task autonomous()
{
// .....................................................................................
// Insert user code here.
// .....................................................................................
while(true)
{
if(SensorValue[leftBackBumper] == 1)
{
currentX = 12;
currentY= 18;
goTo(24,48);
pickup();
goTo(12, 18);
break;
}
else if (SensorValue[rightBackBumper] == 1)
{
currentX = 36;
currentY= 18;
goTo(24,48);
pickup();
goTo(36, 18);
break;
}
}
}
_WCRTLINK extern void _makepath( char *path, const char *volume,
const char *dir, const char *fname, const char *ext )
{
char first_pc = NULLCHAR;
if( volume != NULL ) {
if( *volume != NULLCHAR ) {
do {
*path++ = *volume++;
} while( *volume != NULLCHAR );
if( path[-1] != DRV_SEP ) {
*path++ = DRV_SEP;
}
}
}
*path = NULLCHAR;
if( dir != NULL ) {
if( *dir != NULLCHAR ) {
do {
*path++ = pickup( *dir++, &first_pc );
} while( *dir != NULLCHAR );
/* if no path separator was specified then pick a default */
if( first_pc == NULLCHAR )
first_pc = DIR_SEP;
/* if dir did not end in path sep then put in a provisional one */
if( path[-1] == first_pc ) {
path--;
} else {
*path = first_pc;
}
}
}
/* if no path separator was specified thus far then pick a default */
if( first_pc == NULLCHAR )
first_pc = DIR_SEP;
if( fname != NULL ) {
if( ( pickup( *fname, &first_pc ) != first_pc ) && ( *path == first_pc ) )
path++;
while( *fname != NULLCHAR ) {
*path++ = pickup( *fname++, &first_pc );
}
} else {
if( *path == first_pc ) {
path++;
}
}
if( ext != NULL ) {
if( *ext != NULLCHAR ) {
if( *ext != EXT_SEP )
*path++ = EXT_SEP;
while( *ext != NULLCHAR ) {
*path++ = *ext++;
}
}
}
*path = NULLCHAR;
}
bool Level15::ccTouchBegan(cocos2d::CCTouch *touch, cocos2d::CCEvent *event)
{
CCPoint touchLocation = touch->getLocationInView();
touchLocation = CCDirector::sharedDirector()->convertToGL(touchLocation);
if (spSun->boundingBox().containsPoint(touchLocation)) {
spSun->stopAllActions();
SimpleAudioEngine::sharedEngine()->stopAllEffects();
SimpleAudioEngine::sharedEngine()->playEffect("sun.wav");
spSun->runAction(CCRotateBy::create(1.0f, 360.f));
return false;
}
if (spBucket->boundingBox().containsPoint(touchLocation)) {
spBucket->stopAllActions();
// spFeather->runAction(CCRotateBy::create(1.0f, 360.f));
// this->unscheduleAllSelectors();
// pickup();
// this->setTouchEnabled(false);
SimpleAudioEngine::sharedEngine()->stopAllEffects();
SimpleAudioEngine::sharedEngine()->playEffect("bucket.wav");
return false;
}
if (spRock->boundingBox().containsPoint(touchLocation)) {
spRock->stopAllActions();
spRock->setPosition(ccp(getXForLession1(410), G_SHEIGHT/2));
SimpleAudioEngine::sharedEngine()->stopAllEffects();
SimpleAudioEngine::sharedEngine()->playEffect("rock.wav");
spRockShadow->setVisible(false);
spRock->runAction(CCSequence::create(CCJumpBy::create(1.f, ccp(0, 0), 150*G_SCALEY, 1),CCCallFunc::create(this, callfunc_selector(Level15::showShadow)), NULL));
return false;
}
if (star1->boundingBox().containsPoint(touchLocation)){
shadowStar1->setVisible(false);
this->setTouchEnabled(false);
bStar1 = true;
pickup(star1);
return false;
}
if (star2->boundingBox().containsPoint(touchLocation)) {
shadowStar2->setVisible(false);
this->setTouchEnabled(false);
bStar2 = true;
pickup(star2);
return false;
}
if (spHitBox->boundingBox().containsPoint(touchLocation)) {
SimpleAudioEngine::sharedEngine()->stopAllEffects();
SimpleAudioEngine::sharedEngine()->playEffect("water.wav");
}
return false;
}
void
World::createPickup( sf::Vector2f position, Pickup::Type type ) {
std::unique_ptr<Pickup> pickup( new Pickup( type, mTextures ) );
pickup->setPosition( position );
pickup->SetVelocity( 0.0f, 1.0f );
mSceneLayers[UpperAir]->AttachChild( std::move( pickup ) );
}
bool pickup_callback(std_srvs::Empty::Request &request,
std_srvs::Empty::Response &response) {
if (pickup()) {
return false;
}
return true;
}
//-------------------------------------------------------****MAIN FUNCTION ****------------------------------------------------
int main()
{
init_devices();
lcd_set_4bit();
lcd_init();
lcd_cursor(1,1);
lcd_string("START");
_delay_ms(rand());
//--*** GRIPPER INITAL POSITION ***---
S2 = 0x73;
cli();
timer0_init();
TIMSK |= (1 << OCIE0) | (1 << TOIE0); // timer 0 compare match and overflow interrupt enable
sei();
pickup();
while(1)
{
if( bot_id_set == 1)
{
init_devices2();
init_grid();
dispersion();
localize();
region_division();
break;
}
}
}
void World::CreatePickup( sf::Vector2f position, Pickup::Type type )
{
b2Body * body = pImpl->CreateBody( b2_dynamicBody, position, sf::Vector2f( 1.f, 1.f ) );
std::unique_ptr<Pickup> pickup( new Pickup( type, pImpl->mTextures, body ) );
pickup->setPosition( position );
pickup->SetVelocity( 0.f, 1.f );
pImpl->mSceneLayers[ Impl::Layer::UpperAir ]->AttachChild( std::move( pickup ) );
}
void Aircraft::createPickup(SceneNode& node, const TextureHolder& textures) const
{
auto type = static_cast<Pickup::Type>(randomInt(Pickup::TypeCount));
std::unique_ptr<Pickup> pickup(new Pickup(type, textures));
pickup->setPosition(getWorldPosition());
pickup->setVelocity(0.f, 1.f);
node.attachChild(std::move(pickup));
}
void callback(const tum_os::Clusters::ConstPtr& c)
{
clusters_ = c->clusters;
arm_navigation_msgs::GetPlanningScene
createGraspableObject(clusters_[0]);
pickup();
};
jboolean nhjni_run() {
windowprocs = _nhjni_proxy_procs;
_nhjni_proxy_init();
int fd = create_levelfile(0, (char *)0);
if (fd < 0) {
raw_print("Cannot create lock file");
} else {
hackpid = 1;
write(fd, (genericptr_t) &hackpid, sizeof(hackpid));
close(fd);
}
iflags.news = TRUE;
int argc=1;
char *argv[]={"nethack",NULL};
initoptions();
init_nhwindows(&argc,argv);
dlb_init();
vision_init();
display_gamewindows();
if ((fd = restore_saved_game()) >= 0) {
const char *fq_save = fqname(SAVEF, SAVEPREFIX, 1);
pline("Restoring save file...");
mark_synch(); /* flush output */
if(!dorecover(fd))
goto not_recovered;
check_special_room(FALSE);
//wd_message();
if (discover || wizard) {
if(yn("Do you want to keep the save file?") == 'n')
(void) delete_savefile();
else {
(void) chmod(fq_save,FCMASK); /* back to readable */
compress(fq_save);
}
}
flags.move = 0;
} else {
not_recovered:
player_selection();
newgame();
flags.move = 0;
set_wear();
(void) pickup(1);
}
moveloop();
return JNI_TRUE;
}
void *philosopher(void *v)
{
Phil_struct *ps;
long st;
long t;
ps = (Phil_struct *) v;
while(1) {
/* First the philosopher thinks for a random number of seconds */
st = (random()%ps->ms) + 1;
printf("%3d Philosopher %d thinking for %d second%s\n",
time(0)-ps->t0, ps->id, st, (st == 1) ? "" : "s");
fflush(stdout);
sleep(st);
/* Now, the philosopher wakes up and wants to eat. He calls pickup
to pick up the chopsticks */
printf("%3d Philosopher %d no longer thinking -- calling pickup()\n",
time(0)-ps->t0, ps->id);
fflush(stdout);
t = time(0);
pthread_mutex_lock(ps->blockmon);
ps->blockstarting[ps->id] = t;
pthread_mutex_unlock(ps->blockmon);
pickup(ps);
pthread_mutex_lock(ps->blockmon);
ps->blocktime[ps->id] += (time(0) - t);
