void initializeRobot(){
calibrateGyro();
nMotorEncoder[liftLeft] = 0; //reset encoder
hook(true); //reset servos
gate(false);
banana(false);
//RESET SERVOS
return;
}
int
main(void){
if(setjmp(buf))
printf("back in main\n");
else {
printf("first time through\n");
banana();
}
return 0;
}
TEST(StringPieceTest, PiecesHaveCorrectSortOrderUtf8) {
std::string testing("testing");
std::string banana("banana");
std::string car("car");
EXPECT_TRUE(StringPiece(testing) > banana);
EXPECT_TRUE(StringPiece(testing) > car);
EXPECT_TRUE(StringPiece(banana) < testing);
EXPECT_TRUE(StringPiece(banana) < car);
EXPECT_TRUE(StringPiece(car) < testing);
EXPECT_TRUE(StringPiece(car) > banana);
}
TEST(StringPieceTest, PiecesHaveCorrectSortOrder) {
std::u16string testing(u"testing");
std::u16string banana(u"banana");
std::u16string car(u"car");
EXPECT_TRUE(StringPiece16(testing) > banana);
EXPECT_TRUE(StringPiece16(testing) > car);
EXPECT_TRUE(StringPiece16(banana) < testing);
EXPECT_TRUE(StringPiece16(banana) < car);
EXPECT_TRUE(StringPiece16(car) < testing);
EXPECT_TRUE(StringPiece16(car) > banana);
}
int main ()
{
if(setjmp(buf))
printf("back in main\n");
else
{
printf("first time through\n");
banana();
}
system("pause");
return 0;
}
static void
signature_tests(struct sshkey *k, struct sshkey *bad)
{
u_char i, buf[2049];
size_t lens[] = {
1, 2, 7, 8, 9, 15, 16, 17, 31, 32, 33, 127, 128, 129,
255, 256, 257, 1023, 1024, 1025, 2047, 2048, 2049
};
for (i = 0; i < (sizeof(lens)/sizeof(lens[0])); i++) {
test_subtest_info("%s key, banana length %zu",
sshkey_type(k), lens[i]);
banana(buf, lens[i]);
signature_test(k, bad, buf, lens[i]);
}
}
task main()
{
int a = 0;
int j = 0;
int k = 0;
initializeRobot();
//waitForStart();
banana(false);
while(true){
sonarvalue = USreadDist(Sonar);
writeDebugStreamLine("sonar = %d", sonarvalue);
if(sonarvalue == 255){
//Diagonal center console
a++;
writeDebugStreamLine("a = %d", a);
if(a > 10){
writeDebugStreamLine("Diagonal, %d", sonarvalue);
autoDiag();
wait1Msec(2000);
break;
}
//The ultrasonic sensor cannot detect diagonal surfaces - therefore, it returns 255 as its default value.
}else if(abs(sonarvalue) < 118 && abs(sonarvalue) != 0){
//goal is straight ahead
j++;
writeDebugStreamLine("j = %d", j);
if(j > 5){
writeDebugStreamLine("Ahead, %d", sonarvalue);
autoStraight();
break;
}
}else if(abs(sonarvalue) >= 118){
//goal is sideways
k++;
writeDebugStreamLine("k = %d", k);
if(k > 5){
writeDebugStreamLine("Sideways, %d", sonarvalue);
autoHoriz();
break;
}
}
}
}
void
CAGBananaExample::draw(IGrafPort& port)
{
// Start with an IGArea defining the left side of the banana.
IGArea banana(IGEllipse2D(IGRect2D(0,48,192,240)));
// Remove a large ellipse to define the right side of the banana.
banana -= IGEllipse2D(IGRect2D(32,0,224,288));
// Chop off the ends.
banana *= IGRect2D(0,64,64,216);
// Fix the stem.
IGArea end(IGEllipse2D(IGRect2D(16,48,56,104)));
end.transformBy(IGrafMatrix(38, IGPoint2D(56,48)));
banana -= end;
// Draw the result.
port.draw(banana, IFillAndFrameBundle(kDefaultFillColor, kDefaultFrameColor, kDefaultPenWidth));
}
int main(int argc, char* argv[])
{
//if we would like to calibrate our filter values, set to true.
