COMMENT ⊗   VALID 00002 PAGES
C REC  PAGE   DESCRIPTION
C00001 00001
C00002 00002	BEGIN "TALK"
C00005 ENDMK
C⊗;
BEGIN "TALK"
REQUIRE "PREAMB.SAI[SYS,HE]" SOURCE_FILE;
PRELOAD_WITH 	 0.00000, -1.00000,  0.00000, 10.0,
		-1.00000,  0.00000,  0.00000, 25.0,	
		 0.00000,  0.00000, -1.00000,  0.8,
		 0.00000,  0.00000,  0.00000,  1.0;
REAL ARRAY SET1[1:4,1:4];
PRELOAD_WITH 	 0.00000, -1.00000, 20.00000,  1.0;
REAL ARRAY SET2[1:4];
PUT_DATA(0,0,"TALK");
WHILE ¬ YES_HAND DO CALL(1,"SLEEP");
OUTSTR("TALK INITIALIZED
");
ISSUE(5,"TALK","HANDY",MESSAGE SET_TRANS("SET1",SET1));
ISSUE(5,"TALK","HANDY",MESSAGE SET_VECT("SET2",SET2));
ISSUE(5,"TALK","HANDY",MESSAGE GET_TRANS("T",TRANS_ARM));
ARM_EXECUTE←TRUE;
ISSUE(5,"TALK","HANDY",MESSAGE SET_ARM("HAL",SET1,TRANS_ARM));
ISSUE(5,"TALK","HANDY",MESSAGE ARM_POSITION("HAL"));
ISSUE(5,"TALK","HANDY",MESSAGE GET_VECT("V",VECT_ARM));
DO BEGIN
ISSUE(5,"TALK","HANDY",MESSAGE START_TRAJECTORY ("TALK",0));
ISSUE(5,"TALK","HANDY",MESSAGE PARK_ARM);
ISSUE(5,"TALK","HANDY",MESSAGE OPEN_HAND(3));
ISSUE(7,"TALK","HANDY",MESSAGE CLOSE_TRAJECTORY);
OUTSTR("STAND CLEAR OF THE ARM AND TYPE C/R
");
INCHWL;
ISSUE(7,"TALK","HANDY",MESSAGE DO_IT(0,"TALK"));
IF ARM_STATUS THEN BEGIN OUTSTR(CVOS(ARM_STATUS)&" PLEASE CHECK THE ARM & TYPE C/R"&'15&'12);
	INCHWL;
END;
END UNTIL ¬ARM_STATUS;
ISSUE(7,"TALK","HANDY",MESSAGE TALK_ARM);
END