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Between Heaven & Hell 2
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BetweenHeavenHell.cdr
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rccl221
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1987-03-02
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923b
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50 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, b1, fing;
POS_PTR p1;
int fingfn();
int q;
fing = newtrans("FING",fingfn);
z = gentr_rot("Z", 0., 0., 864., zunit, 0.); /* at the base */
b1 = gentr_rot("B1", 600. , 300., 500., yunit, 180.);
b1->fn = hold;
p1 = makeposition("P1" , z, t6, fing, EQ, b1, TL, fing);
OPEN;
printf("hand the sensor to the beast\n");
printf("press return when ready : ");
getchar();
CLOSE;
printf("press return to start : ");
getchar();
sensor = adcopen(7);
movecart(p1, 400, 1500);
for (; ; ) {
movecart(p1, 200, 20000);
waitfor(completed);
QUERY(q); if (q == 'n') break;
}
movejnts(park, 400, 1500);
}
#define CV .01
fingfn(t)
TRSF_PTR t;
{
t->p.z = CV * how.adcr[sensor];
}