ps->blockstarting[ps->id] = -1;
pthread_mutex_unlock(ps->blockmon);
/* When pickup returns, the philosopher can eat for a random number of
seconds */
st = (random()%ps->ms) + 1;
printf("%3d Philosopher %d eating for %d second%s\n",
time(0)-ps->t0, ps->id, st, (st == 1) ? "" : "s");
fflush(stdout);
sleep(st);
/* Finally, the philosopher is done eating, and calls putdown to
put down the chopsticks */
printf("%3d Philosopher %d no longer eating -- calling putdown()\n",
time(0)-ps->t0, ps->id);
fflush(stdout);
putdown(ps);
}
}
int main()
{
int i=0;
init_devices();
lcd_set_4bit();
lcd_init();
color_sensor_scaling();
/*
//variable 'i' scales at 13,14 for sharp sensor for velocitty 240 240
//u turn 1600ms at 200,200 velocity
velocity(200,200);
left();
_delay_ms(1600);
stop();
while(1);
threshold=6000;
right();
while(ADC_Conversion(11)<65)
{
i++;
lcd_print(1,11,i,3);
}
stop();
lcd_print(2,11,scan(),1);
stop();
while(1);
*/
setIndicatorAndColor();
threshold=6000;
ct = 0; adj = 2;
//lcd("Begin");
while (sorted<total)
{
canDrop();
//buzzer_on();
//_delay_ms(500);
//buzzer_off();
if (visitedCount == 3)
predict();
if (sorted == total)
break;
pickup();
traverseToSort(ct, ct % 2 + 4);
sortCheck();
}
for (i = 0; i<4; i++);
//..printf("%d %d\n", term[i][0], term[i][1]);
//..printf("Sort 0=%dSort 1=%d\nArm 0=%dArm 1=%d\n", sort[0], sort[1], arm[0], arm[1]);
//..printf("Cost=%d\nSORTED!!!!!\n", cost + 7);
//getch();
return 0;
}
void pick_and_place() {
//Sets the kinects tilt angle
set_kinect_ptu("kurtana_pitch_joint", 0.85);
if (move_arm_out_of_the_way()) {
if (move_arm_out_of_the_way()) {
return;
}
}
if (pickup()) {
if (pickup()) {
//don't place if pickup failed
return;
}
}
if (place()) {
if (place()) {
return;
}
place();
}
if (move_arm_out_of_the_way()) {
if (move_arm_out_of_the_way()) {
return;
}
}
return;
}
void checkitems(void) {
if (edit::mode()) return;
loopv(ents) {
entity &e = ents[i];
if (e.type==NOTUSED) continue;
if (!ents[i].spawned && e.type!=TELEPORT && e.type!=JUMPPAD) continue;
const vec3f v(float(e.x), float(e.y), player1->eyeheight);
const float dist = distance(player1->o, v);
if (dist<(e.type==TELEPORT ? 4 : 2.5))
pickup(i, player1);
}
}
bool PickupItem::collide(GameObject *otherObject)
{
if(mIsVisible && !isGhost() && otherObject->getObjectTypeMask() & ShipType)
{
if(pickup((Ship *) otherObject))
{
setMaskBits(PickupMask);
mRepopTimer.reset(getRepopDelay());
mIsVisible = false;
}
}
return false;
}
void *philosophy(void *arg)
{
int me = (int)arg;
while(1)
{
printf("%d is thinking...\n", me);
usleep(rand()%10);
pickup(me);
printf("%d is eating...\n", me);
usleep(rand()%10);
drop(me);
}
}
void Level15::onTimer()
{
nCnt++;
if(bStar1 && bStar2){
lbSecond->runAction(CCSequence::create(CCDelayTime::create(1.0f),CCCallFunc::create(this, callfunc_selector(Level15::playEffect2)), CCFadeIn::create(1.0f), NULL));
// this->setTouchEnabled(false);
unscheduleAllSelectors();
return;
}
if(!g_bAuto) return;
if (!bStar1 && nCnt >= 100) {
nCnt = 0;
shadowStar1->setVisible(false);
bStar1 = true;
pickup(star1);
}
if (!bStar2 && nCnt >= 100) {
nCnt = 0;
bStar2 = true;
shadowStar2->setVisible(false);
pickup(star2);
}
}
static void *philosopher(void *_who)
{
unsigned int *who = (unsigned int *)_who;
/* For simplicity, all philosophers eat for the same amount of time
and think for a time that is simply related to their position at
the table. The parameter who identifies the philosopher: 0,1,2,.. */
for (;;) {
pth_sleep((*who) + 1);
pickup((*who));
