From news.media.mit.edu!bloom-beacon.mit.edu!spool.mu.edu!agate!ames!koriel!news2me.EBay.Sun.COM!handler.Eng.Sun.COM!pepper!cmcmanis Fri Dec 31 09:46:56 EST 1993 Article: 7602 of comp.robotics Path: news.media.mit.edu!bloom-beacon.mit.edu!spool.mu.edu!agate!ames!koriel!news2me.EBay.Sun.COM!handler.Eng.Sun.COM!pepper!cmcmanis From: cmcmanis@pepper.Eng.Sun.COM (Chuck McManis) Newsgroups: comp.robotics Subject: Hacking on Dino Tracks Date: 31 Dec 1993 06:12:01 GMT Organization: Sun Lines: 70 Distribution: world Message-ID: <2g0frh$dik@handler.Eng.Sun.COM> NNTP-Posting-Host: pepper.eng.sun.com Background: The "Dino Track" is a single channel tracked R/C car from Radio Shack (Tandy) that on close out goes for about $10.99. It runs on 4 AA size batteries, includes a single button transmitter, and a single channel receiver that, when activated, reverses one of the tracks on the car causing it to turn in place. The hack value comes from the fact that the car has two motors and treads so is amenable to differential steering. On the down side it has a lousy track design that has a hard time on carpet. This little car is great for the Miniboard because its about the right size to carry one, uses 6v, the ideal miniboard power unit, and doesn't draw enough current that you can't use the MB motor controllers. Unlike its predecessor the Blue Flash, this car has two "raised" idler wheels that appear to be simply for effect. However because of their ideal position, and the fact that they are turned by the track and not subject to other frictional constaints, they make an ideal place to mount optical encoders. I created two using 1 7/8" diameter circles of white "poster" board (sort of a heavy paper/light cardboard that you can get in craft stores. You could also just cut up a shirt box from any decent department store.) Without much effort I was able to section the encoders into 8ths but 16ths should also be possible. The electronics from the car can be useful as well. The receiver consists of a trapezoidal shaped PC board that is .75" wide at the bottom and 1.5" wide at the top. It is 1.25" tall. The circuit consists of two major parts, the receiver proper which is a simple tuned tank circuit, and an H-bridge that is "switched" whenever a 27Mhz carrier is present. But the transmitter transmits a 27Mhz carrier that is AM modulated by a 1Khz square wave. (Not exactly sure why except that maybe it saves on battery power.) The receiver drives transistor Q3 (a NPN switch) and Q3 switches the H-bridge. Now to prevent switching the H-bridge at 1Khz there is a 10uF cap to ground (C11) which acts like a low pass filter. If you decide to switch the transmitter via a computer, this cap limits the freqency response to something like 20 Hz. I replaced this cap with a .68uf one and boosted the switching rate to 300Hz. Now it occurs to me that you could send PWM from the transmitter and eliminate C11 and that would give you proportional speed control. Maybe that is why they do it that way. Anyway there are effectively 4 wires leading to the receiver. Their function is as follows: RED - power Single Blue - Motor Power (GND when xmitter is off, 6V otherwise) Single Black - Motor Power (6v when xmitter is off, GND