A curve has equation y=atan(bx)+c, where a,b>0 and x is measured in radians. Two consecutive vertical asymptotes are x=3pi and x=9pi. The y-intercept is (0,-1) and the curve passes through (3pi/2,1). Find a,b,c, then sketch the curve for 0 <= x 6pi, labelling all asymptotes and finite endpoints.
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