/*-=-=-=-=-=-=-=-=-=-=-=- RCCL/RCI Notice of Copyright -=-=-=-=-=-=-=-=-=-=-*
 *									    *
 *	Copyright (C) 1987, 1991 by John E. Lloyd.			    *
 *									    *
 *	Information on copyright permissions, as well as a complete	    *
 *	disclaimer of warranty, is given in the file COPYRIGHT.		    *
 *									    *
 *-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=*/


#define RCI_EXIT(c)	if ((c) < 0) printErrors(); rciClose(); exit(c);
#define WAITFOR(c)	while (!(c)) nap (0.10);
#define MOVE(x)		cb->movecode = (x); rciBlock(td); cb->compcode = 0;\
			while ((cb->compcode & (x))!=(x)) nap(0.10);
#define STOP()		cb->stop = 1; rciBlock(td); cb->compcode = 0;\
			while (!(cb->compcode & ALL_JOINTS)) nap(0.10);
#define ALL_JOINTS	((1<<numJoints)-1)
