bool in_cone ( tVertex a, tVertex b )
/******************************************************************************/
/*
Purpose:
IN_CONE returns TRUE iff the diagonal (A,B) is strictly internal.
Discussion:
More correctly, the diagonal (A,B) must be strictly internal to the
polygon in the neighborhood of the A endpoint.
Modified:
30 April 2007
Author:
Joseph O'Rourke
Parameters:
Input, tVertex A, B, two vertices of the polygon.
Output, bool IN_CONE, is TRUE if the line connecting A and B is
strictly internal to the polygon in the neighborhood of A.
Local Parameters:
Local, tVertex A0, A1, are the vertices before and after A.
*/
{
tVertex a0;
tVertex a1;
bool value;
a1 = a->next;
a0 = a->prev;
/*
If A is a convex vertex ...
*/
if ( left_on ( a->v, a1->v, a0->v ) )
{
value = left ( a->v, b->v, a0->v ) &&
left ( b->v, a->v, a1->v );
}
/*
Else A is reflex vertex:
*/
else
{
value = !( left_on ( a->v, b->v, a1->v ) &&
left_on ( b->v, a->v, a0->v ) );
}
return value;
}
void circle(void){
//motor_straight(2);
int i = 0;
while(i<80){
left_on(13);
//five_msec_sleep(150);
left_off();
right_on(3);
//five_msec_sleep(10);
right_off();
i++;
}
}
void motor_straight(unsigned int time){
// Function to run both motors to make a straight line for a specified time.
//Time_Sequence = 0;
tmp = time + Time_Sequence;
int i = 0;
while(i<60)
{
//five_msec_sleep(STRAIGHT_SYNCH);
right_on(3); // On for 500 ms
right_off();
left_on(5);
left_off();
//five_msec_sleep(1);
//Time_Sequence++;
i++;
}
left_off();
right_off();
}
