refindx.in = indx;                     	          AllAboutMoving.MoveRobo(showTheMove, pl,				    line, hw, angles,1, refError, refangleY,				    refangleX,refD,1, refindx, 				    location, this );				  errorcode = refError.in;				  angleY = refangleY.in;				  angleX = refangleX.in;				  d = refD.in;				  indx = refindx.in;                                  if (errorcode == 1 ) 			            { 				      actualizeAutoPanel();				      return;				    }                                }                            }                          }                      if (errorcode == 1) 		        { 		          writeError("Crash.");		        }                    }                   else 		    {  		      if ( fFile == 0 )		        {			  writeError("Target is unreachable.");			}                    }                }              else /* if (fAutoline == 1).. */                {                   p2.x = T[0][3];                  p2.y = T[1][3];                  p2.z = T[2][3];                  distance = Math.sqrt( (p2.x - p1.x) * (p2.x - p1.x) + 				        (p2.y - p1.y) * (p2.y - p1.y) +					(p2.z - p1.z) * (p2.z - p1.z)  );                               steps =(int)(distance / 0.5);                  if ( steps == 0 ) 		    steps = 1;                  mdiff = 1.0 / steps;                  m = mdiff;                  while ( m <= 1.0 )                    {                      T[0][3] = p1.x + m * (p2.x - p1.x);                      T[1][3] = p1.y + m * (p2.y - p1.y);                      T[2][3] = p1.z + m * (p2.z - p1.z);                      reminder = CinematicCalculations.inverseCinematic(T,				input, angles, linkLengths, reminder,				fAutoLine, this);                                         if ( reminder == 0 )                        {                          for ( i=0 ; i<6 ; i++ )                            {                              input[i] = input[i] - angles[i].act;                              if (Math.abs(input[i]) > 0.087266462 && m < 1.0)			        reminder = 1;                 	      if ( Math.abs(input[i]) > Math.PI ) 			        { 			          reminder = 2;				  actualizeAutoPanel();				  return;                                }                             }                          if ( reminder == 1 ) 			    {                              mdiff = mdiff / 2.0;                              m = m - mdiff;                            }                          else                             {			      if ( reminder == 0 )                                {                                  stepNumber = Math.abs((int)(input[0] / 				          	(power[0]*(Math.PI/180))));                 	          for ( i=1 ; i<6 ; i++ )                 	            {                  	              reminder = Math.abs((int)(input[i] / 				            	(power[i]*(Math.PI/180))));                     		      if (reminder >stepNumber)				        stepNumber = reminder;                  	            }                    	          line[0].y = -1.0;   			          RefInt refError = new RefInt(errorcode);			          RefDouble refangleY = new RefDouble(angleY);			          RefDouble refangleX = new RefDouble(angleX);			          RefDouble refD = new RefDouble(d);				          RefInt refindx = new RefInt(indx);                     	          AllAboutMoving.MoveRobo(showTheMove, pl, 				     line, input, 				     angles,stepNumber, refError,refangleY,			             refangleX, refD,1,refindx,location, this);				  errorcode = refError.in;				  angleY = refangleY.in;				  angleX = refangleX.in;				  d = refD.in;				  indx = refindx.in;				                                  if ( errorcode == 1 ) 			            {				      if ( fFile == 0 )					{					 //writeError("Crash!!");                                        }                                      m = 2.0;                                    }                                  mdiff = 1.0 / steps;                                  if ( m < 1.0 && (m + mdiff) > 1.0 ) 				    m = 1.0;                  	          else m = m + mdiff;                                }                              else 			        {                                  if ( fFile == 0 )				    {				      writeError("Target is unreachable.");				    }                                  // here sounds the bell in the original                                  m = 2.0;                                }                                } 		 	}                         else 		        {		          if ( fFile == 0 )                             {			       writeError("Target is unreachable.");				     }                           m = 2.0;                        }                    }               }             CinematicCalculations.calculatePos(angles, pos, this);	     for (int kl = 0; kl < 3; kl++)	       {		 target[kl] = pos[kl];		 autoScrolls[kl].setValue(autoScrollScale * (int) target[kl]);	       } 	     for (int kl = 0; kl < 6; kl++)	       { // to unify the values of 'auto control' and 'manual control'		 manualScrolls[kl].setValue(manualScrollScale * 						     (int) angles[kl].act);		 updateManualLabel(kl);	       } 	             line[0].y = -2.0;           }           else 	   {	     if ( fFile == 0 )                {		  writeError("Target is unreachable.");	        }            }          line[0].y = -1.0;           repaint();                }    	public void weightsInput(int newValues[])	{	  for (int i = 0; i < 6; i++)	    {	      angleWeights[i] = newValues[i];	      weightsText[i].setText(String.valueOf(angleWeights[i]));	    }	}      	private void installRealRobot()	{	  manualLabels[3].hide();	  manualScrolls[3].hide();	  manualChange(3, 0);	  manualLabels[5].hide();	  manualScrolls[5].hide();	  manualChange(5, 0);	  linkHeader.hide();	  linkExec.hide();	  for (int i = 0; i < 3; i++)	    {	      linkLabels[i].hide();	      linkScrolls[i].hide();	      autoHeader.hide();	      autoScrolls[i].hide();	      autoLabels[i].hide();	      lineButton.hide();	      autoExecButton.hide();	    }	  double[] newLengths = { 4.5, 10.0, 10.0 };	  linkLengthChange(newLengths); // these are the lengths of 					// the robot	  for (int i = 0; i < 3; i++)	    {	      linkScrolls[i].setValue((int)(linkScrollScale * 					linkLengths[i]));	      updateLinkLabel(i);	    }	  int actualSpeed = xControl;//to make the installation faster	  speedInput(80);	  manualChange(1, -1.57);// -90 degree	  manualScrolls[1].setValue((int)(manualScrollScale * 						angles[1].act));	  manualChange(2, 0); //start position of the real robot 	  manualScrolls[2].setValue((int)(manualScrollScale * 						angles[2].act));	  manualChange(0, 0); //start position of the real robot	  manualScrolls[0].setValue((int)(manualScrollScale * 						angles[0].act));	  manualChange(4, 0); //start position of the real robot	  manualScrolls[4].setValue((int)(manualScrollScale * 						angles[4].act));	  speedInput(actualSpeed);	  savedAngles[0][1] = -1.57;//90 degree	  exampleButton.disable();	  robotIsReal = true;	}	private void tidyUpRealRobot()	{	  robotIsReal = false;	  manualLabels[3].show();	  manualScrolls[3].show();	  manualLabels[5].show();	  manualScrolls[5].show();	  linkHeader.show();	  linkExec.show();	  for (int i = 0; i < 3; i++)	    {	      linkLabels[i].show();	      linkScrolls[i].show();	      autoHeader.show();	      autoScrolls[i].show();	      autoLabels[i].show();	      lineButton.show();	      autoExecButton.show();	    } 	  savedAngles[0][1] =  0;	  double[] nullAngles = { 0, -Math.PI/2, 0, 0, 0, 0 };	  manualChange(nullAngles);	  double[] newLengths = { 13.5, 10.0, 10.0 };	  linkLengthChange(newLengths); // these are the lengths of 					// the robot	  for (int i = 0; i < 3; i++)	    {	      linkScrolls[i].setValue((int)(linkScrollScale * 					linkLengths[i]));	      updateLinkLabel(i);	    }	  nullAngles[1] = 0;	  manualChange(nullAngles);	  for (int i = 0; i < 6; i++)	    manualScrolls[i].setValue((int)(manualScrollScale * 						angles[i].act));	  exampleButton.enable();	}	private void saveActualPosition(int where)	{	   for (int i = 0; i < 6; i++)	     savedAngles[where][i] = angles[i].act;	   savedAngles[where][6] = handValue;	}	private void loadPositionNo(int which)	{	  for (int i = 0; i < 6; i++)	    if ( (angles[i].act != savedAngles[which][i]) && robotIsReal		 && (i == 3 || i == 5) )	      savedAngles[which][i] = 0;	  manualChange(savedAngles[which]);	  handInput(savedAngles[which][6]);	  for (int kl = 0; kl < 6; kl++)	     {	       updateManualLabel(kl);	       manualScrolls[kl].setValue((int)angles[kl].act					   * manualScrollScale);	     } // it doesn't care, if too many labels are new printed	}	private void newSpeed()	{ // calculation of the speeds corresponding to every angle	  int trSpeed;	  if (xControl > 60)	    trSpeed = xControl * 20; // the turbo works	  else	    trSpeed = xControl/3;	  power[0] = power[1] = 1 + (trSpeed/2);	  power[2] = 2 + (trSpeed/2);	  power[3] = power[4] = power[5] = 3 + (trSpeed/2);	}	public void speedInput(int newSpeed)	{	  if (newSpeed < 1)	    newSpeed = 1;	  if (newSpeed > 82)	    newSpeed = 82;	  xControl = newSpeed;	  speedScroll.setValue(xControl);	  newSpeed();	}	public void zoomInput(float newValue)	{	  if (newValue == zoomValue)	    return;	  if (newValue < 0.1)	    newValue = 0.1f;	  if (newValue > 3.5)	    newValue = 3.5f;	  if (Math.abs(newValue - zoomValue) < 0.2)	    {	      zoomValue = newValue;	      zoomScroll.setValue((int) (zoomScrollScale * zoomValue));	      animation.setScale(zoomValue);	      if (showTheMove)	        repaint();	    }	  else	    { // a smooth movement of the robot's size increase/decrease	      if (newValue > zoomValue)		{		  while (zoomValue < (newValue - 0.1))		    {		      zoomValue += 0.1;		      zoomScroll.setValue((int) (zoomScrollScale * zoomValue)); 		      animation.setScale(zoomValue); 		      if (showTheMove)	                repaint();		    }			        }	      else 		{	          while (zoomValue > (newValue + 0.1))		    {		      zoomValue -= 0.1;		      zoomScroll.setValue((int) (zoomScrollScale * zoomValue)); 		      animation.setScale(zoomValue); 		      if (showTheMove)	                repaint();		    }	        }	      zoomValue = newValue;	      zoomScroll.setValue((int) (zoomScrollScale * zoomValue));	      animation.setScale(zoomValue);	      if (showTheMove)	        repaint();	    }	}	   	public void handInput(double newValue)	{	  handChange(newValue);	  handScroll.setValue((int) (handScrollScale * handValue));	  if ((angles[0].act != 0.0) && (angles[2].act != 0.0))	    {	      double[] remindLengths = { linkLengths[0], 				 linkLengths[1] + 0.1, linkLengths[2] };	      linkLengthChange(remindLengths); // stupid, but 	      remindLengths[1] -= 0.1;	     // otherwise an	      linkLengthChange(remindLengths); // error occurs	    } 	}	private void handChange(double newValue)	//to open or close the hand, it's sufficient to change the x-coordinate	//value only	{	  if ((newValue == handValue) || (newValue > 0.5) || (newValue < 0.0))	    return;	  	  showTheMove = false;	  for (int i=0 ; i<6 ; i++ )  	     {               angleOld[i] = angles[i].act;               angles[i].act = 0.0;             }	  double base9 = PL[134].x - handValue;//no.134 is a length 9 point	  	 base9 += newValue;	  double base11 = PL[136].x + handValue;//no.136 is a length 11 point		 base11 -= newValue;	  double base95 = base9 + 0.5;	  double base105 = base11 - 0.5;	  handValue = newValue;// now the actual hand value gets changed	  for (int i = 134; i < 154; i++) // these points determine the hand	    {	      switch(i)		{		  case 134: case 135: case 139: case 140: case 142: