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

extern FILE *fpi;

pumatask()
{
	TRSF_PTR z, e, conv, or, fl;
	POS_PTR  pf, pm;
	int convfn();

	conv = newtrans("CONV",convfn);
	e = gentr_trsl("E",  0.,  0., 170.);
	z = gentr_trsl("Z",  0.,  0., 864.);
	or = gentr_eul("OR", 600. , 128., 600.,  0., 0., 0.);
	fl = gentr_rot("FL", 0. , 0., 0., yunit, 180.);

	pf = makeposition("PF" , z, t6, e, EQ, or, fl, TL, e);
	pm = makeposition("PM" , z, t6, e, EQ, conv, or, fl, TL, e);


	movejnts(pf, 300, 1200);
	movecart(pm, 300, 20000);
	movejnts(park, 300, 1200);
}




convfn(t)
TRSF_PTR t;
{
	extern int rtime;
	double time;

	time = rtime / 1000.;
	t->p.x = 100. * sin(.5 * time * PIT2 + 1.);
	t->p.y = 100. * sin(.4 * time * PIT2 + 1.3);
	t->p.z = 100. * sin(.3 * time * PIT2 + 1.6);
}
