/*
* List Speed of CD-ROM drive.
*/
static void list_speeds(const char *name, int fd)
{
#ifdef CDROM_SELECT_SPEED
int max_speed, curr_speed = 0, prev_speed;
select_speed(fd, 0);
max_speed = read_speed(name);
while (curr_speed < max_speed) {
prev_speed = curr_speed;
select_speed(fd, prev_speed + 1);
curr_speed = read_speed(name);
if (curr_speed > prev_speed)
printf("%d ", curr_speed);
else
curr_speed = prev_speed + 1;
}
printf("\n");
#else
warnx(_("CD-ROM select speed command not supported by this kernel"));
#endif
}
/* handle -x option */
static void set_device_speed(struct eject_control *ctl)
{
if (!ctl->x_option)
return;
if (ctl->x_arg == 0)
verbose(ctl, _("setting CD-ROM speed to auto"));
else
verbose(ctl, _("setting CD-ROM speed to %ldX"), ctl->x_arg);
open_device(ctl);
select_speed(ctl);
exit(EXIT_SUCCESS);
}
/*
* List Speed of CD-ROM drive.
*/
static void list_speeds(struct eject_control *ctl)
{
#ifdef CDROM_SELECT_SPEED
int max_speed, curr_speed = 0;
select_speed(ctl);
max_speed = read_speed(ctl->device);
while (curr_speed < max_speed) {
ctl->x_arg = curr_speed + 1;
select_speed(ctl);
curr_speed = read_speed(ctl->device);
if (ctl->x_arg < curr_speed)
printf("%d ", curr_speed);
else
curr_speed = ctl->x_arg + 1;
}
printf("\n");
#else
warnx(_("CD-ROM select speed command not supported by this kernel"));
#endif
}
/* handle -x option */
static void set_device_speed(char *name)
{
int fd;
if (!x_option)
return;
if (x_arg == 0)
verbose(_("setting CD-ROM speed to auto"));
else
verbose(_("setting CD-ROM speed to %ldX"), x_arg);
fd = open_device(name);
select_speed(fd, x_arg);
exit(EXIT_SUCCESS);
}
void trace() //一週目
{
short start_frag=0;
short trace_roop_frag=0;
short i=0;
short permit_goal=0;
circl_count=1;
LED1=ON;
TIMER_WAIT(1000);
LED1=OFF;
ch_para();
//ch_para2(0);
select_P();
// select_sub();
select_I();
// select_D();
// select_G();
select_goal();
// select_corner();
select_speed();
while(trace_roop_frag==0){
init_thre();
calc_senc();
if(cari_SEN[1] > 20.0){
if(Dispermit_goal==1){
start_frag=1;
LED2=ON;
TIMER_WAIT(500);
}
else{
LED2=ON;
permit_goal=1;
}
}
if(cari_SEN[6] > 20.0 && permit_goal==1){
start_frag=1;
LED3=ON;
TIMER_WAIT(500);
}
else if(cari_SEN[6] > 20.0 && permit_goal==0){ //ゴールさせない
LED3=ON;
Dispermit_goal=1;
}
if(start_frag==1){
countdown();
TIMER_WAIT(1000);
for(i=0; i<201; i++){
ENC_dis[i]=0.0;
ENC_check[i]=0;
RL_check[i]=3;
}
for(i=0; i<5; i++)
SC_box[i]=ST;
zero_gyro=get_gyro();
ENC_R=15000;
ENC_sub_R=0;
ENC_L=15000;
ENC_sub_L=0;
EncTimeCount=0;
ENC_count=0;
dis_count=0;
mot_STB(START_A);
start0=1;
mot_frag=1;
LED1=OFF;
while(stop_frag==0){
if(PORTE.PORT.BIT.B0 == 0){
stop_frag=1;
TIMER_WAIT(500);
}
}
stop_manager();
trace_roop_frag=1;
}
else{}
}
}
void trace2() //二週目
{
short start_frag=0;
short trace_roop_frag=0;
short permit_goal=0;
circl_count=2;
LED2=ON;
TIMER_WAIT(1000);
LED2=OFF;
// ch_para2(0);
ch_para();
select_P();
select_I();
// select_D();
// select_G();
select_goal();
// select_corner();
select_speed();
while(trace_roop_frag==0){
init_thre();
calc_senc();
if(cari_SEN[1] > 20.0){
if(Dispermit_goal==1){
start_frag=1;
LED2=ON;
TIMER_WAIT(500);
}
else{
LED2=ON;
permit_goal=1;
}
}
if(cari_SEN[6] > 20.0 && permit_goal==1){
start_frag=1;
LED3=ON;
TIMER_WAIT(500);
}
else if(cari_SEN[6] > 20.0 && permit_goal==0){ //ゴールさせない
LED3=ON;
Dispermit_goal=1;
}
if(start_frag==1){
countdown();
TIMER_WAIT(1000);
zero_gyro=get_gyro();
ENC_R=15000;
ENC_sub_R=0;
ENC_L=15000;
ENC_sub_L=0;
EncTimeCount=0;
ENC_count=0;
dis_count=0;
mot_STB(START_A);
start0=1;
mot_frag=1;
while(stop_frag==0){}
stop_manager();
trace_roop_frag=1;
}
else{}
}
}
