The files in this directory relate to the disassembly of the
6503 code for the joint microControllers of the PUMA robot.

The following file extensions are defined:

.hex		-- raw hex dump
.lis		-- disassembled code that has been labeled by running
		   it through "reroll", and then possibly
		   examined and commented.

The root file names denote joint servo code that was obtained from
the following systems:

mk1_std		-- Mark I 260 controller at McGill University
mk1_old		-- old Mark I 560 controller at McGill
mk3_760		-- Mark III 760 controller at General Electric ATL
mk3_std		-- Mark III 560 controller at University of Illinois
mk2_std		-- Mark II 560 controller at JPL

disas
disas.instrs
disas.c		-- 6502 disassembler.

reroll
reroll.c	-- program to help automatically label branch
		   points on disassembled 6503 code.


