#include "../h/rccl.h"

pumatask()
{
	TRSF_PTR z, e , b1, b2, pa, conv1, conv2;
	POS_PTR  p0, p1, p2;
	int conv1fn(), conv2fn();
	int i, j;

	conv1 = newtrans("CONV1",conv1fn);
	conv2 = newtrans("CONV2",conv2fn);
	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_rot("B1", 600. , -300., 500., yunit, 180.);
	b2 = gentr_rot("B2", 600. , 500., 500., yunit, 180.);
	pa   = gentr_eul("PA"  , 30., 0., 50., 0., 45., 0.);

	p0 = makeposition("P0" , z, t6, e, EQ, b1, TL, e);
	p1 = makeposition("P1", z, t6, e, EQ, conv1, b1, TL, e);
	p2 = makeposition("P2", z, t6, e, EQ, conv2, b2, pa, TL, e);

	setvel(650, 50);
	setmod('c');
	move(p0);
	setime(300, 2600);
	move(p1);
	move(p2);
	setmod('j');
	move(park);
}

conv1fn(t)
TRSF_PTR t;
{
	t->p.y += 8.;
}


conv2fn(t)
TRSF_PTR t;
{
	t->p.x -= 8.;
}
