Scaling factors for acceleration, velocity, and position:

	A  = rev/s^2  * 8
	V  = rev/s  * 32212
	P  = rev * 2000		` absolute position
	D  = rev * 2000		` relative distance move
	G			` start move
	TWAIT			` wait for end of trajectory

Input signals:

	IF UAI==1
		UEO = 1
		IF (UBI==1)
			` do first kind of move
		ENDIF
		IF (UCI==1)
			` do second kind of move
		ENDIF
		IF (UDI==1)
			` do third kind of move
		ENDIF
	ENDIF

To search for index pulse (once per revolution)

	V = 1000	` some slow positive velocity
	D = 2000	` one revolution is most we should have to turn
	G
	WHILE Bt	` while our trajectory is running
		IF Bi	` limit triggered?
		   O=0	` set origin to zero (or some other constant)
		   S	` stop
		ENDIF
	LOOP