/* --------------------------------------------------------------------- */
/* -                        FIRST.C                                    - */
/* --------------------------------------------------------------------- */
/* -    Some necessary includes...                                     - */
/* --------------------------------------------------------------------- */
#include </usr/include/sys/types.h>
#include <stdio.h>

/* --------------------------------------------------------------------- */
/* -    Global variables and structures...                             - */
/* --------------------------------------------------------------------- */
int result;
int x,y; 
float robot_x, robot_y, pix_per_inch = 24.0;
int origin_x=310, origin_y= 12;
char *string;

main()
{ 
   int fp, result;
   char req;
  
   	fp = ROBOT$INIT();
   	printf ("fp is  %d \n", fp);
     
   	ROBOT$STACK_DEMO();
   
	ROBOT$R1_MOVE (252.0, 4.0, 0.0, 3.0, -90.0, 0.0, 0.0);
   	ROBOT$R1_MOVE (252.0, 4.0,  10.0, 3.0, -90.0, 0.0, 0.0);
 
     	ROBOT$R1_MOVE (252.0, 4.0,  10.0, 3.0, -90.0, 0.0, 1.0);

	/*result = ROBOT$OPEN_GRIPPER(2.0);
   	printf ("result of open  %d \n", result);
	*/
   	ROBOT$R1_MOVE (252.0, 4.0, 0.0, 3.0, -90.0, 0.0, 0.0);
   	ROBOT$R1_MOVE (252.0, 4.0,  10.0, 3.0, -90.0, 0.0, 1.0);

   	ROBOT$HOME();

#ifdef ROGER
getchar();

   ROBOT$STACK_DEMO();
   result = ROBOT$SEND("@GOHOME 245");
   printf ("result of HOME  %d \n", result);
   fp = ROBOT$INIT();
   fp = ROBOT$OPEN();
   ROBOT$CLOSE_GRIPPER();
   result = ROBOT$CHECK_ERROR();
   printf ("type c/r \n");
   fp = ROBOT$INIT();
   getchar(); 
               
   ROBOT$MOVE (240.0, 0.0, -10.0, 6.0, -90.0, 0.0);
   ROBOT$MOVE (240.0, 0.0, -10.0, 0.5, -90.0, 0.0);
   ROBOT$OPEN_GRIPPER( 2.5);
   ROBOT$CLOSE_GRIPPER();
   ROBOT$HOME();
#endif
	       
} /* end main function */