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Between Heaven & Hell 2
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rccl208
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1987-03-02
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680b
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34 lines
#include "../h/rccl.h"
#include "../h/rtc.h"
extern int rtime;
extern int completed;
extern struct how how;
pumatask()
{
TRSF_PTR z, b1, e;
POS_PTR p1;
int q, sensor;
e = gentr_trsl("E", 0., 0., 170.);
z = gentr_trsl("Z", 0., 0., 864.);
b1 = gentr_rot("B1", 600. , 300., 500., yunit, 180.);
b1->fn = hold;
p1 = makeposition("P1" , z, t6, e, EQ, b1, TL, e);
movejnts(p1, 400, 2200);
waitfor(completed);
sensor = adcopen(7);
while(how.adcr[sensor] < 10) {
printf("%f mm\n", b1->p.z);
b1->p.z -= 3.;
movejnts(p1, 60, 150);
waitfor(p1->end);
}
printf("The table is at %f mm\n", b1->p.z);
movejnts(park, 400, 2500);
}