- GOTO SCREEN begin
*>SCREEN begin
- HOT KEY (10) "" INTERRUPT: GOSUB LABEL helpsys
- GET NUMBER BACKGROUND STYLE SETUP: 2
- POWER RESUME ON
- GOTO SCREEN startup
*>SCREEN startup
- PUT TEXT AT (1,5): "This program is specifically designed to"
- PUT TEXT AT (4,6): "control the Parker Compumotor SX"
- PUT TEXT AT (14,7): "Motor-Driver."
- PUT LARGE TEXT AT (2,1): "PARKER COMPUMOTOR"
- PUT LARGE TEXT AT (3,2): "SX DEMO PROGRAM"
- DELAY 2000
- GOTO SCREEN testsx
- LABEL initunit
- COMMENT "Initialize units for DRIVE"
  pitch=5
  dd&=onerev
  dscale=1
  dlbl$="STEPS"
  vd%=10
  vscale=1
  vlbl$="REVS/SECOND"
  ascale=1
  ad%=100
  albl$="REVS/SEC^2"
- RETURN
- TITLE:::::::::: "INITIALIZE SX" ::::::::::::
*>SCREEN testsx
- PUT TEXT AT (2,1): "ATTEMPTING TO ESTABLISH COMMUNICATION"
- PUT TEXT AT (8,2): "WITH THE SX MOTOR/DRIVE."
- PUT LARGE TEXT AT (2,3): "PLEASE STAND BY..."
  onerev=25000
  drtype=1
- GOSUB LABEL initunit
- COM: INIT COM 1 ECHO 1 BAUD 96 HANDSHAKE 0 TIMEOUT 250 STRIP 1
- DELAY 750
  n = 1
- LABEL comtests
- COM: PUT COM 1 TEXT "1E 1K 1MN 1R"
- COM: GET COM 1 TEXT stat$
  if stat$ = "*R" or stat$ = "*S" then goto runsx
  if n = 11 then goto notalksx
- CLEAR GRAPHICS SCREEN
- CLEAR SCREEN
- PUT LARGE TEXT AT (1,1): "DRIVE NOT RESPONDING"
- PUT TEXT AT (4,4): "RETRYING CHECK-OUT TEN MORE TIMES"
- PUT TEXT AT (14,6): "ATTEMPT #"
- PUT NUMBER n AT (24,6) USING "##"
  n = n+1
- GOTO LABEL comtests
- LABEL notalksx
- CLEAR GRAPHICS SCREEN
- CLEAR SCREEN
- PUT TEXT AT (3,1): "CANNOT ESTABLISH COMMUNICATIONS WITH"
- PUT TEXT AT (15,2): "MOTOR/DRIVE"
- PUT TEXT AT (8,5): "RETURNING TO BASIC..."
