An old robotic arm that I built 20yrs ago

This is a recent reconstruction of the schematic. The original plans and sketches were nowhere to be found. Plus that I took the liberty to improve a few things that I got wrong 20yrs ago. 

   This is pretty much what I found in my archives when searching for the source code. It looks like a clear experimentation phase since it's obviously not optimized. It also has a lot of repetition in it, but by the looks of it, it should still work. 

   About working... Some people might ask what it takes to restart this robotic arm today and if this code can still run on some machine. The answer is simple: I don't know. Maybe Pascal can still be installed on some machines in compatibility mode. Maybe there are some desktop units out there still having LPT ports. Maybe one can run this in a Windows98 virtual machine? I never tried usb to LPT cable adapters, but maybe they work. Anyway... here's the code: