int main(int argc, char **argv)
{
g_fd = open(argv[1], O_RDWR);
if (errno == ENOENT && g_fd < 0)
{
int i;
for (i = 0; i < 120; i++)
{
g_fd = open(argv[1], O_RDWR);
if (g_fd >= 0)
break;
printf("."); fflush(stdout);
usleep(500000);
}
printf("\n");
}
if (g_fd < 0)
return bitch("open");
// reset();
// set_config(0);
// set_config(1);
usb_set_connected(0, 1);
claim_if(0);
#if 0
msd();
#else
palm();
#endif
return 0;
}
void draw(){
glPushMatrix();
glRotatef(T,0,0,1);
glTranslatef(0,a+l,0);
//body with diaphram as center
body(b,d,a,c);
/********TEST**********/
//the small dot at the center of the diaphram
//cuboid(0.05,0.05,0.05);
/**********TEST*******/
//right hand
glPushMatrix();
//translate so that hands joint to body becomes origin
glTranslatef(d,b,0);
glRotatef(G1,-1,0,0);
glRotatef(B1,0,0,1);
//draw hand here starting from origin towards -ve y axis
hand(h);
glPushMatrix();
glTranslatef(0,-h,0);
glRotatef(D1,0,0,-1);
//draw palm here from origin towards -ve y axis
palm();
glPopMatrix();
glPopMatrix();
//left hand
glPushMatrix();
//translate so that hands joint to body becomes origin
glTranslatef(-d,b,0);
glRotatef(G2,-1,0,0);
glRotatef(B2,0,0,-1);
//draw hand here starting from origin towards -ve y axis
hand(h);
glPushMatrix();
glTranslatef(0,-h,0);
glRotatef(D2,0,0,1);
//draw palm here from origin towards -ve y axis
palm();
glPopMatrix();
glPopMatrix();
//right leg
glPushMatrix();
glTranslatef(c,-a,0);
glRotatef(E1,-1,0,0);
//draw leg starting from origin towards -ve y axis
leg(l);
glPopMatrix();
//left leg
glPushMatrix();
glTranslatef(-c,-a,0);
glRotatef(E2,-1,0,0);
//draw leg starting from origin towards -ve y axis
leg(l);
glPopMatrix();
//head
glPushMatrix();
glTranslatef(0,b,0);
glRotatef(A,1,0,0);
//draw head here starting from origin towards +ve y axis
head();
glPopMatrix();
glPopMatrix();
/*******TEST***********/
//the thin vertical line running from top till
//bottom and the blue bottom plate
//cuboid(1,0.1,1);
//glColor3f(0.1,0.8,0.1);
//cuboid(0.01,5,0.01);
/*******TEST******/
}