- DELAY 1000
- GOTO SCREEN errexit
- LABEL runsx
- COM: INIT COM 1 ECHO 1 BAUD 96 HANDSHAKE 0 TIMEOUT 1000 STRIP 1
- COM: PUT COM 1 TEXT "1SSI1 1LD3 1A100 1V10 1D25000"
- COM: PUT COM 1 TEXT "1DPE1"
- COM: GET COM 1 TEXT ps$
  ps$=right$(ps$,11):pzero&=val(ps$)
- CLEAR GRAPHICS SCREEN
- GOTO SCREEN main
- TITLE:::::::::: ":::::::::::::" ::::::::::::
- TITLE:::::::::: "MAIN RUN LOOP" ::::::::::::
- TITLE:::::::::: ":::::::::::::" ::::::::::::
*>SCREEN main
- PUT TEXT AT (1,3): "A-V-D   CHANGE ACCEL,VEL, AND DISTANCE"
- PUT TEXT AT (1,4): "UNITS   CHANGE UNITS"
- PUT TEXT AT (1,5): "RUN     PERFORM MOVES, VIEW STATUS"
- PUT TEXT AT (1,6): "SEQ     DOWNLOAD AND EXECUTE A SEQUENCE"
- PUT TEXT AT (1,7): "PLOT    PLOT A MOVE PROFILE"
- PUT LARGE TEXT AT (2,1): "SELECT A FUNCTION:"
- SOFTKEY (1) "A-V-D" GOTO SCREEN avdset
- SOFTKEY (2) "UNITS" GOTO SCREEN units
- SOFTKEY (3) " RUN" GOTO SCREEN runscr
- SOFTKEY (4) " SEQ" GOTO SCREEN sequence
- SOFTKEY (5) "PLOT" GOTO SCREEN plotscr
- SOFTKEY (6) "EXIT" GOTO SCREEN exit
- SOFTKEY WAIT
- TITLE:::::::::: "SET ACCELERATION, VELOCITY, DISTANCE, AND PITCH" ::::::::::::
*>SCREEN QUICK avdset
- CLEAR SCREEN
- PUT TEXT AT (1,3): "ACCEL  CHANGE ACCELERATION"
- PUT TEXT AT (1,4): "VEL    CHANGE VELOCITY"
- PUT TEXT AT (1,5): "DIST   CHANGE DISTANCE"
- PUT TEXT AT (1,6): "PITCH  CHANGE SCREW PITCH"
- PUT TEXT AT (1,7): "DEFLT  RESTORE SYSTEM DEFAULTS"
- PUT LARGE TEXT AT (1,1): "MOTION PARAMETERS:  "
- SOFTKEY (1) "ACCEL" GOTO SCREEN accelset
- SOFTKEY (2) " VEL" GOTO SCREEN velset
- SOFTKEY (3) "DIST" GOTO SCREEN distset
- SOFTKEY (4) "PITCH" GOTO SCREEN pitchset
- SOFTKEY (5) "DEFLT" GOTO SCREEN defltscr
- SOFTKEY (6) "EXIT" GOTO SCREEN main
- SOFTKEY WAIT
- TITLE:::::::::: "SET UP ACCELERATION" ::::::::::::
*>SCREEN accelset
- PUT TEXT AT (1,2): "ACCELERATION IN"
- PUT TEXT AT (1,4): "ENTER ACCELERATION:"
- PUT TEXT AT (1,7): "ENTER TO ACCEPT OR ENTER A NEW VALUE"
- PUT TEXT AT (17,2): albl$
  ad% = ad% / ascale
- GET NUMBER ad% AT (21,4) USING "###.##" DEFAULT ad%
  ad% = ad% * ascale
  a$="1A"+str$(ad%)
- COM: PUT COM 1 TEXT a$
- GOTO SCREEN avdset
- TITLE:::::::::: "SET UP VELOCITY" ::::::::::::
*>SCREEN velset
- PUT TEXT AT (1,2): "VELOCITY IN"
- PUT TEXT AT (1,4): "ENTER VELOCITY:"
- PUT TEXT AT (1,7): "ENTER TO ACCEPT OR ENTER A NEW VALUE"
- PUT TEXT AT (13,2): vlbl$
  vd% = vd% / vscale
- GET NUMBER vd% AT (21,4) USING "###.##" DEFAULT vd%
  vd% = vd% * vscale
  a$="1V"+str$(vd%)
- COM: PUT COM 1 TEXT a$
- GOTO SCREEN avdset
- TITLE:::::::::: "SET UP DISTANCE" ::::::::::::
*>SCREEN distset
- PUT TEXT AT (1,2): "DISTANCE IN"
- PUT TEXT AT (1,4): "ENTER DISTANCE:"
- PUT TEXT AT (1,7): "ENTER TO ACCEPT OR ENTER A NEW VALUE"
- PUT TEXT AT (13,2): dlbl$
  td = dd& / dscale
- GET NUMBER td AT (18,4) USING "-#########.##" DEFAULT td
  dd& = td * dscale
  a$="1D"+str$(dd&)
- COM: PUT COM 1 TEXT a$
- GOTO SCREEN avdset
- TITLE:::::::::: "SET UP SCREW PITCH" ::::::::::::
*>SCREEN pitchset
- PUT TEXT AT (1,1): "Enter a screw pitch which will provide"
- PUT TEXT AT (1,2): "translation between motor rotation and"
- PUT TEXT AT (1,3): "linear travel."