pth_sleep(1);
putdown((*who));
}
return NULL;
}
bool Level19::ccTouchBegan(cocos2d::CCTouch *touch, cocos2d::CCEvent *event)
{
CCPoint touchLocation = touch->getLocationInView();
touchLocation = CCDirector::sharedDirector()->convertToGL(touchLocation);
for (int i = 0; i < 5; i++) {
if(spThing[i]->boundingBox().containsPoint(touchLocation)){
// pickup(spThing[i]);
this->setTouchEnabled(false);
shadowThing[i]->setScale(1.5*G_SCALEY);
pickup(spThing[i], i);
return true;
}
}
return false;
}
void float_down()
{
trap_t *trap;
message("You float gently to the ground.");
trap = trap_at(you.ux, you.uy);
if (trap)
switch(get_trap_type(trap->trap_info)) {
case PIERC:
break;
case TRAPDOOR:
if (!xdnstair || you.ustuck) break;
/* fall into next case */
default:
do_trap(trap);
}
pickup(true);
}
main()
{
int ch,a,n,i;
printf("\nDINING PHILOSOPHERS PROBLEM :");
for(i=0;i<5;i++)
{
state[i]='t';
self[i]='s';
spoon[i]='s';
}
printf("\nInitial state of each philosopher :");
printf("\nPHIL NO:\tTHINK\tSTATUS\t\tSPOON");
for(i=0;i<5;i++)
printf("\n%d\t\t%c\t\t%c\t\t%c",i+1,state[i],self[i],spoon[i]);
printf("\n1.EXIT\n2.HUNGRY\n3.THINKING");
printf("\nEnter your choice :");
scanf("%d",&ch);
while(ch!=1)
{
switch(ch)
{
case 1:
return 0;
case 2:
printf("\nEnter which philosopher is hungry :");
scanf("%d",&n);
pickup(n-1);
break;
case 3:
printf("\nEnter which philosopher is thinking :");
scanf("%d",&n);
putdown(n-1);
break;
}
printf("State of each philosopher :");
printf("\nPHIL NO:\tTHINK/EAT\tSTATUS\t\tSPOON");
for(i=0;i<5;i++)
printf("\n%d\t\t%c\t\t%c\t\t%c",i+1,state[i],self[i],spoon[i]);
printf("\n1.EXIT\n2.HUNGRY\n3.THINKING");
printf("\nEnter your choice :");
scanf("%d",&ch);
}
}
void smoker(int * id){//i am using one big fucntion for all three smokers
//you could have used seperate functions
printf("smoker %d here\n",*id);
while (1){
/*
pthread_mutex_lock(&table);
switch(*id){
case 0:
while(t != 1){
pthread_cond_wait(&self, &table);
}
printf("smoker tobacco smoking\n");
t=0;
agnt=1;
break;
case 1:
while(m != 1){
pthread_cond_wait(&self, &table);
}
m=0;
agnt=1;
printf("smoker matches smoking\n");
break;
case 2:
while(p != 1){
pthread_cond_wait(&self, &table);
}
p=0;
agnt=1;
printf("smoker paper smoking\n");
break;
}
pthread_cond_broadcast(&self);
pthread_mutex_unlock(&table);
*/
pickup(*id);
sleep(1);//smoke
}
exit(0);
}
Game::Game(string path, Highscores * highscores) : Screen(path)
{
Game::highscores = highscores;
Game::keyboard = keyboard;
Map::init("Maps/map1.mta");
msurf_MapSurface = Map::createMapSurface("map.png");
msurf_Screen = 0;
mui_TurnCounter = 0;
player = shared_ptr<Player>(new Player("player_walk1.png", 1, 18, 32, true));
m_Entities.push_front(player);
for (auto i = 0; i < 1; i++)
{
shared_ptr<Pickup> pickup(new Pickup(32, true, TOME));
shared_ptr<Enemy> enemy(new Enemy("enemy.png", 32, true));
m_Entities.push_front(pickup);
m_Entities.push_front(enemy);
m_Enemies.push_back(enemy);
}
}
void block_detect()
{
stop();
ssss =SREG;
cli();
timer0_init();
TIMSK |= (1 << OCIE0) | (1 << TOIE0); // timer 0 compare match and overflow interrupt enable
sei();
SREG = ssss;
drop_down();
_delay_ms(2000);
pickup();
//drop_down();
ssss =SREG;
cli();
timer2_init();
sei();
ssss = SREG;
forward();
}
int Natives::CreateDynamicPickup(int modelid, int type, float x, float y, float z, int worldid, int interiorid, int playerid, float streamdistance)
{
if (core->getData()->getMaxItems(STREAMER_TYPE_PICKUP) == core->getData()->pickups.size())
{
return 0;
}
