void fireGolfBall(void){ setRun(ROLLER_MOTOR_INDEX, 1); usleep(microsecondsToMilliseconds(500)); dropGolfBall(); usleep(microsecondsToMilliseconds(500)); setRun(ROLLER_MOTOR_INDEX, 0); }
int main(int argc, char **argv) { char buf[10]; setSignalAction(); startThread(); while (!getExitApp()) { printf("Press return to start recording.\n"); getchar(); setRun(1); pthread_barrier_wait(&startBarrier); printf("Press return to end recording.\n"); getchar(); setRun(0); pthread_barrier_wait(&endBarrier); printf("Recording stopped.\n"); } joinThread(); return 0; }
void aimAtTargetFORWARD(int error) { printf("Attempting to aim at target! Error: %d\n", error); setRun(RIGHT_WHEEL_INDEX, 1); setRun(LEFT_WHEEL_INDEX, 1); setDuty(LEFT_WHEEL_INDEX, NEUTRAL_DUTY - (error * 50) + (ADJUST_RATE / 2)); setDuty(RIGHT_WHEEL_INDEX, NEUTRAL_DUTY + (error * 50) - (ADJUST_RATE / 2)); }
void fireGolfBalls (int num){ int i; setRun(ROLLER_MOTOR_INDEX, 1); usleep(microsecondsToMilliseconds(1000)); for(i = 0; i < num; i++){ dropGolfBall(); } usleep(microsecondsToMilliseconds(250)); setRun(ROLLER_MOTOR_INDEX, 0); }
void AniTest::runThisTest() { Director::getInstance()->replaceScene(this); initAni(); // Add Touch Listener auto dispatcher = Director::getInstance()->getEventDispatcher(); auto touchListener = EventListenerTouchOneByOne::create(); touchListener->onTouchBegan = [=](Touch* touch, Event* event){ m_armature->stopAllActions(); Point touchPoint = touch->getLocation(); Point heroPoint = m_armature->getPosition(); Point deltaPoint = touchPoint - heroPoint; float time = sqrt(deltaPoint.x * deltaPoint.x + deltaPoint.y * deltaPoint.y) * 0.002; ActionInterval *action = cocos2d::MoveBy::create(time, deltaPoint); FiniteTimeAction *actionCallBack = CallFuncN::create(CC_CALLBACK_1(AniTest::setNormal, this)); m_armature->runAction(Sequence::create(action, actionCallBack, NULL)); setRun(); if(deltaPoint.x < 0){ m_armature->setRotation3D(Vertex3F(0, 180, 0)); }else { m_armature->setRotation3D(Vertex3F(0, 0, 0)); } return true; }; dispatcher->addEventListenerWithSceneGraphPriority(touchListener, this); }
bool CEnemySprite::init(int iType, int startType, int moveType) { bool bRet = false; do{ CC_BREAK_IF(! CCLayer::init()); m_iType = iType; mStartType = startType; m_iMoveType = moveType; m_bDestroy = false; m_iDirection = STRAIGHT; memset(&m_szName, 0, sizeof(m_szName)); // m_pSprite = CCSprite::createWithSpriteFrameName("Plane1_0.png"); // m_pSprite = CCSprite::createWithSpriteFrameName("plane_small_01_a.png"); // m_pSprite = CCSprite::create("new/plane_02.png"); // m_pSprite->setFlipY(true); setAttr(); // setFlyAnimation(m_iDirection); /** ÉèÖõÐÈËÒƶ¯¹ì¼£ */ setRun(0); this->scheduleUpdate(); this->schedule(schedule_selector(CEnemySprite::shoot), m_fShootSpace); this->schedule(schedule_selector(CEnemySprite::changeFlyAnimation), 0.1f); bRet = true; } while(0); return bRet; }