- PUT TEXT AT (1,5): "ENTER SCREW PITCH:"
- PUT TEXT AT (1,7): "ENTER TO ACCEPT OR ENTER A NEW VALUE"
- GET NUMBER pitch AT (20,5) USING "##.###" DEFAULT pitch
- COM: PUT COM 1 TEXT a$
- GOTO SCREEN units
- TITLE:::::::::: "RESTORE SYSTEM DEFAULTS" ::::::::::::
*>SCREEN defltscr
- GOSUB LABEL initunit
- COM: PUT COM 1 TEXT "1S 1V10 1A100 1D25000"
- GOTO SCREEN avdset
- TITLE:::::::::: "SET DISPLAY / ENTRY UNITS" ::::::::::::
*>SCREEN units
- PUT TEXT AT (2,4): "LINEAR MEASURE ASSUMES A        PITCH"
- PUT TEXT AT (2,5): "LEAD SCREW ON A LINEAR TRANSLATION"
- PUT TEXT AT (2,6): "DEVICE."
- PUT LARGE TEXT AT (1,1): "SELECT MOTION UNITS-"
- PUT NUMBER pitch AT (27,4) USING "##.###"
- SOFTKEY (1) "STEPS" GOTO SCREEN steps
- SOFTKEY (2) "MILS" GOTO SCREEN mils
- SOFTKEY (3) "INCH" GOTO SCREEN inch
- SOFTKEY (4) " MM" GOTO SCREEN mms
- SOFTKEY (5) " UM" GOTO SCREEN ums
- SOFTKEY (6) "EXIT" GOTO SCREEN main
- SOFTKEY WAIT
- TITLE:::::::::: "SCALE UNITS IN STEPS" ::::::::::::
*>SCREEN steps
- PUT LARGE TEXT AT (1,1): "UNITS ARE NOW SCALED"
- PUT LARGE TEXT AT (9,2): "IN"
- PUT HUGE TEXT AT (3,2): "STEPS"
  dscale = 1
  dlbl$ = "STEPS"
  vscale = 1
  vlbl$ = "REVS/SECOND"
  ascale = 1
  albl$ = "REVS/SEC^2"
- DELAY 1000
- GOTO SCREEN main
- TITLE:::::::::: "SCALE UNITS IN MILS" ::::::::::::
*>SCREEN mils
- PUT LARGE TEXT AT (1,1): "UNITS ARE NOW SCALED"
- PUT LARGE TEXT AT (9,2): "IN"
- PUT HUGE TEXT AT (4,2): "MILS"
  dscale = onerev*pitch/1000
  dlbl$ = "MILS"
  vscale = pitch
  vlbl$ = "INCHES/SECOND"
  ascale = pitch
  albl$ = "INCHES/SEC^2"
- DELAY 1000
- GOTO SCREEN main
- TITLE:::::::::: "SCALE UNITS IN INCHES" ::::::::::::
*>SCREEN inch
- PUT LARGE TEXT AT (1,1): "UNITS ARE NOW SCALED"
- PUT LARGE TEXT AT (10,2): "IN"
- PUT HUGE TEXT AT (3,2): "INCHES"
  dscale = onerev*pitch
  dlbl$ = "INCHES"
  vscale = pitch
  vlbl$ = "INCHES/SECOND"
  ascale = pitch
  albl$ = "INCHES/SEC^2"
- DELAY 1000
- GOTO SCREEN main
- TITLE:::::::::: "SCALE UNITS IN MILLIMETERS" ::::::::::::
*>SCREEN mms
- PUT LARGE TEXT AT (1,1): "UNITS ARE NOW SCALED"
- PUT LARGE TEXT AT (10,2): "IN"
- PUT HUGE TEXT AT (1,2): "MILLIMETER"
  dscale = onerev*pitch/25.4
  dlbl$ = "MM"
  vscale = 25.4*pitch
  vlbl$ = "MM/SECOND"
  ascale = 25.4*pitch
  albl$ = "MM/SEC^2"