int pickupID = Item::Pickup::identifier.get();
Item::SharedPickup pickup(new Item::Pickup);
pickup->pickupID = pickupID;
pickup->worldID = 0;
pickup->modelID = modelid;
pickup->type = type;
pickup->position = Eigen::Vector3f(x, y, z);
Utility::addToContainer(pickup->worlds, worldid);
Utility::addToContainer(pickup->interiors, interiorid);
Utility::addToContainer(pickup->players, playerid);
pickup->streamDistance = streamdistance * streamdistance;
core->getGrid()->addPickup(pickup);
core->getData()->pickups.insert(std::make_pair(pickupID, pickup));
return pickupID;
}
int main()
{
int i;
setIndicatorAndColor();
ct=0;adj=2;
while(sorted<total)
{
canDrop();
if(visitedCount==3)
predict();
if(sorted==total)
break;
pickup();
traverseToSort(ct,ct%2+4);
sortCheck();
}
for(i=0;i<4;i++)
printf("%d %d\n",term[i][0],term[i][1]);
printf("Sort 0=%dSort 1=%d\nArm 0=%dArm 1=%d\n",sort[0],sort[1],arm[0],arm[1]);
printf("Cost=%d\nSORTED!!!!!\n",cost+7);
//getch();
return 0;
}
static void teleds(Short nux, Short nuy)
{
if (Punished) unplacebc();
unsee();
you.utrap = 0;
you.ustuck = 0;
you.ux = nux;
you.uy = nuy;
setsee();
if (Punished) placebc(true);
if (you.uswallow) {
you.uswallowedtime = you.uswallow = 0;
// refresh(); //docrt();
}
move_visible_window(you.ux, you.uy, true);
refresh();
nomul(0);
if (get_cell_type(floor_info[nux][nuy]) == POOL && !Levitation)
drown();
inshop();
pickup(true);
if (!Blind) read_engr_at(you.ux,you.uy);
}
cell AMX_NATIVE_CALL Natives::CreateDynamicPickup(AMX *amx, cell *params)
{
CHECK_PARAMS(9, "CreateDynamicPickup");
if (core->getData()->getGlobalMaxItems(STREAMER_TYPE_PICKUP) == core->getData()->pickups.size())
{
return 0;
}
int pickupID = Item::Pickup::identifier.get();
Item::SharedPickup pickup(new Item::Pickup);
pickup->amx = amx;
pickup->pickupID = pickupID;
pickup->originalStreamDistance = -1.0f;
pickup->modelID = static_cast<int>(params[1]);
pickup->type = static_cast<int>(params[2]);
pickup->position = Eigen::Vector3f(amx_ctof(params[3]), amx_ctof(params[4]), amx_ctof(params[5]));
Utility::addToContainer(pickup->worlds, static_cast<int>(params[6]));
Utility::addToContainer(pickup->interiors, static_cast<int>(params[7]));
Utility::addToContainer(pickup->players, static_cast<int>(params[8]));
pickup->streamDistance = amx_ctof(params[9]) < STREAMER_STATIC_DISTANCE_CUTOFF ? amx_ctof(params[9]) : amx_ctof(params[9]) * amx_ctof(params[9]);
core->getGrid()->addPickup(pickup);
core->getData()->pickups.insert(std::make_pair(pickupID, pickup));
return static_cast<cell>(pickupID);
}
void move_parcels(struct planning_state* state, struct goal* goal) {
int truck_index = 0;
int parcel;
for (parcel = 0; parcel < NUMBER_OF_ENTITIES; parcel++) {
int to = goal->pos[parcel];
if (to == DONT_CARE) {
continue;
}
if (state->pos[parcel] != to) {
int truck = state->trucks[truck_index];
int from = state->pos[parcel];
route(state, truck, from);
pickup(state, parcel, truck, from);
route(state, truck, to);
dropoff(state, parcel, truck, to);
truck_index++;
if (truck_index >= state->number_of_trucks) {
truck_index = 0;
}
}
}
}
void receive_clicked_point_CB(
const geometry_msgs::PointStamped::ConstPtr& msg) {
ROS_INFO(
"Point received: x: %f, y: %f, z: %f ", msg->point.x, msg->point.y, msg->point.z);
/*
//Throw away old received clicked points
if ((ros::Time::now().sec - msg->header.stamp.sec)
> message_receive_dead_time_in_sec) {
return;
}
*/
set_pickup_point(*msg);
clicked = true;
ROS_INFO("Clicked!!!!");
determine_normal_of_point_cloud_at_clicked_point();
pickup();
}
