,6.86));
BPARK←FRAME(ROT(YHAT,180.0),VECTOR(43.53125,56.855,9.95875));
GPARK←FRAME(ROT(ZHAT,180.0),VECTOR(83.2,46.13,67.7));
RPARK←FRAME(ROT(ZHAT,180.0),VECTOR(84.8,12.87,67.7));

DISTANCE FRAME BGRASP;
{FRAME POINTER,YPOINTER;}
{keep the following at this end};
DISTANCE FRAME BARM,YARM,GARM,RARM;
DISTANCE SCALAR BHAND,YHAND,GHAND,RHAND;
SCALAR BARM_ERROR,YARM_ERROR,BHAND_ERROR,YHAND_ERROR,VISE_ERROR,DRIVER_ERROR,
	GARM_ERROR,GHAND_ERROR,RARM_ERROR,RHAND_ERROR;
{
AFFIX BGRASP TO BARM AT TRANS(ROT(XHAT,-180),NILVECT);
}
{
AFFIX POINTER TO BARM AT TRANS(ROT(ZHAT,-5.173)*ROT(YHAT,13.2)*ROT(ZHAT,-.417),
			VECTOR(.0121,.119,3.75));
}
			{ macros }
DEFINE NILROTN = ⊂NILROT⊃;
DEFINE NILVEC  = ⊂NILVECT⊃;
DEFINE NILVECTOR = ⊂NILVECT⊃;
DEFINE PANIC_BUTTON=⊂ 1024⊃;    { = '2000 }
DEFINE EXCESSIVE_FORCE=⊂ 2048⊃;	{ ='4000  }
DEFINE TIME_OUT=⊂ 4096⊃;	{ ='10000 }
DEFINE STOP_LIMIT=⊂ 8192⊃;	{ ='20000 }
DEFINE CRLF=⊂"
"⊃;
DEFINE CW=⊂CLOCKWISE⊃;
DEFINE CCW=⊂COUNTER_CLOCKWISE⊃;
DEFINE DIRECTLY=⊂WITH APPROACH = NILDEPROACH WITH DEPARTURE = NILDEPROACH ⊃;
DEFINE APPROXIMATELY=⊂ WITH NO_NULLING ⊃;
DEFINE PRECISELY=⊂ WITH NULLING ⊃;
DEFINE BEGINMSM = ⊂ XFOO1 ⊃;
DEFINE NULL = ⊂ "" ⊃;
DEFINE FALSE = ⊂0.0⊃;
DEFINE TRUE = ⊂1.0⊃;
DEFINE SEC=⊂SECOND⊃;
DEFINE PI=⊂3.14159⊃;
DEFINE OZ=⊂OUNCES⊃;
DEFINE OUNCE=⊂OUNCES⊃;
DEFINE CAUTIOUS=⊂ SPEED_FACTOR ← 4.0 ⊃;
DEFINE SLOW=⊂ SPEED_FACTOR ← 6.0 ⊃;
DEFINE QUICK=⊂ SPEED_FACTOR ← 1.0 ⊃;
DEFINE QUICKLY=⊂ WITH SPEED_FACTOR = 1.0 ⊃;
DEFINE NORMALLY=⊂ WITH SPEED_FACTOR = 2.0 ⊃;
DEFINE CAUTIOUSLY=⊂ WITH SPEED_FACTOR = 4.0 ⊃;
DEFINE SLOWLY=⊂ WITH SPEED_FACTOR = 6.0 ⊃;

SPEED_FACTOR←6;
RESUME_MESSAGE("default speed factor is 6");

	{ following is end marker }
NODISPLAY; REQUIRE ERROR_MODES "-F";
_____END____INIT