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Between Heaven & Hell 2
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rccl216
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1987-03-02
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913b
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39 lines
#include "../h/rccl.h"
#include "../h/umac.h"
pumatask()
{
TRSF_PTR z, e , b1, rt;
POS_PTR p1, p2;
int q;
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_pao("B1", -128. , 800., 900., 0., 0., -1., 0., 1., 0.);
rt = rot(newtrans("RT", const), xunit, 90.);
p1 = makeposition("P1" , z, t6, e, EQ, b1, TL, e);
p2 = makeposition("P2" , z, t6, e, rt, EQ, b1, TL, e);
movejnts(p1, 300, 2000);
for (; ; ) {
QUERY(q); if (q == 'n') break;
/*
* arm is lun, go luf
*/
moveconf(p2, 300, 1000, "f");
QUERY(q); if (q == 'n') break;
/*
* arm is luf, go ldn
*/
moveconf(p2, 300, 2000, "dn");
QUERY(q); if (q == 'n') break;
/*
* arm is ldn, go lun
*/
moveconf(p1, 300, 2000, "u");
}
moveconf(park, 300, 2000, "lun");
printf("END\n");
}