#define STAT        atestdata[1]
#define Test        atestdata[2]
#define SHAPINGSTAT atestdata[3] 
awaitstatus[16],1
awaittime,1000
amotionmode=1
STAT=0
Test=0
SHAPINGSTAT=0
adoutport=0
while(1)
    if(SHAPINGSTAT==0)
           if((STAT==0)&&(!amotionstat))
             awaittime=1000
             amotoron=0
             awaittime=100
             aspeed=10000
             aabstrgt=27536
             ashapingon=0
             amotoron=1
             abegin
             STAT=1
             end
           if((STAT==1)&&(!amotionstat)&&(adinport==2))
             awaittime=1500
             amotoron=0
             awaittime=100
	     adoutport=1
             aspeed=200000
             aabstrgt=55428
             ashapingon=0
             amotoron=1
             abegin
             STAT=2
            end
           if((STAT==2)&&(!amotionstat)&&(adinport==2))
		     awaittime=1500
             amotoron=0
             awaittime=100
			 adoutport=1
             aspeed=200000
             aabstrgt=27536
             ashapingon=0
             amotoron=1
             abegin
             STAT=3
            end
          if((STAT==3)&&(!amotionstat)&&(adinport==2))
		   if(Test<2)
		     STAT=1
		     Test++
		     end
		   if(Test>1)
	         Test=0
                 awaittime=5000
	         STAT=4
	         SHAPINGSTAT=1
	         end
             end
         end
	if(SHAPINGSTAT==1)
          if((STAT==4)&&(!amotionstat)&&(adinport==2))
             awaittime=1500
             amotoron=0
             awaittime=100
             adoutport=2
             ashapingfreq[1]=688128
	     ashapingfreq[2]=524288
	     ashapingon = 1
             aspeed=2621440
             aabstrgt=55428
             amotoron=1
             abegin
             STAT=5
             end
           if((STAT==5)&&(!amotionstat)&&(adinport==2))
             awaittime=1500
			 amotoron=0
             awaittime=100 
             adoutport=2
             ashapingfreq[1]=688128
	     ashapingfreq[2]=524288
	     ashapingon=1
             aspeed=2621440
             aabstrgt=27536
             amotoron=1
             abegin
             STAT=6
             end
	   if((STAT==6)&&(!amotionstat)&&(adinport==2))
		   if(Test<2)
		     STAT=4
		     Test++
		     end
		   if(Test>1)
	         Test=0
	         STAT=1
	         SHAPINGSTAT=0
             end
       end
   end
end
     