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Between Heaven & Hell 2
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rccl206
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1987-03-02
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55 lines
#include "../h/rccl.h"
pumatask()
{
TRSF_PTR z, e , b1, s1, s2, s3, conv1, conv2;
POS_PTR p0;
POS_PTR p1[4], p2[4];
int convfn();
int i, j;
conv1 = newtrans("CONV1",convfn);
conv2 = newtrans("CONV2",convfn);
z = gentr_rot("Z", 0., 0., 864., &zun, 0.); /* at the base */
e = gentr_eul("E" , 0. , 0. , 170. , 0. , 0., 0.);/* finger tips */
b1 = gentr_rot("B1", 600. , -400., 500., yunit, 180.);
s1 = gentr_trsl("S1", 0., 0., 80.);
s2 = gentr_trsl("S2", 80., 0., 80.);
s3 = gentr_trsl("S3", 80., 0., 0.);
p0 = makeposition("P0" , z, t6, e, EQ, b1, TL, e);
p1[0] = makeposition("P10" , z, t6, e, EQ, conv1, b1, TL, e);
p1[1] = makeposition("P11" , z, t6, e, EQ, conv1, b1, s1, TL, e);
p1[2] = makeposition("P12" , z, t6, e, EQ, conv1, b1, s2, TL, e);
p1[3] = makeposition("P13" , z, t6, e, EQ, conv1, b1, s3, TL, e);
p2[0] = makeposition("P20" , z, t6, e, EQ, conv2, b1, TL, e);
p2[1] = makeposition("P21" , z, t6, e, EQ, conv2, b1, s1, TL, e);
p2[2] = makeposition("P22" , z, t6, e, EQ, conv2, b1, s2, TL, e);
p2[3] = makeposition("P23" , z, t6, e, EQ, conv2, b1, s3, TL, e);
movejnts(p0, 100, 1500);
rtime = 0;
for (j = 0; j < 6; ++j) {
for (i = 0; i < 4; ++i) {
movecart(p1[i], 100, 300);
}
}
movejnts(p0, 100, 1500);
waitfor(completed);
rtime = 0;
for (j = 0; j < 6; ++j) {
for (i = 0; i < 4; ++i) {
movejnts(p2[i], 100, 300);
}
}
stop(0);
movejnts(park, 100, 1500);
}
convfn(t)
TRSF_PTR t;
{
t->p.y = .08 * rtime;
}