home
***
CD-ROM
|
disk
|
FTP
|
other
***
search
/
Between Heaven & Hell 2
/
BetweenHeavenHell.cdr
/
500
/
471
/
rccl191
< prev
next >
Wrap
Text File
|
1987-03-02
|
1KB
|
60 lines
#include "../h/rccl.h"
#include "../h/rtc.h"
#include "../h/hand.h"
extern struct how how;
extern struct chg chg;
int sensor;
pumatask()
{
TRSF_PTR z, e, b, ab, un;
POS_PTR p1, p2, p3;
int i;
e = trsl(newtrans("E", const), 0., 0., 170.);
z = gentr_rot("Z", 0., 0., 864., zunit, 0.); /* at the base */
ab = gentr_trsl("AB", 0. , 0., -500.);
un = gentr_trsl("AB", 0. , 0., -30.);
b = gentr_rot("B1", 300. , 600., 300., yunit, 180.);
b->fn = varb;
p1 = makeposition("P1", z, t6, e, EQ, b, ab, TL, e);
p2 = makeposition("P2", z, t6, e, EQ ,b, TL, e);
p3 = makeposition("P3", z, t6, e, EQ, b, un, TL, e);
setvel(700, 700);
setmod('j');
move(p1);
if (!teach(b, p2)) {
setvel(700, 700);
setmod('j');
move(park);
return;
}
OPEN;
setvel(500, 500);
setmod('j');
move(p3);
move(park);
for (i = 0; i < 4; ++i) {
move(p3);
move(p2);
stop(300);
waitfor(completed);
stop(100);
CLOSE;
move(p3);
move(park);
move(p3);
move(p2);
stop(0);
waitfor(completed);
OPEN;
move(p3);
move(park);
}
}