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Between Heaven & Hell 2
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BetweenHeavenHell.cdr
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rccl245
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1987-03-02
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1KB
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42 lines
#include "../h/rccl.h"
#include "../h/umac.h"
pumatask()
{
TRSF_PTR z, e , b1, b2, b3, b4;
POS_PTR p1, p2, p3, p4;
int q;
z = gentr_rot("Z", 0., 0., 864., zunit, 0.); /* at the base */
e = gentr_eul("E" , 0. , 0. , 170. , 0. , 0., 0.);/* finger tips */
b1 = gentr_pao("B1", 500. , 000., 600., 0., 0., -1., 0., 1., 0.);
b2 = gentr_pao("B2", 500. , 500., 600., 0., 0., -1., 0., 1., 0.);
b3 = gentr_pao("B3", 500. , 500., 700., 0., 0., -1., 0., 1., 0.);
b4 = gentr_pao("B4", 500. , 000., 700., 0., 0., -1., 0., 1., 0.);
p1 = makeposition("P1" , z, t6, e, EQ, b1, TL, e);
p2 = makeposition("P2" , z, t6, e, EQ, b2, TL, e);
p3 = makeposition("P3" , z, t6, e, EQ, b3, TL, e);
p4 = makeposition("P4" , z, t6, e, EQ, b4, TL, e);
setmod('j');
setvel(200, 100);
move(p1);
setvel(200, 50);
comply("fx", 0.);
for (; ; ) {
QUERY(q); if (q == 'n') break;
move(p1);
QUERY(q); if (q == 'n') break;
move(p2);
QUERY(q); if (q == 'n') break;
move(p3);
QUERY(q); if (q == 'n') break;
move(p4);
}
lock("fx");
movecart(park, 300, 2000);
printf("END\n");
}