Exemple #1
0
int gofor(int llen, int rlen, int turn, int forward) {
	encoderReset(r_encoder);
	encoderReset(l_encoder);
	int ol=0;
	int or=0;
	dstat=0;
	printf("going for %d\t%d degrees with dir %d\t%d\n\r",llen,rlen,turn,forward);
#ifndef SIM
	while((abs(encoderGet(l_encoder))<llen &&abs(encoderGet(r_encoder))<rlen)){
		c_status("gofor",llen);
		controldrive(turn,forward);
		simtank(&ltank,encoderGet(l_encoder-ol)-ol,encoderGet(r_encoder)-or);
		ol=encoderGet(l_encoder);
		or=encoderGet(r_encoder);
		delay(20);
	}
#endif
	dstat=1;
	controldrive(0,0);
	printf("Motion complete, expected:");
	printpos(&ctank);
	printf("\tintegrated: ");
	printpos(&ltank);
	printf("\n\r");
	return encoderGet(l_encoder)>encoderGet(l_encoder) ? encoderGet(l_encoder) : encoderGet(r_encoder);
}
Exemple #2
0
int main(int argc, char **argv) {
  SSL *conn;
  char *keytab = "tmp.keytab";
  char *servername = "rekey.andrew.cmu.edu";
  char *princname = REKEY_DEF_SERVICE;
  int optch;
  int flag=0;

  while ((optch = getopt(argc, argv, "k:s:P:d")) != -1) {
    switch (optch) {
    case 'k':
      keytab = optarg;
      break;
    case 's':
      servername = optarg;
      break;
    case 'P':
      princname = optarg;
      break;
    case 'd':
      flag|=REQFLAG_DESONLY;
      break;
    case '?':
      fprintf(stderr, "Usage: rekeytest [-k keytab] [-r realm] [-s servername] [-P serverprinc]\n [-d] [princ [hostname...] \n");
      exit(1);
    }
  }

  ssl_startup();

  conn=c_connect(servername);
  printf("Attach to remote server if required, then press return\n");
  getc(stdin);
  c_auth(conn, servername, princname);
  if (argc > 2)
    c_newreq(conn, argv[1], flag, argc - 2, argv + 2);
  else if (argc == 2)
    c_status(conn, argv[1]);
  else 
    c_getkeys(conn, keytab, 0, NULL, 0);
    
  SSL_shutdown(conn);
  SSL_free(conn);
  ssl_cleanup();
  return 0;
}