otherwise) White+Blue (two wires) - Ground Now you can glue an SPST relay to this board and wire it to the Blue wire and ground. This gives you a remote controlled switch. In my case I added a "generic" Miniboard connector to the relay and now I send one "bit" of information without having a tether (and only $2.00 investment in the relay) I could probably send morse code if I tried. I did try sending serial data directly, but that doesn't work because the timing is not nearly reliable enough. (1 good character in 20 at 110 baud isn't my idea of a useful interface :-)) You can skip the relay if you use a zener or resistor to limit the voltage to something the computer can handle (GND <= x <= Vcc(5v)) I actually like the relay, I can hear it go "click" when I push the button so I know the command has been received. --Chuck - -- --Chuck McManis All opinions in this message/article are FirstPerson Inc. those of the author, who may or may not Internet: cmcmanis@firstperson.COM be who you think it is. Return-Path: robot-board@oberon.com Received: by media.mit.edu (5.57/DA1.0.4.amt) id AA17365; Wed, 19 Jan 94 19:11:49 -0500 Received: from ([127.0.0.1]) by oberon.com (4.1/SMI-4.1_Armado.MX) id AA21611; Wed, 19 Jan 94 11:58:29 EST Date: Wed, 19 Jan 94 11:58:29 EST Message-Id: <9401111938.AA04325@pepper.Eng.Sun.COM> Errors-To: gkulosa@oberon.com Reply-To: cmcmanis@scndprsn.Eng.Sun.COM Originator: robot-board@oberon.com Sender: gkulosa@oberon.com Precedence: bulk From: cmcmanis@scndprsn.Eng.Sun.COM (Chuck McManis) To: Multiple recipients of list Subject: Dino Track Pictures X-Listprocessor-Version: 6.0b -- ListProcessor by Anastasios Kotsikonas ---------- X-Sun-Data-Type: text X-Sun-Data-Description: text X-Sun-Data-Name: text X-Sun-Charset: us-ascii X-Sun-Content-Lines: 2 Sort of. This is a postscript file that shows my Dino Track 'conversion'. --Chuck ---------- X-Sun-Data-Type: postscript-file X-Sun-Data-Description: postscript-file X-Sun-Data-Name: dino.pic.ps X-Sun-Charset: us-ascii X-Sun-Content-Lines: 1184 %! %%BoundingBox: (atend) %%Pages: (atend) %%DocumentFonts: (atend) %%EndComments %%BeginProlog % % FrameMaker postscript_prolog 3.0, for use with FrameMaker 3.0 % This postscript_prolog file is Copyright (c) 1986-1991 Frame Technology % Corporation. All rights reserved. This postscript_prolog file may be % freely copied and distributed in conjunction with documents created using % FrameMaker. % NOTE % This file fixes the problem with NeWS printers dithering color output. % Any questions should be sent to mickey@magickingdom.eng.sun.com % % Known Problems: % Due to bugs in Transcript, the 'PS-Adobe-' is omitted from line 1 /FMversion (3.0) def % Set up Color vs. Black-and-White /FMPrintInColor { % once-thru loop gimmick % See if we're a NeWSprint printer /currentcanvas where { pop systemdict /separationdict known exit } if % originally had the following, which should always be false: % /currentcanvas where { % pop currentcanvas /Color known { % currentcanvas /Color get % exit % } if % } if systemdict /colorimage known systemdict /currentcolortransfer known and exit } loop def % Uncomment the following line to force b&w on color printer % /FMPrintInColor false def /FrameDict 195 dict def