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


pumatask()
{
	TRSF_PTR z, e , b, perp0, perp, roty;
	POS_PTR  p0, pt;
	int perpfn();

	z = gentr_trsl("Z",  0.,  0., 864.);
	e = gentr_trsl("E" , 0. , 0. , 170.);
	b = gentr_trsl("B", 500. ,  300., 600.);
	roty = gentr_rot("ROTY", 0., 0., 0., yunit, 180.);
	perp0 = gentr_rot("PERP0", 0., 0., 300., xunit, 0.);
	perp = newtrans("PERP", perpfn);

	p0 = makeposition("P0", z, t6, e, perp0, EQ, b, roty, TL, e);
	pt = makeposition("PT", z, t6, e, perp0, EQ, b, perp, roty, TL, e);

	setvel(400, 100);
	setmod('c');
	setime(300, 0);
	move(p0);
	setime(200, 4000);
	move(pt);
	setmod('j');
	move(park);
}

perpfn(t)
TRSF_PTR t;
{
	real rpm = .20;

	Rot(t, xunit, rpm * goalpos->scal * 360.);
}