bool calibrationMode = true;
//Matrix to store each frame of the webcam feed
Mat cameraFeed;
Mat threshold;
Mat HSV;
if(calibrationMode){
//create slider bars for HSV filtering
createTrackbars();
}
//video capture object to acquire webcam feed
VideoCapture capture;
//open capture object at location zero (default location for webcam)
capture.open(0);
//set height and width of capture frame
capture.set(CV_CAP_PROP_FRAME_WIDTH,FRAME_WIDTH);
capture.set(CV_CAP_PROP_FRAME_HEIGHT,FRAME_HEIGHT);
//start an infinite loop where webcam feed is copied to cameraFeed matrix
//all of our operations will be performed within this loop
while(1){
//store image to matrix
capture.read(cameraFeed);
//convert frame from BGR to HSV colorspace
cvtColor(cameraFeed,HSV,COLOR_BGR2HSV);
if(calibrationMode==true){
//if in calibration mode, we track objects based on the HSV slider values.
cvtColor(cameraFeed,HSV,COLOR_BGR2HSV);
inRange(HSV,Scalar(H_MIN,S_MIN,V_MIN),Scalar(H_MAX,S_MAX,V_MAX),threshold);
morphOps(threshold);
imshow(windowName2,threshold);
trackFilteredObject(threshold,HSV,cameraFeed);
}else{
//create some temp fruit objects so that
//we can use their member functions/information
Fruit apple("apple"), banana("banana"), cherry("cherry");
//first find apples
cvtColor(cameraFeed,HSV,COLOR_BGR2HSV);
inRange(HSV,apple.getHSVmin(),apple.getHSVmax(),threshold);
morphOps(threshold);
trackFilteredObject(apple,threshold,HSV,cameraFeed);
//then bananas
cvtColor(cameraFeed,HSV,COLOR_BGR2HSV);
inRange(HSV,banana.getHSVmin(),banana.getHSVmax(),threshold);
morphOps(threshold);
trackFilteredObject(banana,threshold,HSV,cameraFeed);
//then cherries
cvtColor(cameraFeed,HSV,COLOR_BGR2HSV);
inRange(HSV,cherry.getHSVmin(),cherry.getHSVmax(),threshold);
morphOps(threshold);
trackFilteredObject(cherry,threshold,HSV,cameraFeed);
}
//show frames
//imshow(windowName2,threshold);
imshow(windowName,cameraFeed);
//imshow(windowName1,HSV);
//delay 30ms so that screen can refresh.
//image will not appear without this waitKey() command
waitKey(30);
}
return 0;
}
void test2()
{
INFO("FAT32", "Remounting disk.");
CHECKSERT(not disk->empty(), "Disk not empty");
CHECKSERT(disk->dev().size() == SIZE / 512, "Disk size is %llu bytes", SIZE);
disk->init_fs(disk->MBR,
[] (fs::error_t err, auto& fs)
{
CHECKSERT(not err, "Filesystem mounted on VBR1");
fs.stat(shallow_banana,
[] (auto err, const auto& ent) {
INFO("FAT32", "Shallow banana");
CHECKSERT(not err, "Stat %s", shallow_banana.c_str());
CHECKSERT(ent.is_valid(), "Stat file in root dir");
CHECKSERT(ent.is_file(), "Entity is file");
CHECKSERT(!ent.is_dir(), "Entity is not directory");
CHECKSERT(ent.name() == "banana.txt", "Name is 'banana.txt'");
is_done();
});
fs.read_file(shallow_banana,
[] (fs::error_t err, fs::buffer_t buf)
{
INFO("FAT32", "Read file");
if (err) {
printf("Read error: %s\n", err.to_string().c_str());
}
CHECKSERT(not err, "read_file: Read %s asynchronously", shallow_banana.c_str());
printf("%s\n", internal_banana.c_str());
std::string banana((const char*) buf->data(), buf->size());
CHECKSERT(banana == internal_banana, "Correct shallow banana");
is_done();
});
fs.stat(deep_banana,
[] (auto err, const auto& ent) {
INFO("FAT32", "Deep banana");
auto& fs = disk->fs();
CHECKSERT(not err, "Stat %s", deep_banana.c_str());
CHECKSERT(ent.is_valid(), "Stat file in deep dir");
CHECKSERT(ent.is_file(), "Entity is file");
CHECKSERT(!ent.is_dir(), "Entity is not directory");
CHECKSERT(ent.name() == "banana.txt", "Name is 'banana.txt'");
// asynch file reading test
fs.read(ent, 0, ent.size(),
[] (fs::error_t err, fs::buffer_t buf)
{
INFO("FAT32", "Read inside stat");
CHECKSERT(not err, "read: Read %s asynchronously", deep_banana.c_str());
std::string banana((const char*) buf->data(), buf->size());
CHECKSERT(banana == internal_banana, "Correct deep fried banana");
is_done();
});
});
});
}