systemdict /errordict known not {/errordict 10 dict def errordict /rangecheck {stop} put} if % The readline in 23.0 doesn't recognize cr's as nl's on AppleTalk FrameDict /tmprangecheck errordict /rangecheck get put errordict /rangecheck {FrameDict /bug true put} put FrameDict /bug false put mark % Some PS machines read past the CR, so keep the following 3 lines together! currentfile 5 string readline 00 0000000000 cleartomark errordict /rangecheck FrameDict /tmprangecheck get put FrameDict /bug get { /readline { /gstring exch def /gfile exch def /gindex 0 def { gfile read pop dup 10 eq {exit} if dup 13 eq {exit} if gstring exch gindex exch put /gindex gindex 1 add def } loop pop gstring 0 gindex getinterval true } def } if /FMVERSION { FMversion ne { /Times-Roman findfont 18 scalefont setfont 100 100 moveto (FrameMaker version does not match postscript_prolog!) dup = show showpage } if } def /FMLOCAL { FrameDict begin 0 def end } def /gstring FMLOCAL /gfile FMLOCAL /gindex FMLOCAL /orgxfer FMLOCAL /orgproc FMLOCAL /organgle FMLOCAL /orgfreq FMLOCAL 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exch def end } def /FMFILL { FrameDict begin fillvals 3 1 roll put end } def /FMNORMALIZEGRAPHICS { newpath 0.0 0.0 moveto 1 setlinewidth 0 setlinecap 0 0 0 sethsbcolor 0 setgray } bind def /fx FMLOCAL /fy FMLOCAL /fh FMLOCAL /fw FMLOCAL /llx FMLOCAL /lly FMLOCAL /urx FMLOCAL /ury FMLOCAL /FMBEGINEPSF { end /FMEPSF save def /showpage {} def FMNORMALIZEGRAPHICS [/fy /fx /fh /fw /ury /urx /lly /llx] {exch def} forall fx fy translate rotate fw urx llx sub div fh ury lly sub div scale llx neg lly neg translate } bind def /FMENDEPSF { FMEPSF restore FrameDict begin } bind def FrameDict begin /setmanualfeed { %%BeginFeature *ManualFeed True statusdict /manualfeed true put %%EndFeature } def /max {2 copy lt {exch} if pop} bind def /min {2 copy gt {exch} if pop} bind def /inch {72 mul} def /pagedimen { paperheight sub abs 16 lt exch paperwidth sub abs 16 lt and {/papername exch def} {pop} ifelse } def /papersizedict FMLOCAL /setpapername { /papersizedict 14 dict def papersizedict begin /papername /unknown def /Letter 8.5 inch 11.0 inch pagedimen /LetterSmall 7.68 inch 10.16 inch pagedimen /Tabloid 11.0 inch 17.0 inch pagedimen /Ledger 17.0 inch 11.0 inch pagedimen /Legal 8.5 inch 14.0 inch pagedimen /Statement 5.5 inch 8.5 inch pagedimen /Executive 7.5 inch 10.0 inch pagedimen /A3 11.69 inch 16.5 inch pagedimen /A4 8.26 inch 11.69 inch pagedimen /A4Small 7.47 inch 10.85 inch pagedimen /B4 10.125 inch 14.33 inch pagedimen /B5 7.16 inch 10.125 inch pagedimen end } def /papersize { papersizedict begin /Letter {lettertray letter} def /LetterSmall {lettertray lettersmall} def /Tabloid {11x17tray 11x17} def /Ledger {ledgertray ledger} def /Legal {legaltray legal} def /Statement {statementtray statement} def /Executive {executivetray executive} def /A3 {a3tray a3} def /A4 {a4tray a4} def /A4Small {a4tray a4small} def /B4 {b4tray b4} def /B5 {b5tray b5} def /unknown {unknown} def papersizedict dup papername known {papername} {/unknown} ifelse get end /FMdicttop countdictstack 1 add def statusdict begin stopped end countdictstack -1 FMdicttop {pop end} for } def /manualpapersize { papersizedict begin /Letter {letter} def /LetterSmall {lettersmall} def /Tabloid {11x17} def /Ledger {ledger} def /Legal {legal} def /Statement {statement} def /Executive {executive} def /A3 {a3} def /A4 {a4} def /A4Small {a4small} def /B4 {b4} def /B5 {b5} def /unknown {unknown} def papersizedict dup papername known {papername} {/unknown} ifelse get end stopped } def /desperatepapersize { statusdict /setpageparams known { paperwidth paperheight 0 1 statusdict begin {setpageparams} stopped pop end } if } def /savematrix { orgmatrix currentmatrix pop } bind def /restorematrix { orgmatrix setmatrix } bind def /dmatrix matrix def /dpi 72 0 dmatrix defaultmatrix dtransform dup mul exch dup mul add sqrt def /freq dpi 18.75 div 8 div round dup 0 eq {pop 1} if 8 mul dpi exch div def /sangle 1 0 dmatrix defaultmatrix dtransform exch atan def /DiacriticEncoding [ /.notdef 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/igrave /icircumflex /idieresis /ntilde /oacute /ograve /ocircumflex /odieresis /otilde /uacute /ugrave /ucircumflex /udieresis /dagger /.notdef /cent /sterling /section /bullet /paragraph /germandbls /registered /copyright /trademark /acute /dieresis /.notdef /AE /Oslash /.notdef /.notdef /.notdef /.notdef /yen /.notdef /.notdef /.notdef /.notdef /.notdef /.notdef /ordfeminine /ordmasculine /.notdef /ae /oslash /questiondown /exclamdown /logicalnot /.notdef /florin /.notdef /.notdef /guillemotleft /guillemotright /ellipsis /.notdef /Agrave /Atilde /Otilde /OE /oe /endash /emdash /quotedblleft /quotedblright /quoteleft /quoteright /.notdef /.notdef /ydieresis /Ydieresis /fraction /currency /guilsinglleft /guilsinglright /fi /fl /daggerdbl /periodcentered /quotesinglbase /quotedblbase /perthousand /Acircumflex /Ecircumflex /Aacute /Edieresis /Egrave /Iacute /Icircumflex /Idieresis /Igrave /Oacute /Ocircumflex /.notdef /Ograve /Uacute /Ucircumflex /Ugrave /dotlessi /circumflex /tilde /macron /breve /dotaccent /ring /cedilla /hungarumlaut /ogonek /caron ] def /ReEncode { dup length dict begin { 1 index /FID ne {def} {pop pop} ifelse } forall 0 eq {/Encoding DiacriticEncoding def} if currentdict end } bind def /graymode true def /bwidth FMLOCAL /bpside FMLOCAL /bstring FMLOCAL /onbits FMLOCAL /offbits FMLOCAL /xindex FMLOCAL /yindex FMLOCAL /x FMLOCAL /y FMLOCAL /setpattern { /bwidth exch def /bpside exch def /bstring exch def /onbits 0 def /offbits 0 def freq sangle landscape {90 add} if {/y exch def /x exch def /xindex x 1 add 2 div bpside mul cvi def /yindex y 1 add 2 div bpside mul cvi def bstring yindex bwidth mul xindex 8 idiv add get 1 7 xindex 8 mod sub bitshift and 0 ne {/onbits onbits 1 add def 1} {/offbits offbits 1 add def 0} ifelse } setscreen {} settransfer offbits offbits onbits add div FMsetgray /graymode false def } bind def /grayness { FMsetgray graymode not { /graymode true def orgxfer cvx settransfer orgfreq organgle orgproc cvx setscreen } if } bind def /HUE FMLOCAL /SAT FMLOCAL /BRIGHT FMLOCAL /Colors FMLOCAL FMPrintInColor { /HUE 0 def /SAT 0 def /BRIGHT 0 def % array of arrays Hue and Sat values for the separations [HUE BRIGHT] /Colors [[0 0 ] % black [0 0 ] % white [0.00 1.0] % red [0.37 1.0] % green [0.60 1.0] % blue [0.50 1.0] % cyan [0.83 1.0] % magenta [0.16 1.0] % comment / yellow ] def /BEGINBITMAPCOLOR { BITMAPCOLOR} def /BEGINBITMAPCOLORc { BITMAPCOLORc} def /BEGINBITMAPTRUECOLOR { BITMAPTRUECOLOR } def /BEGINBITMAPTRUECOLORc { BITMAPTRUECOLORc } def /K { Colors exch get dup 0 get /HUE exch store 1 get /BRIGHT exch store HUE 0 eq BRIGHT 0 eq and {1.0 SAT sub setgray} {HUE SAT BRIGHT sethsbcolor} ifelse } def /FMsetgray { /SAT exch 1.0 exch sub store HUE 0 eq BRIGHT 0 eq and {1.0 SAT sub setgray} {HUE SAT BRIGHT sethsbcolor} ifelse } bind def } { /BEGINBITMAPCOLOR { BITMAPGRAY} def /BEGINBITMAPCOLORc { BITMAPGRAYc} def /BEGINBITMAPTRUECOLOR { BITMAPTRUEGRAY } def /BEGINBITMAPTRUECOLORc { BITMAPTRUEGRAYc } def /FMsetgray {setgray} bind def /K { pop } def } ifelse /normalize { transform round exch round exch itransform } bind def /dnormalize { dtransform round exch round exch idtransform } bind def /lnormalize { 0 dtransform exch cvi 2 idiv 2 mul 1 add exch idtransform pop } bind def /H { lnormalize setlinewidth } bind def /Z { setlinecap } bind def /fillvals FMLOCAL /X { fillvals exch get dup type /stringtype eq {8 1 setpattern} {grayness} ifelse } bind def /V { gsave eofill grestore } bind def /N { stroke } bind def /M {newpath moveto} bind def /E {lineto} bind def /D {curveto} bind def /O {closepath} bind def /n FMLOCAL /L { /n exch def newpath normalize moveto 2 1 n {pop normalize lineto} for } bind def /Y { L closepath } bind def /x1 FMLOCAL /x2 FMLOCAL /y1 FMLOCAL /y2 FMLOCAL /rad FMLOCAL /R { /y2 exch def /x2 exch def /y1 exch def /x1 exch def x1 y1 x2 y1 x2 y2 x1 y2 4 Y } bind def /RR { /rad exch def normalize /y2 exch def /x2 exch def normalize /y1 exch def /x1 exch def newpath x1 y1 rad add moveto x1 y2 x2 y2 rad arcto x2 y2 x2 y1 rad arcto x2 y1 x1 y1 rad arcto x1 y1 x1 y2 rad arcto closepath 16 {pop} repeat } bind def /C { grestore gsave R clip } bind def /FMpointsize FMLOCAL /F { FMfonts exch get FMpointsize scalefont setfont } bind def /Q { /FMpointsize exch def F } bind def /T { moveto show } bind def /RF { rotate 0 ne {-1 1 scale} if } bind def /TF { gsave moveto RF show grestore } bind def /P { moveto 0 32 3 2 roll widthshow } bind def /PF { gsave moveto RF 0 32 3 2 roll widthshow grestore } bind def /S { moveto 0 exch ashow } bind def /SF { gsave moveto RF 0 exch ashow grestore } bind def /B { moveto 0 32 4 2 roll 0 exch awidthshow } bind def /BF { gsave moveto RF 0 32 4 2 roll 0 exch awidthshow grestore } bind def /G { gsave newpath normalize translate 0.0 0.0 moveto dnormalize scale 0.0 0.0 1.0 5 3 roll arc closepath fill grestore } bind def /A { gsave savematrix newpath 2 index 2 div add exch 3 index 2 div sub exch normalize 2 index 2 div sub exch 3 index 2 div add exch translate scale 0.0 0.0 1.0 5 3 roll arc restorematrix stroke grestore } bind def /x FMLOCAL /y FMLOCAL /w FMLOCAL /h FMLOCAL /xx FMLOCAL /yy FMLOCAL /ww FMLOCAL /hh FMLOCAL /FMsaveobject FMLOCAL /FMoptop FMLOCAL /FMdicttop FMLOCAL /BEGINPRINTCODE { /FMdicttop countdictstack 1 add def /FMoptop count 4 sub def /FMsaveobject save def userdict begin /showpage {} def FMNORMALIZEGRAPHICS 3 index neg 3 index neg translate } bind def /ENDPRINTCODE { count -1 FMoptop {pop pop} for countdictstack -1 FMdicttop {pop end} for FMsaveobject restore } bind def /gn { 0 { 46 mul cf