void trigger() { setRun(true); if(IsRunning() == false) { Start(); } }
void startThread() { printf("Starting listen thread...\n"); setExitApp(0); setRun(0); pthread_barrier_init(&startBarrier, NULL, 2); pthread_barrier_init(&endBarrier, NULL, 2); pthread_mutex_init(&runMutex, NULL); pthread_create(&thread, NULL, listenThread, NULL); }
faceThread::faceThread(QObject *parent) : QThread(parent) { facesketch = new faceSketch(); runFlag = 1; CHANGE_SPEED = 0.1; UPBOUND = 1; LOWBOUND = -1; timer = new QTimer(); connect(timer,SIGNAL(timeout()),this,SLOT(setRun())); timer->start(100); setSleep(); }
void aimAtTarget(double error){ if (error == 0){ return; } if (error < 0){ //Turn left setDuty(LEFT_WHEEL_INDEX, NEUTRAL_DUTY-ADJUST_RATE); setDuty(RIGHT_WHEEL_INDEX, NEUTRAL_DUTY-ADJUST_RATE); } else if (error > 0){ //Turn right setDuty(LEFT_WHEEL_INDEX, NEUTRAL_DUTY+ADJUST_RATE); setDuty(RIGHT_WHEEL_INDEX, NEUTRAL_DUTY+ADJUST_RATE); } setRun(RIGHT_WHEEL_INDEX, 1); setRun(LEFT_WHEEL_INDEX, 1); usleep(1250 * abs(error)); setDuty(LEFT_WHEEL_INDEX, NEUTRAL_DUTY); setDuty(RIGHT_WHEEL_INDEX, NEUTRAL_DUTY); }
void VideoItem::keyEvent(QKeyEvent *event) { bool is_pressed = (event->type() == QEvent::KeyPress) ? true : false; switch(event->key()) { case Qt::Key_Escape: if(is_pressed) { emit setWindowedChanged(true); event->accept(); } break; case Qt::Key_Space: if(is_pressed) { setRun(m_run ? false : true); event->accept(); } break; } }
/* 初期化: プログラム起動時に一度だけ実行 */ void initialize() { void setRun(); /*******↓for server mode *******/ if (s_mode) { server_init( nPort ); } /*******↑***********************/ #ifndef WIN32 setpgrp(); #endif set_da_signal(); init_slot_prop(); init_text_analysis(); init_hmmsynth(); read_phonemes( phlist_file ); read_dic( dic_file ); init_tag(); init_mora(); init_morph(); init_aphrase(); init_breath(); init_phoneme(); init_sentence(); strcpy( slot_Speak_stat, "IDLE" ); setRun( "=", "LIVE" ); strcpy( slot_Log_file, "NO" ); logfp = NULL; slot_Log_chasen= slot_Log_tag = slot_Log_phoneme = 0; slot_Log_mora = slot_Log_morph = slot_Log_aphrase = 0; slot_Log_breath = slot_Log_sentence = 0; strcpy( slot_Err_file, "CONSOLE" ); slot_Speech_file[0] = '\0'; slot_Pros_file[0] = '\0'; prosBuf.nPhoneme = 0; slot_Speak_syncinterval = 1000; }
KonqView::~KonqView() { //kDebug() << "part=" << m_pPart; // We did so ourselves for passive views if (m_pPart != 0L) { finishedWithCurrentURL(); if ( isPassiveMode() ) disconnect( m_pPart, SIGNAL( destroyed() ), m_pMainWindow->viewManager(), SLOT( slotObjectDestroyed() ) ); if (m_pPart->manager()) m_pPart->manager()->removePart(m_pPart); // ~Part does this, but we have to do it before (#213876, #207173) delete m_pPart; } qDeleteAll( m_lstHistory ); m_lstHistory.clear(); setRun( 0L ); //kDebug() << this << "done"; }
