void move_until_line() {
create_drive(100, FORWARDS);
while (get_create_rfcliff_amt() > CREATE_THRESHOLD) {
display_printf(0, 0, "%4i", get_create_rfcliff_amt());
}
create_stop();
}
/*
* General routine for creating a volume. Mainly for use by concat, mirror,
* raid5 and stripe commands.
*/
void
create_volume(int argc, char **argv, char *verb)
{
struct gctl_req *req;
const char *errstr;
char buf[BUFSIZ], *drivename, *volname;
int drives, flags, i;
off_t stripesize;
flags = 0;
drives = 0;
volname = NULL;
stripesize = 262144;
/* XXX: Should we check for argument length? */
req = gctl_get_handle();
gctl_ro_param(req, "class", -1, "VINUM");
for (i = 1; i < argc; i++) {
if (!strcmp(argv[i], "-f")) {
flags |= GV_FLAG_F;
} else if (!strcmp(argv[i], "-n")) {
volname = argv[++i];
} else if (!strcmp(argv[i], "-v")) {
flags |= GV_FLAG_V;
} else if (!strcmp(argv[i], "-s")) {
flags |= GV_FLAG_S;
if (!strcmp(verb, "raid5"))
stripesize = gv_sizespec(argv[++i]);
} else {
/* Assume it's a drive. */
snprintf(buf, sizeof(buf), "drive%d", drives++);
/* First we create the drive. */
drivename = create_drive(argv[i]);
if (drivename == NULL)
goto bad;
/* Then we add it to the request. */
gctl_ro_param(req, buf, -1, drivename);
}
}
gctl_ro_param(req, "stripesize", sizeof(off_t), &stripesize);
/* Find a free volume name. */
if (volname == NULL)
volname = find_name("gvinumvolume", GV_TYPE_VOL, GV_MAXVOLNAME);
/* Then we send a request to actually create the volumes. */
gctl_ro_param(req, "verb", -1, verb);
gctl_ro_param(req, "flags", sizeof(int), &flags);
gctl_ro_param(req, "drives", sizeof(int), &drives);
gctl_ro_param(req, "name", -1, volname);
errstr = gctl_issue(req);
if (errstr != NULL)
warnx("creating %s volume failed: %s", verb, errstr);
bad:
gctl_free(req);
}
void testArc(){
float time1, time2;
cbc_display_clear();
set_create_total_angle(0);
printf("//Press Black Button to start/stop arc\n");
while(black_button()) while(!black_button()){}
time1 = seconds();
create_drive(-100,-580);
while(!black_button()); time2 = seconds(); stop();
printf("%fsecs\t %dmm\n",time2-time1,get_create_distance(0));
while(!black_button());
clawSB();
armPosSB();
printf("\npress A for too far, B for not far enough, Black for just right\n");
while(!done){
if(a_button()){
arc_value = arc_value-5;
done = 1;
}
if(b_button()){
arc_value = arc_value+5;
done = 1;
}
if(black_button()) done = 1;
}
printf("arc = %d",arc_value);
printf("press black button to exit");
while(!black_button());
}
void create_virtual_bump(int speed, int direction) {
create_drive(speed, direction);
while (create_get_sensor(CURRENT) > CURRENT_THRESHOLD) {
//msleep(20);
}
create_stop();
}
/*
* Class: cbccore_low_Create
* Method: create_drive
* Signature: (II)V
*/
JNIEXPORT void JNICALL Java_cbccore_low_Create_create_1drive(JNIEnv *env, jobject obj, jint speed, jint radius)
{
#ifdef CBC
create_drive(speed, radius);
#else
printf("Java_cbccore_low_Create_create_1drive stub\n");
#endif
}
void part6(){
driveAtMmFor(500,.5);
turn(90);
create_drive(-500,250);
run_for(1.0,armPosBlockStack1);
create_drive(-500,-520);
run_for(.5,clawStack2);
run_for(2.0,armPosBlockStack2);
detectPVC();
turn(-90);
blockStack3();
//wtf is this.
/*create_drive_straight(-500); // move towards pvc
sleep(2.5);
create_stop();
driveAtMmFor(50, 1);*/
}
void part5(){
//seed, JosephMCgee:
driveAtMmFor(500,.5);
turnFast(-90);
driveAtMmFor(-500,.5);
create_drive(-500,520);
run_for(2.6, clawGrab);
create_drive(-500,-350);
run_for(1.9,armPosBlockGrab);
armPosBlockGrab();
detectPVC();
timeLapse();
driveAtMmFor(250,1.00);//run_for(1.5, armPosBlockStack1);//drive bd to align create to blocks3, while simultaneously lifting arm above blocks
turn(90);//turn towards blocks3
armPosBlockGrab(); //arm in grab pos
clawGrab();
driveAtMmFor(-500,.4);//drive towards blocks
detectBlock();//detect and slowly approch blocks.
grabBlocks();//grab blocks procedure
}
// script to trace an arc of radius rad until deg is reach
// NOTE: if the turn is not in the direction of deg, the arc won't end
void create_script_arc(int rad, int deg, int speed) { // rad in mm, degrees, vel in mm/sec
int sangle, dangle;
create_angle();
sangle=gc_total_angle;
dangle=sangle+deg;
create_drive(rad,speed);
if(deg>0){
while(gc_total_angle<dangle)create_angle();
}
else{
while(gc_total_angle>dangle)create_angle();
}
create_stop();
}
void move_until_bump(int speed, int direction, int port) {
create_drive(speed, direction);
while (!digital(port));
create_stop();
}
void move_until_line_old() {
create_drive(100, FORWARDS);
while (analog10(BLACK_LINE_SENSOR) < THRESHOLD);
create_stop();
}
void CenterCamera() //CAMERA MUST BE AT CENTER OF CREATE, POINTING Right RESPECT TO CREATE
{
track_update();
if (track_x (0,0) > 81)
{
create_drive_straight(-200);
while (track_x (0,0) > 81) //WHAT TRACK # IS RED? MAKE SURE IT DOESNT DETECT BOTGUY
{
track_update();
}
create_stop();
drivemm(inchestomm(4.9), 1);
set_create_total_angle(0);
create_drive(101.3,1); //uses int. does it round?
sleep(2.057252314);
create_stop();
get_create_total_angle(.1);
printf("asdb");
if (get_create_total_angle(.1) != 90)
{
set_create_total_angle(get_create_total_angle(.1) - 90);
printf("%f\n",get_create_total_angle(.1));
if (get_create_total_angle(.1) > 0) //CCW ADDS TO TOTAL ANGLE
{
create_spin_CW(100);
while (get_create_total_angle(.1) < 0);
{
printf("aeqweqw");
}
create_stop();
}
if (get_create_total_angle(.1) < 0)
{
create_spin_CCW(100);
while (get_create_total_angle(.1) > 0);
{
printf("BBBB");
}
create_stop();
}
}
}
/* (track_x (0,0) < 79)
{
create_drive_straight(200);
while (track_x (0,0) < 79)
{
track_update();
}
create_stop();
beep();
set_create_distance(0);
drivemm(-inchestomm(5), 1);
create_drive(206.972051,1);
sleep(1);
create_stop();
create_drive_straight(-200);
while(digital(8 == 0))
{
}
create_stop();
}*/
}
int main()
{
int m1=0,m2=3,pageno=0;
double createDriveTime;
printf("Start!\n");
extra_buttons_show();
while (1)
{
while (pageno == 0)
{
set_a_button_text("Forward");
set_b_button_text("Backward");
set_c_button_text("All Off");
set_x_button_text("OpenHand");
set_y_button_text("CloseHand");
set_z_button_text("Create Page");
if (a_button_clicked())
{
printf("Moving forward...\n");
motor(m1,100);
motor(m2,100);
while (!c_button_clicked())
{
msleep(1);
}
ao();
}
if (b_button_clicked())
{
printf("Moving backward...\n");
motor(m1,-100);
motor(m2,-100);
while (!c_button_clicked())
{
msleep(1);
}
ao();
}
if (x_button_clicked())
{
enable_servo(3);
set_servo_position(3,0);
msleep(300);
disable_servo(3);
}
if (y_button_clicked())
{
enable_servo(3);
set_servo_position(3,1300);
msleep(300);
disable_servo(3);
}
if (z_button_clicked())
{
pageno=1;
create_connect();
}
}
while (pageno == 1)
{
set_a_button_text("Create Fwd");
set_b_button_text("Create Bwd");
set_c_button_text("Stop");
set_x_button_text("Turn R");
set_y_button_text("Turn L");
set_z_button_text("M S Page");
if (a_button_clicked())
{
createDriveTime = 0;
printf("Create Moving forward w/ spd 100...\n");
create_drive_straight(100);
createDriveTime = seconds();
while (!c_button_clicked())
{
msleep(1);
}
create_stop();
printf("Time: %f seconds\n",seconds() - createDriveTime );
}
if (b_button_clicked())
{
createDriveTime = 0;
printf("Create Moving backward w/ spd 100...\n");
create_drive_straight(-100);
createDriveTime = seconds();
while (!c_button_clicked())
{
msleep(1);
}
create_stop();
printf("Time: %f seconds\n",seconds() - createDriveTime );
}
if (x_button_clicked())
{
create_drive(-50,0);
while (!c_button_clicked())
{
msleep(1);
}
create_stop();
}
if (y_button_clicked())
{
create_drive(50,0);
while (!c_button_clicked())
{
msleep(1);
}
create_stop();
}
if (z_button_clicked())
{
pageno=0;
create_disconnect();
}
}
}
return 0;
}
