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void RotateMotorRURD(byte output, char pwr, long angle)
    {
      long l1, l2, l3;
      char power = sign(angle);
      angle = abs(angle);
      power *= pwr;

      l1 = angle*0.20;
      l2 = angle*0.60;
      l3 = angle-(l1+l2);
      // we want to rotate a total of <angle> degrees
      // we'll rampup from 0 power to specified power through 20% of the angle
      // then run at the specified power for 70% of the angle
      SetOutput(output, OutputModeField, OUT_MODE_MOTORON|OUT_MODE_BRAKE,
                        TachoLimitField, l1,
                        PowerField, power,
                        RegModeField, OUT_REGMODE_IDLE,
                        RunStateField, OUT_RUNSTATE_RAMPUP,
                        UpdateFlagsField, UF_UPDATE_MODE|UF_UPDATE_SPEED|UF_UPDATE_TACHO_LIMIT);
                        
      Yield(); // give firmware a chance to process this request to update motor state
      
      // monitor runstate
      while(MotorRunState(output) <> OUT_RUNSTATE_IDLE)
        Yield();
      // as soon as it goes idle put the motor into the running state
      SetOutput(output, OutputModeField, OUT_MODE_MOTORON|OUT_MODE_BRAKE,
                        TachoLimitField, l2,
                        PowerField, power,
                        RegModeField, OUT_REGMODE_IDLE,
                        RunStateField, OUT_RUNSTATE_RUNNING,
                        UpdateFlagsField, UF_UPDATE_MODE|UF_UPDATE_SPEED|UF_UPDATE_TACHO_LIMIT);
      Yield(); // give firmware a chance to process this request to update motor state
      // monitor runstate
      while(MotorRunState(output) <> OUT_RUNSTATE_IDLE)
        Yield();
      // as soon as the runstate goes idle we rampdown to zero power
      SetOutput(output, OutputModeField, OUT_MODE_MOTORON|OUT_MODE_BRAKE,
                        TachoLimitField, l3,
                        PowerField, 0,
                        RegModeField, OUT_REGMODE_IDLE,
                        RunStateField, OUT_RUNSTATE_RAMPDOWN,
                        UpdateFlagsField, UF_UPDATE_MODE|UF_UPDATE_SPEED|UF_UPDATE_TACHO_LIMIT);
      Yield(); // give firmware a chance to process this request to update motor state
      
      while(MotorRunState(output) <> OUT_RUNSTATE_IDLE)
      Yield();

      SetOutput(output, OutputModeField, OUT_MODE_MOTORON+OUT_MODE_BRAKE+OUT_MODE_REGULATED,
                        TachoLimitField, 0,
                        PowerField, 0,
                        RegModeField, OUT_REGMODE_SPEED,
                        RunStateField, OUT_RUNSTATE_RUNNING,
                        UpdateFlagsField, UF_UPDATE_MODE|UF_UPDATE_SPEED|UF_UPDATE_TACHO_LIMIT);
      Yield(); // give firmware a chance to process this request to update motor state
    }





task main()
{
 InitGrab();
 
 RotateMotorRURD(OUT_B, 50, 30);
 Wait(10000);
 Off(OUT_B);