static usb_dev_handle *get_ir(void)
{
static usb_dev_handle *ir = NULL;
if (!ir) {
usb_init();
usb_find_busses();
usb_find_devices();
ir = find_ir();
if (!ir) {
fprintf(stderr, "IR receiver not found, quitting\n");
exit(1);
}
/* interface is normally handled by hiddev */
usb_detach_kernel_driver_np(ir, 0);
if (usb_claim_interface(ir, 0)) {
fprintf(stderr, "error claiming interface, are you root?\n");
exit(2);
}
//usb_reset(ir);
//usb_set_configuration(ir, 0);
}
return ir;
}
task main()
{
int i=0;
int wait_time;
disableDiagnosticsDisplay();
wait_time = time();
position();
waitForStart();
z = r * -1;
wait10Msec(wait_time);
i = find_ir(i);
move_past_buckets(i);
}