;; Move the joints from the Keyboard

main
string[1] s

;; home the robot before starting
ready()
finish()

;; Read a character from the keyboard
reads(stdin,s,1)

;; x terminates the loop
while s!="x"
	if s == "b"
		joint(1,5)  ;; move base 5 degrees
	elseif s == "B"
		joint(1,-5) ;; move base -5 degrees
	elseif (s == "s")
		joint(2,5)	;; move shoulder 5 degrees
	elseif (s == "S")
		joint(2,-5)	;; move shoulder -5 degrees
	elseif (s == "e")
		joint(3,5)	;; move elbow 5 degrees
	elseif (s == "E")
		joint(3,-5)	;; move elbow -5 degrees
	elseif (s == "p")
		joint(4,5)	;; move pitch 5 degrees
	elseif (s == "P")
		joint(4,-5)	;; move pitch -5 degrees
	elseif (s == "r")
		joint(5,5)	;; move roll 5 degrees
	elseif (s == "R")
		joint(5,-5)	;; move roll -5 degrees
	end if
	reads(stdin,s,1)
end while

;; home the robot before quitting
ready()
end main