w.jal main program
CONST.JAL constants
all Unimog constants defined here: angles, speeds, counts
VAR.JAL all Unimog variables defined here
ROUTINES.JAL various routines
beeps, init, display debug values, sensor servos
BEHAVE.JAL how to behave :-)
KI? measure and decide
COM.JAL serial routines
COMMANDS.JAL serial command input
handle commands from unimog server
STEER.JAL simple servo steer routine
irsens.jal IR sensor TSOP1733
one at the back of the truck, one at each side
upins.jal used pins on the F877
SETF.JAL behaviour when driving forward
polaroid.jal Polaroid 6500