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Between Heaven & Hell 2
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rccl218
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1987-03-02
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1KB
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39 lines
#include "../h/rccl.h"
pumatask()
{
TRSF_PTR z, e, tg, rotmx, rotmy, rotpx;
POS_PTR pg1, pg2, pg3, pg4;
int fast, slow, tran;
e = gentr_rot("E", 0., 0., 100., zunit, 0.);
z = gentr_rot("Z", 0., 0., 864., zunit, -90.);
tg = gentr_rot("TG", 500., 130., 600., yunit, 180.);
rotmx = rotm(rot(newtrans("ROTMX", const), xunit, -90.), zunit, -90.);
rotmy = rot(newtrans("ROTMY", const), yunit, -90.);
rotpx = rotm(rot(newtrans("ROTPX", const), xunit, 90.), zunit, 90.);
pg1 = makeposition("PG1", z, t6 ,e ,EQ, tg, TL, e);
pg2 = makeposition("PG2", z, t6, e, EQ, tg, rotmx, TL, e);
pg3 = makeposition("PG3", z, t6, e, EQ, tg, rotmy, TL, e);
pg4 = makeposition("PG4", z, t6, e, EQ, tg, rotpx, TL, e);
slow = 1000;
tran = 200;
movejnts(pg1, tran, slow);
moveconf(pg2, tran, slow,"f");
stop(0);
movecart(pg3, tran, slow);
stop(0);
movecart(pg4, tran, slow);
stop(0);
movecart(pg3, tran, slow);
stop(0);
movecart(pg2, tran, slow);
stop(0);
moveconf(pg1, tran, slow, "n");
moveconf(park, tran, slow, "lun");
}