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Between Heaven & Hell 2
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rccl198
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1987-03-02
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123 lines
#include "../h/rccl.h"
#include "../h/rtc.h"
#include "../h/hand.h"
#include "../h/umac.h"
extern struct how how;
extern struct chg chg;
int sensor;
pumatask()
{
TRSF_PTR z, k1, k2, finf, abov;
TRSF_PTR b1, b2, b3, b4, b5, over, fing, getit, flip;
POS_PTR q1, q2, got;
POS_PTR p1, p2, p3, p4, p5, pp1, pp2, pp3, pp4, pp5, get;
int touchfn();
int fingfn();
int q;
finf = newtrans("FINK",fingfn);
rot(finf, zunit, -90.);
fing = gentr_rot("FINS", 0., 0., 0., zunit, -90.);
z = gentr_rot("Z", 0., 0., 864., zunit, 0.);
k1 = gentr_rot("K1", 600. ,-300., 450., yunit, 180.);
k2 = gentr_rot("K2", 600. , 200., 450., yunit, 180.);
abov = gentr_rot("OVER", 600., 0., 600., yunit, 180.);
b1 = gentr_trsl("B1", 600. ,-200., 300.);
b2 = gentr_trsl("B2", 600. ,-100., 300.);
b3 = gentr_trsl("B3", 600. , 000., 300.);
b4 = gentr_trsl("B4", 600. , 100., 300.);
b5 = gentr_trsl("B5", 600. , 200., 300.);
over = gentr_rot("OVER", 0., 0., 100., yunit, 180.);
flip = gentr_rot("FLIP", 0., 0., 0., yunit, 180.);
getit = gentr_rot("GETIT", 600. , 0., 600., yunit, 180.);
q1 = makeposition("Q1" , z, t6, fing, EQ, k1, TL, fing);
q2 = makeposition("Q2" , z, t6, finf, EQ, k2, TL, finf);
got = makeposition("GOT", z, t6, EQ, abov, TL, t6);
p1 = makeposition("P1" , z, t6, fing, EQ, b1, over,TL , fing);
p2 = makeposition("P2" , z, t6, fing, EQ, b2, over,TL , fing);
p3 = makeposition("P3" , z, t6, fing, EQ, b3, over,TL , fing);
p4 = makeposition("P4" , z, t6, fing, EQ, b4, over,TL , fing);
p5 = makeposition("P5" , z, t6, fing, EQ, b5, over,TL , fing);
pp1 = makeposition("PP1" , z, t6, fing, EQ, b1, flip, TL , fing);
pp2 = makeposition("PP2" , z, t6, fing, EQ, b2, flip, TL , fing);
pp3 = makeposition("PP3" , z, t6, fing, EQ, b3, flip, TL , fing);
pp4 = makeposition("PP4" , z, t6, fing, EQ, b4, flip, TL , fing);
pp5 = makeposition("PP5" , z, t6, fing, EQ, b5, flip, TL , fing);
get = makeposition("GET", z, t6, EQ, getit, TL, t6);
movejnts(get, 400, 1500);
waitfor(completed);
OPEN;
printf("put the sensor in the jaws ");
QUERY(q);
CLOSE;
printf("go ahead ");
QUERY(q);
if (q == 'n') {
movejnts(park, 400, 2500);
return;
}
sensor = adcopen(7);
for (; ; ) {
movecart(q1, 400, 1500);
movecart(q2, 400, 10000);
waitfor(completed);
QUERY(q); if (q == 'n') break;
movecart(got, 400, 1500);
}
movejnts(get, 400, 1500);
printf("type 'y' for poking");
QUERY(q);
if (q == 'n') {
movejnts(park, 400, 2500);
waitfor(completed);
OPEN;
return;
}
for (; ; ) {
movejnts(p1, 60, 1500);
evalfn(touchfn);
movejnts(pp1, 60, 1500);
movejnts(p2, 60, 1500);
evalfn(touchfn);
movejnts(pp2, 60, 1500);
movejnts(p3, 60, 1500);
evalfn(touchfn);
movejnts(pp3, 60, 1500);
movejnts(p4, 60, 1500);
evalfn(touchfn);
movejnts(pp4, 60, 1500);
movejnts(p5, 60, 1500);
evalfn(touchfn);
movejnts(pp5, 60, 1500);
movecart(get, 60, 1500);
printf("more ? ");
QUERY(q); if (q == 'n') break;
}
movejnts(park, 400, 1500);
waitfor(completed);
OPEN;
}
touchfn()
{
nextmove = how.adcr[sensor] > 1;
}
fingfn(t)
TRSF_PTR t;
{
t->p.z += (how.adcr[sensor] * .01 - 3.) / 3.;
}