- DELAY 1000
- GOTO SCREEN main
- TITLE:::::::::: "SCALE UNITS IN MICRONS" ::::::::::::
*>SCREEN ums
- PUT LARGE TEXT AT (1,1): "UNITS ARE NOW SCALED"
- PUT LARGE TEXT AT (9,2): "IN"
- PUT HUGE TEXT AT (2,2): "MICRONS"
  dscale = onerev*pitch/25400
  dlbl$ = "MICRONS"
  vscale = 25400*pitch
  vlbl$ = "MICRONS/SECOND"
  ascale = 25400*pitch
  albl$ = "MICRONS/SEC^2"
- DELAY 1000
- GOTO SCREEN main
- TITLE:::::::::: "STATUS AND MOVE SYSTEM" ::::::::::::
*>SCREEN runscr
- CLEAR SCREEN
- PUT TEXT AT (2,4): "POSITION:"
- PUT TEXT AT (4,5): "STATUS:"
- PUT TEXT AT (4,6): "LIMITS:"
- PUT TEXT AT (4,7): "INPUTS:"
- PUT LARGE TEXT AT (2,1): "RUN SX MOTOR/DRIVE"
- PUT TEXT AT (24,4): dlbl$
  gostr$="1S 1A"+str$(ad%)+" 1V"+str$(vd%)+" 1D"+str$(dd&)
- COM: PUT COM 1 TEXT gostr$
- SOFTKEY (1) "ZERO" GOTO SCREEN zeroscr
- SOFTKEY (2) "MOVE" GOTO SCREEN starts
- SOFTKEY (3) "STOP" GOTO SCREEN stops
- SOFTKEY (4) "EDIT" GOTO SCREEN editscr
- SOFTKEY (5) "PLOT" GOTO SCREEN plotrun
- SOFTKEY (6) "EXIT" GOTO SCREEN main
  'hard coded for improved speed...
- LABEL statloop
  print#1,"1DPE1":line input#1,e$:line input#1,ps$:ps$=right$(ps$,11)
  px&=val(ps$)-pzero&:p=px&:px&=px&/dscale:p=p/dscale
  if dscale= 1 then pos11,4:print using"-###########";px&;
  if dscale<>1 then pos11,4:print using"-#######.###";p;
  print#1,"1R":line input#1,e$:line input#1,stat$
  pos12,5:if stat$="*R"then print"READY                  ";
  if stat$="*S"then print"READY, ATTENTION NEEDED";
  if stat$="*B"then print"BUSY                   ";
  if stat$="*C"then print"BUSY, ATTENTION NEEDED ";
  if stat$="*Z"then print"BUSY, AUTORUN MODE     ";
  print#1,"1IS":line input#1,e$:line input#1,iostat$
  lim$=""
  if mid$(iostat$,4,1)="1" then lim$="CW"
  if mid$(iostat$,5,1)="1" then lim$=lim$+"CCW"
  if lim$<>"" then lim$="LIMIT(S) ACITIVE: "+lim$
  if lim$="" then lim$= "NO LIMITS ACTIVE      " 
  pos12,6:print lim$;
  iobits$=mid$(iostat$,7,4)+mid$(iostat$,12,4)
  pos12,7:print iobits$;
  skey%=inkey():if skey%=0then goto statloop
  if skey%=15104then goto zeroscr
  if skey%=15360then goto starts
  if skey%=15616then goto stops
  if skey%=15872then goto editscr
  if skey%=16128then goto plotrun
  if skey%=16384then goto main
- GOTO LABEL statloop
- LABEL zeroscr
  print#1,"1DPE1":line input#1,e$:line input#1,ps$:ps$=right$(ps$,11)
  pzero&=val(ps$)
- GOTO LABEL statloop
- TITLE:::::::::: "START MOTION" ::::::::::::
- LABEL starts
  print#1,"1G":line input#1,e$
- GOTO LABEL statloop
- TITLE:::::::::: "STOP MOTION" ::::::::::::
- LABEL stops
  print#1,"1S":line input#1,e$
- GOTO LABEL statloop
- TITLE:::::::::: "EDIT MOVE DATA" ::::::::::::
*>SCREEN QUICK editscr
- PUT LARGE TEXT AT (1,1): "  EDIT-PRESS ENTER  "
- CLEAR SCREEN
- PUT TEXT AT (1,4): "MOVE DIST:"
- PUT TEXT AT (2,5): "VELOCITY:"
- PUT TEXT AT (5,6): "ACCEL:"
- PUT TEXT AT (26,4): dlbl$
- PUT TEXT AT (26,5): vlbl$
- PUT TEXT AT (26,6): albl$
  td = dd& / dscale
- PUT NUMBER td AT (12,4) USING "-#########.##"
  dd& = td * dscale
  a$="1D"+str$(dd&)
- COM: PUT COM 1 TEXT a$
  vd% = vd% / vscale
- PUT NUMBER vd% AT (19,5) USING "###.##"
  vd% = vd% * vscale
  a$="1V"+str$(vd%)
- COM: PUT COM 1 TEXT a$
  ad% = ad% / ascale
- PUT NUMBER ad% AT (19,6) USING "###.##"
  ad% = ad% * ascale
  a$="1A"+str$(ad%)
- COM: PUT COM 1 TEXT a$
  td = dd& / dscale
- GET NUMBER td AT (12,4) USING "-#########.##" DEFAULT td
  dd& = td * dscale
  a$="1D"+str$(dd&)
- COM: PUT COM 1 TEXT a$
  vd% = vd% / vscale
- GET NUMBER vd% AT (19,5) USING "###.##" DEFAULT vd%
  vd% = vd% * vscale
  a$="1V"+str$(vd%)
- COM: PUT COM 1 TEXT a$
  ad% = ad% / ascale
- GET NUMBER ad% AT (19,6) USING "###.##" DEFAULT ad%
  ad% = ad% * ascale
  a$="1A"+str$(ad%)
- COM: PUT COM 1 TEXT a$
- GOTO SCREEN runscr
- TITLE:::::::::: "DOWNLOAD AND RUN A SEQUENCE" ::::::::::::
*>SCREEN QUICK sequence
- CLEAR SCREEN
- PUT TEXT AT (3,3): "A SEQUENCE TO THE MOTION CONTROLLER"
- PUT LARGE TEXT AT (1,1): "  TRANSMITTING...   "
  i=1
- LABEL seq1
- COM: PUT COM 1 TEXT "1R"
- COM: GET COM 1 TEXT stat$
  if i=2 then goto seqerr
  i=i+1
  if stat$ <> "*R" and stat$ <> "*S" then goto seq1
  seq$="1A100 1V20 1D25000 1G 1H+ 1G 1V5 1H- 1G 1V10 1H+ 1G"
- COM: PUT COM 1 TEXT "1XE1 1XD1"
- COM: PUT COM 1 TEXT seq$
- COM: PUT COM 1 TEXT "1XT"
  n=1
- LABEL sxseq1
- COM: PUT COM 1 TEXT "1R"
- COM: GET COM 1 TEXT stat$
  delay 10
  if n=10 then goto seqerr
  n=n+1
  if stat$ <> "*R" then goto sxseq1
- PUT TEXT AT (11,4): "SEQUENCE CONTENTS:"
- PUT TEXT AT (2,5): seq$
- PUT TEXT AT (3,7): "RUNNING SEQUENCE TEN TIMES...."
- COM: PUT COM 1 TEXT "1XR1 1XR1 1XR1 1XR1 1XR1 1XR1 1XR1 1XR1 1XR1 1XR1"
  i=1
- LABEL seqdone
- COM: PUT COM 1 TEXT "1R"
- COM: GET COM 1 TEXT stat$
  if stat$ <> "*R" and stat$ <> "*S" then goto seqdone
- GOTO SCREEN main
- TITLE:::::::::: "SEQUENCE ERROR" ::::::::::::
- LABEL seqerr
- CLEAR GRAPHICS SCREEN
- CLEAR SCREEN
- KEY OFF
- PUT LARGE TEXT AT (1,1): "CAN'T SEND SEQUENCE"
- PUT TEXT AT (2,5): "RETURNING TO MOTION SELECTION MENU...."
- DELAY 1500
- CLEAR GRAPHICS SCREEN
- GOTO SCREEN main
- TITLE:::::::::: "START MOTION" ::::::::::::
*>SCREEN QUICK start
- CLEAR SCREEN
- PUT LARGE TEXT AT (1,1): " MOTION HAS BEGUN   "
- COM: PUT COM 1 TEXT "1G"
- DELAY 250
- GOTO SCREEN main
- TITLE:::::::::: "KILL MOTION" ::::::::::::
*>SCREEN QUICK kill
- CLEAR SCREEN
- PUT LARGE TEXT AT (1,1): "  STOPPING MOTION   "
- COM: PUT COM 1 TEXT "1S"
- DELAY 500
- GOTO SCREEN main
- LABEL helpsys
- HELP: CLEAR HELP SCREEN
- HELP: PUT HELP TEXT AT 1 : "This program demonstrates the use of"
- HELP: PUT HELP TEXT AT 2 : "the MODEL 1000 and the PARKER COMPUMOTOR"
- HELP: PUT HELP TEXT AT 3 : "SX MOTOR/DRIVE.  You should first"
- HELP: PUT HELP TEXT AT 4 : "hook up the MODEL 1000 to the motor"
- HELP: PUT HELP TEXT AT 5 : "drive by following the instructions in"
- HELP: PUT HELP TEXT AT 6 : "Section 5.6.1 of the MODEL 1000 manual."
- HELP: PUT HELP TEXT AT 7 : "COM 1 on the MODEL 1000 is connected to"
- HELP: PUT HELP TEXT AT 8 : "----- PRESS ANY KEY FOR MORE HELP -----"
- HELP: DISPLAY HELP TEXT AND WAIT FOR KEY
- HELP: CLEAR HELP SCREEN
- HELP: PUT HELP TEXT AT 1 : "the RS232 port on the motor/drive.  A"
- HELP: PUT HELP TEXT AT 2 : "cable is available from EASON"
- HELP: PUT HELP TEXT AT 3 : "TECHNOLOGY.  Please call us if you need"
- HELP: PUT HELP TEXT AT 4 : "further assistance."
