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

pumatask()
{
	TRSF_PTR z, e, tg, rotmx, rotmy, rotpx;
	POS_PTR pg1, pg2, pg3, pg4;
	int fast, slow, tran;

	e = gentr_rot("E", 0., 0., 100., zunit, 0.);
	z = gentr_rot("Z", 0., 0., 864., zunit, -90.);
	tg = gentr_rot("TG", 500., 130., 600., yunit, 180.);
	rotmx = rotm(rot(newtrans("ROTMX", const), xunit, -90.), zunit, -90.);
	rotmy = rot(newtrans("ROTMY", const), yunit, -90.);
	rotpx = rotm(rot(newtrans("ROTPX", const), xunit,  90.), zunit, 90.);

	pg1 = makeposition("PG1", z, t6 ,e ,EQ, tg, TL, e);
	pg2 = makeposition("PG2", z, t6, e, EQ, tg, rotmx, TL, e);
	pg3 = makeposition("PG3", z, t6, e, EQ, tg, rotmy, TL, e);
	pg4 = makeposition("PG4", z, t6, e, EQ, tg, rotpx, TL, e);

	slow = 1000;
	tran = 200;

	movejnts(pg1, tran, slow);
	moveconf(pg2, tran, slow,"f");
	stop(0);
	movecart(pg3, tran, slow);
	stop(0);
	movecart(pg4, tran, slow);
	stop(0);
	movecart(pg3, tran, slow);
	stop(0);
	movecart(pg2, tran, slow);
	stop(0);
	moveconf(pg1, tran, slow, "n");

	moveconf(park, tran, slow, "lun");
}
