The robot control program involved the transportation of the blank parts from the loader to the CNC mill. After the part was machined with the desired game pattern, the robot unloaded the part from the mill and loaded the transport cart at the first station. The robot then waited for another order to be placed. The program_comments program includes a commented version of the control program loaded into the robot controller. The robot_code.c program contains the code required to connect with the robot controller via serial port and the ‘workcell’ database.