T* emplace(Args&& ...args) {
auto size = sizeof(T);
if (available() < size) return nullptr;
T* ptr = new(front_ptr()) T(std::forward<Args>(args)...);
move_front(size);
return ptr;
}
void move_next_word(void)
{
char *tmp;
int i;
int max;
tmp = g_main_line.cmd;
i = g_main_line.curs_x;
max = g_main_line.size_x;
while (i < max && tmp[i] != ' ' && tmp[i] != '\t')
{
move_front();
i++;
}
while (i < max && (tmp[i] == ' ' || tmp[i] == '\t'))
{
move_front();
i++;
}
}
int move(int keyboard, t_pos *wolf)
{
if (keyboard == 126)
move_front(wolf);
else if (keyboard == 125)
move_back(wolf);
else if (keyboard == 124)
move_right(wolf);
else if (keyboard == 123)
move_left(wolf);
return (0);
}
void complete_word(char *word, size_t start)
{
char *end;
int i;
end = ft_strsub(word, start, ft_strlen(word) - start);
i = g_main_line.curs_x;
while (i < g_main_line.size_x && ft_isalpha(g_main_line.cmd[i]))
{
move_front();
i++;
}
g_main_line.cmd = ft_str_insert(g_main_line.cmd, end, g_main_line.curs_x);
g_main_line.curs_x += ft_strlen(end);
g_main_line.size_x += ft_strlen(end);
g_main_line.curs_x_win = (g_main_line.size_x + g_main_line.prompt)
% g_main_line.win_col;
g_main_line.curs_y = (g_main_line.size_x + g_main_line.prompt)
/ g_main_line.win_col;
print_line(0);
}
int main(int argc, char *argv[])
{
in1=mraa_gpio_init(7);
in2=mraa_gpio_init(8);
in3=mraa_gpio_init(9);
in4=mraa_gpio_init(10);
en1=mraa_pwm_init(6);
en2=mraa_pwm_init(5);
mraa_gpio_dir(in1,MRAA_GPIO_OUT);
mraa_gpio_dir(in2,MRAA_GPIO_OUT);
mraa_pwm_period_ms(en1,20);
mraa_pwm_enable(en1,1);
mraa_gpio_dir(in3,MRAA_GPIO_OUT);
mraa_gpio_dir(in4,MRAA_GPIO_OUT);
mraa_pwm_period_ms(en2,20);
mraa_pwm_enable(en2,1);
char* ptr1 = argv[1];
char* ptr2 = argv[2];
char* ptr3 = argv[3];
float param,result;
int i= atoi(ptr1);
int j=atoi(ptr2);
int k= atoi(ptr3);
if (i == -2)
{
rotate_right(2);//because 20 degrees
}
else if( i == -1)
{
rotate_right90(); //calcualte for 90 degrees
move_front(29); // 20 cms
rotate_left90(); //calculate for 90 degrees
}
else {
param=i/j;
//convert to our metrix, in terms of distance moved by robot//
result = atan((param) * 180 / PI);
if(result < 0)
{
rotate_left((int)(result/10));
}
else
{
rotate_right((int)(result/10));
}
float dist=sqrt(((i*i)+(j*j)));
if(k == 0)
{
dist = dist/3;
}
int num = (int) dist/(0.7) ;
move_front(num);
}
return 0;
}
