void frssort1(string strings[], size_t scnt)
{
list listnodes;
size_t i;
/* allocate memory based on the number of strings in the array */
listnodes = (list ) calloc(scnt, sizeof(struct listrec));
/* point the linked list nodes to the strings in the array */
for( i=0; i<scnt; i++)
{
listnodes[i].str = strings[i];
if (i<(scnt-1))
listnodes[i].next = &listnodes[i+1];
else
listnodes[i].next = NULL;
}
/* sort */
list sortednodes = forward1(listnodes, scnt);
/* write the strings back into the array */
for (i = 0; i < scnt ; i++, sortednodes=sortednodes->next)
strings[i] = sortednodes->str;
free(listnodes);
}
void JogShuttle::customEvent(QEvent* e)
{
switch (e->type()) {
case JOG_BACK1:
emit rewind1();
break;
case JOG_FWD1:
emit forward1();
break;
case JOG_BACK:
emit rewind(-1);
break;
case JOG_FWD:
emit forward(1);
break;
case JOG_BACK_SLOW:
emit rewind(-0.5);
break;
case JOG_FWD_SLOW:
emit forward(0.5);
break;
case JOG_BACK_FAST:
emit rewind(-2);
break;
case JOG_FWD_FAST:
emit forward(2);
break;
case JOG_STOP:
emit stop();
break;
default:
emit button(e->type() - 20000);
}
}
void autonomous_routine1(void)
{
unsigned int sonar_distance = 0;
static unsigned long elapsed_time,
old_time = 0,
start_time;
controller_begin_autonomous_mode();
elapsed_time = start_time = SYSTEM_TIMER_SECONDS();
/*
* An autonomous loop with sensor input. Loop terminates when
* a button sensor on port 5 is pressed, or the 20 second time
* period runs out.
*/
forward1(MOTOR_POWER1);
while ( (elapsed_time - start_time) < ROUTINE1_DURATION )
{
sonar_distance = sonar_read(SONAR_INTERRUPT_PORT);
if ( (sonar_distance < ROUTINE1_SONAR_DISTANCE) ||
(io_read_digital(BUMPER_LEFT_PORT) == 0) ||
(io_read_digital(BUMPER_RIGHT_PORT) == 0) )
{
reverse1(MOTOR_POWER1);
delay_msec(ROUTINE1_BACKUP_MS);
sonar_distance = sonar_read(SONAR_INTERRUPT_PORT);
spin1(MOTOR_POWER1, ROUTINE1_SPIN_MS);
forward1(MOTOR_POWER1);
sonar_distance = sonar_read(SONAR_INTERRUPT_PORT);
}
elapsed_time = SYSTEM_TIMER_MS();
/* Adjust sonar direction every 40 ms */
if ( elapsed_time % ROUTINE1_SONAR_SERVO_DELAY == 0 )
sonar_scan(SONAR_SERVO_PORT);
/* Produce debug output once per second */
elapsed_time /= MS_PER_SEC;
if ( elapsed_time > old_time )
{
old_time = elapsed_time;
/*
if ( rc_new_data_available() )
{
DPRINTF("ET: %ld RC: %x A[1,2]: %x %x "
"D[5,6]: %d %d Shaft I[%d,%d]: %d %d Sonar[%d]: %d\n",
elapsed_time - start_time, rc_read_status(),
io_read_analog(1), io_read_analog(2),
io_read_digital(5), io_read_digital(6),
LEFT_ENCODER_INTERRUPT_PORT, RIGHT_ENCODER_INTERRUPT_PORT,
shaft_encoder_read_std(LEFT_ENCODER_INTERRUPT_PORT),
shaft_encoder_read_std(RIGHT_ENCODER_INTERRUPT_PORT),
SONAR_INTERRUPT_PORT, sonar_distance);
}
*/
}
}
pwm_write(RIGHT_DRIVE_PORT, MOTOR_STOP);
pwm_write(LEFT_DRIVE_PORT, MOTOR_STOP);
controller_submit_data(NO_WAIT);
controller_end_autonomous_mode();
}
