/*
 * Manual's example
 *
 * Interresting to see running
 */

#include <stdio.h>
#include "../h/rtc.h"
#include "../h/umac.h"

int     enough = NO;

main()
{
	extern int terminate;
	int dummy(), soft();
	int c;

	for (; ; ) {
		stepmode();
		control(dummy, soft);
		printf("enough ?");
		QUERY(c);
		if (c == 'y') {
			enough = YES;
			break;
		}
	}
	release("all right");
}


dummy()
{
}


soft()
{
	extern struct chg chg;
	extern struct how how;
	register int i;

	if (enough) {
		terminate = YES;
		return;
	}
	chg.a_motion.set = POS;
	for (i = 0; i < NJOINTS; ++i) {
		chg.a_motion.vala[i] = how.pos[i];
	}
}
