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


pumatask()
{
	TRSF_PTR z, e , b1, conv;
	POS_PTR  p0, p1;
	int convfn();
	int q;
	double iy;

	conv = newtrans("CONV",convfn);
	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. , 128., 800., yunit, 180.);

	b1->fn = hold;
	p0 = makeposition("P1" , z, t6, e, EQ, b1, TL, e);
	p1 = makeposition("P1" , z, t6, e, EQ, conv, b1, TL, e);

	setmod('c');
	setvel(300, 100);
	move(p1);
	for (; ; ) {
		move(p1);
		waitfor(completed);
		if (p1->end == LIMIT) {
			printf("limit reached\n");
		}
		printf("more "); QUERY(q); if (q == 'n') break;
		printf("enter Z increment ");
		scanf("%f", &iy);
		b1->p.z += iy;
	}
	setmod('j');
	move(park);
}

convfn(t)
TRSF_PTR t;
{
	double time;

	time = rtime / 20000.;
	t->p.y = 400. * cos(time * PIT2);
}
