COMMENT ⊗   VALID 00003 PAGES
C REC  PAGE   DESCRIPTION
C00001 00001
C00002 00002	{ WRIST CALIBRATION MACROS WRITTEN BY MSM 1 JULY 1978 }
C00004 00003	{ FILE BEING WRITTEN BY POINTY : 16:17  3 Jul 1978 }
C00005 ENDMK
C⊗;
{ WRIST CALIBRATION MACROS WRITTEN BY MSM 1 JULY 1978 }
QDELETE WRISTCALIB,READNOLOAD,READWITHLOAD,RR,RB;

DEFINE WRISTCALIB = 
	⊂
	NODISPLAY;
	READNOLOAD(P11,P12,1);
	READNOLOAD(P21,P22,2);
	READNOLOAD(P31,P32,3);
	READWITHLOAD(P21,P22,⊂"HOLD WEIGHT IN HAND OF ARM"⊃,4);
	READWITHLOAD(P31,P32,⊂"HOLD WEIGHT IN HAND OF ARM"⊃,5);
	READWITHLOAD(P11,P11,⊂"APPLY TORQUE ON HAND OF ARM"⊃,6);
	READWRIST(COMPUTE);
	READWRIST(SAVECALIB);
	REDISPLAY;
	⊃;

DEFINE READNOLOAD(F1,F2,N) =
	⊂
	SPRINT "MOVING TO F1 ";
	MOVE BARM TO F1;
	READWRIST(READ);
	READWRIST(BASE);
	SPRINT "MOVING TO F2 ";
	MOVE BARM TO F2;
	READWRIST(READ);
	READWRIST(CALIB,N);
	⊃;

DEFINE READWITHLOAD(F1,F2,APPLYLOADMESS,N) =
	⊂
	SPRINT "MOVING TO F1 ";
	MOVE BARM TO F1;
	SPRINT APPLYLOADMESS;
	PROMPT;
	READWRIST(READ);
	READWRIST(BASE);
	SPRINT "MOVING TO F2 ";
	MOVE BARM TO F2;
	SPRINT APPLYLOADMESS;
	PROMPT;
	READWRIST(READ);
	READWRIST(CALIB,N);
	⊃;
{ FILE BEING WRITTEN BY POINTY : 16:17  3 Jul 1978 }
DEFINE RR = ⊂ READWRIST ( READ ) ; READWRIST ( RESOLVE ) ; ⊃;

DEFINE RB = ⊂ READWRIST ( READ ) ; READWRIST ( BASE ) ; ⊃;