- HELP: PUT HELP TEXT AT 5 : "          (707)-433-2854"
- HELP: PUT HELP TEXT AT 6 : "          (707)-433-3706 (FAX)"
- HELP: PUT HELP TEXT AT 8 : "--PRESS ANY KEY TO RESUME THE PROGRAM--"
- HELP: DISPLAY HELP TEXT AND WAIT FOR KEY
- HOT KEY (10) RESUME
- RETURN
- TITLE:::::::::: "RETURN TO BASIC" ::::::::::::
*>SCREEN exit
- PUT LARGE TEXT AT (1,1): "THANK YOU FOR USING"
- PUT LARGE TEXT AT (8,2): "EASON"
- PUT LARGE TEXT AT (5,3): "TECHNOLOGY"
  pos 40,7
- DELAY 2500
  END
*>SCREEN errexit
- PUT TEXT AT (1,1): "The Model 1000 was unable to communicate"
- PUT TEXT AT (1,2): "with the Parker Compumotor SX Motor-"
- PUT TEXT AT (1,3): "Drive.  Check your connections.  Do you"
- PUT TEXT AT (1,4): "have the demo cable (9-pin to bare wire)"
- PUT TEXT AT (1,5): "connected to COM1 on the Model 1000 and"
- PUT TEXT AT (1,6): "the SX Motor-Driver RS232 connector?  If"
- PUT TEXT AT (1,7): "you have questions about connections,"
- SOFTKEY (1) "MORE" GOTO SCREEN errmore
- SOFTKEY WAIT
*>SCREEN errmore
- PUT TEXT AT (1,1): "refer to Section 5.6.1 of the Model 1000"
- PUT TEXT AT (1,2): "manual.  If you need further assistance"
- PUT TEXT AT (1,3): "contact Eason Technology at:"
- PUT TEXT AT (9,5): "PHONE: (707) 433-2854"
- PUT TEXT AT (11,6): "FAX: (707) 433-3706"
- SOFTKEY (1) "MORE" GOTO SCREEN exit
- SOFTKEY WAIT
- TITLE:::::::::: "MOVE PROFILE PLOT ROUTINE" ::::::::::::
*>SCREEN plotscr
- PUT TEXT AT (19,1): "MOVE TIME:        MSEC"
- SOFTKEY (6) "EXIT" GOTO SCREEN main
- GOSUB LABEL plotsub
- PUT NUMBER total AT (30,1) USING "######"
- SOFTKEY WAIT
*>SCREEN plotrun
- PUT TEXT AT (19,1): "MOVE TIME:        MSEC"
- SOFTKEY (6) "EXIT" GOTO SCREEN runscr
- GOSUB LABEL plotsub
- PUT NUMBER total AT (30,1) USING "######"
- SOFTKEY WAIT
- TITLE:::::::::: "MOVE PROFILE PLOT SUBROUTINE" ::::::::::::
- LABEL plotsub
- PUT TEXT AT (1,3): "V"
- PUT TEXT AT (1,4): "E"
- PUT TEXT AT (1,5): "L"
- PUT TEXT AT (35,4): "TIME->"
  call line(8,0,8,63,1):call line(8,32,239,32,1)
  ad=ad%*25000:vd=vd%*25000:dd=abs(dd&)
  if dd=0 then call line(8,32,239,32,1):return
  tvmax=(vd/ad)*1000
  tvp=sqr((2*dd)/ad)
  vp=2*dd/tvp
  if vp<vd then goto triangle
  tdx=((dd-(vd*vd)/ad)/vd)*1000
  total=2*tvmax+tdx
  if tvmax>76 then tvmax=76
  if tdx>76 then tdx=76
  if dd&<0 then goto negtrap
  call line(8,32,tvmax+8,8,1):call line(,,tvmax+tdx+8,8,1)
  call line(,,(2*tvmax)+tdx+8,32,1)
  return
- LABEL negtrap
  call line(8,32,tvmax+8,54,1):call line(,,tvmax+tdx+8,54,1)
  call line(,,(2*tvmax)+tdx+m,32,1)
  return
- LABEL triangle
  total=tvp*2
  tvp=tvp*1000
  if tvp>76 then tvp=76
  if dd&<0 then goto negtri
  call line(8,32,tvp+8,8,1):call line(,,tvp*2+8,32,1):return
- LABEL negtri
  call line(8,32,tvp+8,54,1):call line(,,tvp*2+8,32,1):return
  return
- RETURN
- END OF PSEUDOCODE