read pop 32 sub dup 46 lt {exit} if 46 sub add } loop add } bind def /str FMLOCAL /cfs { /str sl string def 0 1 sl 1 sub {str exch val put} for str def } bind def /ic [ 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0223 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0223 0 {0 hx} {1 hx} {2 hx} {3 hx} {4 hx} {5 hx} {6 hx} {7 hx} {8 hx} {9 hx} {10 hx} {11 hx} {12 hx} {13 hx} {14 hx} {15 hx} {16 hx} {17 hx} {18 hx} {19 hx} {gn hx} {0} {1} {2} {3} {4} {5} {6} {7} {8} {9} {10} {11} {12} {13} {14} {15} {16} {17} {18} {19} {gn} {0 wh} {1 wh} {2 wh} {3 wh} {4 wh} {5 wh} {6 wh} {7 wh} {8 wh} {9 wh} {10 wh} {11 wh} {12 wh} {13 wh} {14 wh} {gn wh} {0 bl} {1 bl} {2 bl} {3 bl} {4 bl} {5 bl} {6 bl} {7 bl} {8 bl} {9 bl} {10 bl} {11 bl} {12 bl} {13 bl} {14 bl} {gn bl} {0 fl} {1 fl} {2 fl} {3 fl} {4 fl} {5 fl} {6 fl} {7 fl} {8 fl} {9 fl} {10 fl} {11 fl} {12 fl} {13 fl} {14 fl} {gn fl} ] def /sl FMLOCAL /val FMLOCAL /ws FMLOCAL /im FMLOCAL /bs FMLOCAL /cs FMLOCAL /len FMLOCAL /pos FMLOCAL /ms { /sl exch def /val 255 def /ws cfs /im cfs /val 0 def /bs cfs /cs cfs } bind def 400 ms /ip { is 0 cf cs readline pop { ic exch get exec add } forall pop } bind def /wh { /len exch def /pos exch def ws 0 len getinterval im pos len getinterval copy pop pos len } bind def /bl { /len exch def /pos exch def bs 0 len getinterval im pos len getinterval copy pop pos len } bind def /s1 1 string def /fl { /len exch def /pos exch def /val cf s1 readhexstring pop 0 get def pos 1 pos len add 1 sub {im exch val put} for pos len } bind def /hx { 3 copy getinterval cf exch readhexstring pop pop } bind def /h FMLOCAL /w FMLOCAL /d FMLOCAL /lb FMLOCAL /bitmapsave FMLOCAL /is FMLOCAL /cf FMLOCAL /wbytes { dup 8 eq {pop} {1 eq {7 add 8 idiv} {3 add 4 idiv} ifelse} ifelse } bind def /BEGINBITMAPBWc { 1 {} COMMONBITMAPc } bind def /BEGINBITMAPGRAYc { 8 {} COMMONBITMAPc } bind def /BEGINBITMAP2BITc { 2 {} COMMONBITMAPc } bind def /COMMONBITMAPc { /r exch def /d exch def gsave translate rotate scale /h exch def /w exch def /lb w d wbytes def sl lb lt {lb ms} if /bitmapsave save def r /is im 0 lb getinterval def ws 0 lb getinterval is copy pop /cf currentfile def w h d [w 0 0 h neg 0 h] {ip} image bitmapsave restore grestore } bind def /BEGINBITMAPBW { 1 {} COMMONBITMAP } bind def /BEGINBITMAPGRAY { 8 {} COMMONBITMAP } bind def /BEGINBITMAP2BIT { 2 {} COMMONBITMAP } bind def /COMMONBITMAP { /r exch def /d exch def gsave translate rotate scale /h exch def /w exch def /bitmapsave save def r /is w d wbytes string def /cf currentfile def w h d [w 0 0 h neg 0 h] {cf is readhexstring pop} image bitmapsave restore grestore } bind def /proc1 FMLOCAL /proc2 FMLOCAL /newproc FMLOCAL /Fmcc { /proc2 exch cvlit def /proc1 exch cvlit def /newproc proc1 length proc2 length add array def newproc 0 proc1 putinterval newproc proc1 length proc2 putinterval newproc cvx } bind def /ngrayt 256 array def /nredt 256 array def /nbluet 256 array def /ngreent 256 array def /gryt FMLOCAL /blut FMLOCAL /grnt FMLOCAL /redt FMLOCAL /indx FMLOCAL /cynu FMLOCAL /magu FMLOCAL /yelu FMLOCAL /k FMLOCAL /u FMLOCAL /colorsetup { currentcolortransfer /gryt exch def /blut exch def /grnt exch def /redt exch def 0 1 255 { /indx exch def /cynu 1 red indx get 255 div