HError(-1189,"HList: Warning ALIEN src file format set");
break;
case 'T':
trace = GetChkedInt(0,077,s); break;
default:
HError(1119,"HList: Unknown switch %s",s);
}
}
if (NumArgs() == 0 )
ListSpeech(NULL);
else
while (NumArgs() > 0 ) {
if (NextArg() != STRINGARG)
HError(1119,"HList: List file name expected");
ListSpeech(GetStrArg());
}
Exit(0);
return (0); /* never reached -- make compiler happy */
}
/* -------------------- Display Routines ------------------- */
typedef struct{ /* gather together basic header info */
char *name;
Boolean isSource;
Boolean isAudio;
FileFormat fmt;
int main()
{
int wait;
// Set up port for start switch
lcdInit();
// Set up motors and encoders
motorInit();
encodersInit();
servoInit();
// Set up IRs
gp2d12Init(PIN_HEAD_IR);
digitalSetDirection(PIN_IR,AVRRA_INPUT);
digitalSetData(PIN_IR,AVRRA_LOW);
// Set up OP599A - analog already initialized
digitalSetDirection(PIN_PHOTO,AVRRA_INPUT);
digitalSetData(PIN_PHOTO,AVRRA_LOW);
// Set up fan & test
digitalSetData(PIN_FAN, AVRRA_LOW);
digitalSetDirection(PIN_FAN, AVRRA_OUTPUT);
digitalSetData(PIN_FAN, AVRRA_HIGH);
delayms(25);
digitalSetData(PIN_FAN, AVRRA_LOW);
lcdPrint("Wait... ");
wait = digitalGetData(PIN_START);
while(wait) {
// standard delay ..
delayms(10);
wait = digitalGetData(PIN_START);
}
// Start our map
mapInit();
lcdClear();
PrintHeading(lheading,nStart);
sei();
// Run Behaviors
while(1) {
// update odometer
while(rCount > COUNTS_CM(1) ) {
// odometer is in CM
odometer = odometer - 1;
rCount = rCount - COUNTS_CM(1);
}
// now run behaviors
if(arbitrate()>0) {
// let motors wind down
delayms(500);
clearCounters;
plan();
clearCounters;
}
}
}
HTime period;
int sampSize;
int numComps;
long nSamples;
}HeadInfo;
/* PrBar: print a horizantal bar of length n including title */
void PrBar(char *title)
{
int i,len,n;
if (rawOut) return;
len = strlen(title);
n = (barwidth - len)/2;
for (i=1; i<n; i++) putchar(barc);
printf(" %s ",title);
n = barwidth - n - len;
for (i=1; i<n; i++) putchar(barc);
putchar('\n');
}
/* SetBarWidth: set bar width according to nItems and item type */
void SetBarWidth(int itemWidth)
barwidth = itemWidth*(nItems+1);
}
/* PrintHeading: print the info in given HeadInfo record */
void PrintHeading(HeadInfo h)
{
char buf[MAXSTRLEN];
if (h.isSource){
if (h.isAudio)
strcpy(buf,"Source: Direct Audio");
else
sprintf(buf,"Source: %s", h.name);
}else
strcpy(buf,"Target");
PrBar(buf);
printf(" Sample Bytes: %-7d", h.sampSize);
if (barwidth < 60 ) printf("\n");
printf(" Sample Kind: %s\n", ParmKind2Str(h.kind,buf));
printf(" Num Comps: %-7d", h.numComps);
if (barwidth < 60 ) printf("\n");
printf(" Sample Period: %.1f us\n", h.period/10.0);
if (!h.isAudio) {
printf(" Num Samples: %-7ld", h.nSamples);
if (barwidth < 60 ) printf("\n");
printf(" File Format: %s\n", Format2Str(h.fmt));
}
}
/* PrintWaveLine: print line of waveform samples */
void PrintWaveLine(short *data, int nItems, long idx)
{
int i;
if (!rawOut) printf("%5ld: ",idx);
for (i=0; i<nItems; i++) printf("%7d",*data++);
printf("\n");
}
/* PrintRawVec: print vector components */
void PrintRawVec(Vector v)
{
int i;
for (i=1; i<=VectorSize(v); i++) printf("%e ",v[i]);
printf("\n");