sub def /magu 1 green indx get 255 div sub def /yelu 1 blue indx get 255 div sub def /k cynu magu min yelu min def /u k currentundercolorremoval exec def nredt indx 1 0 cynu u sub max sub redt exec put ngreent indx 1 0 magu u sub max sub grnt exec put nbluet indx 1 0 yelu u sub max sub blut exec put ngrayt indx 1 k currentblackgeneration exec sub gryt exec put } for {255 mul cvi nredt exch get} {255 mul cvi ngreent exch get} {255 mul cvi nbluet exch get} {255 mul cvi ngrayt exch get} setcolortransfer {pop 0} setundercolorremoval {} setblackgeneration } bind def /tran FMLOCAL /fakecolorsetup { /tran 256 string def 0 1 255 {/indx exch def tran indx red indx get 77 mul green indx get 151 mul blue indx get 28 mul add add 256 idiv put} for currenttransfer {255 mul cvi tran exch get 255.0 div} exch Fmcc settransfer } bind def /BITMAPCOLOR { /d 8 def gsave translate rotate scale /h exch def /w exch def /bitmapsave save def colorsetup /is w d wbytes string def /cf currentfile def w h d [w 0 0 h neg 0 h] {cf is readhexstring pop} {is} {is} true 3 colorimage bitmapsave restore grestore } bind def /BITMAPCOLORc { /d 8 def gsave translate rotate scale /h exch def /w exch def /lb w d wbytes def sl lb lt {lb ms} if /bitmapsave save def colorsetup /is im 0 lb getinterval def ws 0 lb getinterval is copy pop /cf currentfile def w h d [w 0 0 h neg 0 h] {ip} {is} {is} true 3 colorimage bitmapsave restore grestore } bind def /BITMAPTRUECOLORc { gsave translate rotate scale /h exch def /w exch def /bitmapsave save def /is w string def ws 0 w getinterval is copy pop /cf currentfile def w h 8 [w 0 0 h neg 0 h] {ip} {gip} {bip} true 3 colorimage bitmapsave restore grestore } bind def /BITMAPTRUECOLOR { gsave translate rotate scale /h exch def /w exch def /bitmapsave save def /is w string def /gis w string def /bis w string def /cf currentfile def w h 8 [w 0 0 h neg 0 h] { cf is readhexstring pop } { cf gis readhexstring pop } { cf bis readhexstring pop } true 3 colorimage bitmapsave restore grestore } bind def /BITMAPTRUEGRAYc { gsave translate rotate scale /h exch def /w exch def /bitmapsave save def /is w string def ws 0 w getinterval is copy pop /cf currentfile def w h 8 [w 0 0 h neg 0 h] {ip gip bip w gray} image bitmapsave restore grestore } bind def /ww FMLOCAL /r FMLOCAL /g FMLOCAL /b FMLOCAL /i FMLOCAL /gray { /ww exch def /b exch def /g exch def /r exch def 0 1 ww 1 sub { /i exch def r i get .299 mul g i get .587 mul b i get .114 mul add add r i 3 -1 roll floor cvi put } for r } bind def /BITMAPTRUEGRAY { gsave translate rotate scale /h exch def /w exch def /bitmapsave save def /is w string def /gis w string def /bis w string def /cf currentfile def w h 8 [w 0 0 h neg 0 h] { cf is readhexstring pop cf gis readhexstring pop cf bis readhexstring pop w gray} image bitmapsave restore grestore } bind def /BITMAPGRAY { 8 {fakecolorsetup} COMMONBITMAP } bind def /BITMAPGRAYc { 8 {fakecolorsetup} COMMONBITMAPc } bind def /ENDBITMAP { } bind def end /ALDsave FMLOCAL /ALDmatrix matrix def ALDmatrix currentmatrix pop /StartALD { /ALDsave save def savematrix ALDmatrix setmatrix } bind def /InALD { restorematrix } bind def /DoneALD { ALDsave restore } bind def 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