int main( int argc, char **argv ) { int n, i; char *com; fp_err = stderr; init_conf(); com = argv[0]; --argc; ++argv; while( argc > 0 && argv[0][0] == '-' ) { switch( argv[0][1] ) { case 'C': if( argc < 2 ) usage( com ); read_conf( argv[1] ); --argc; ++argv; break; /*******↓for server mode *******/ case 'p': /* 引数が不正な場合はエラー出力 */ if( argc < 2 ) usage( com ); /* ポート番号の読み込み */ i = atoi( argv[1] ); if (i > 1024) { nPort = i; } s_mode = 1; --argc; ++argv; break; /*******↑***********************/ case 'v': printf( "%s\n", moduleVersion ); printf( "%s\n", protocolVersion ); exit(0); default: usage( com ); } --argc; ++argv; } set_default_conf(); initialize(); n = setjmp( ebuf ); if( n > 0 ) chasen_process = 0; /* to restart 'chasen' process */ for( ;; ) { #ifdef PRINTDATA TmpMsg( "> " ); #endif n_arg = read_command( v_arg ); #ifdef PRINTDATA { int i; TmpMsg( "command is \n" ); for( i=0; i<n_arg; ++i ) { TmpMsg( " %d: %s\n", i+1, v_arg[i] ); } } #endif /* 「o」 で set Speak = NOW のショートカット */ if( strcmp(v_arg[0],"o")==0 ) { setSpeak( "=", "NOW" ); continue; } if( n_arg < 2 ) { unknown_com(); continue; } switch( commandID( v_arg[0] ) ) { case C_set: if( n_arg < 4 ) { unknown_com(); break; } switch( slotID( v_arg[1] ) ) { case S_Run: setRun( v_arg[2], v_arg[3] ); break; case S_Speaker: setSpeaker( v_arg[2], v_arg[3] ); break; case S_Alpha: setAlpha( v_arg[2], v_arg[3] ); break; case S_Postfilter_coef: setPostfilter_coef( v_arg[2], v_arg[3] ); break; case S_Text: setText( v_arg[2], v_arg[3] ); break; case S_Speak: setSpeak( v_arg[2], v_arg[3] ); break; case S_SaveRAW: setSave( v_arg[2], v_arg[3] ); break; case S_Save: setSave( v_arg[2], v_arg[3] ); break; case S_LoadRAW: setSpeechFile( v_arg[2], v_arg[3], RAW ); break; case S_SpeechFile: setSpeechFile( v_arg[2], v_arg[3], RAW ); break; case S_SaveWAV: setSaveWAV( v_arg[2], v_arg[3] ); break; case S_LoadWAV: setSpeechFile( v_arg[2], v_arg[3], WAV ); break; case S_SavePros: setSavePros( v_arg[2], v_arg[3] ); break; case S_LoadPros: setProsFile( v_arg[2], v_arg[3] ); break; case S_ProsFile: setProsFile( v_arg[2], v_arg[3] ); break; case S_ParsedText: setParsedText( v_arg[2], v_arg[3] ); break; case S_Speak_syncinterval: setSpeakSyncinterval( v_arg[2], v_arg[3] ); break; case S_AutoPlay: slot_Auto_play = setLogYesNo( v_arg[2], v_arg[3] ); break; case S_AutoPlayDelay: slot_Auto_play_delay = atoi( v_arg[3] ); break; case S_Log: setLog( v_arg[2], v_arg[3] ); break; case S_Log_conf: slot_Log_conf = setLogYesNo( v_arg[2], v_arg[3] ); break; case S_Log_text: slot_Log_text = setLogYesNo( v_arg[2], v_arg[3] ); break; case S_Log_arranged_text: slot_Log_arranged_text = setLogYesNo( v_arg[2], v_arg[3] ); break; case S_Log_chasen: slot_Log_chasen = setLogYesNo( v_arg[2], v_arg[3] ); break; case S_Log_tag: slot_Log_tag = setLogYesNo( v_arg[2], v_arg[3] ); break; case S_Log_phoneme: slot_Log_phoneme = setLogYesNo( v_arg[2], v_arg[3] ); break; case S_Log_mora: slot_Log_mora = setLogYesNo( v_arg[2], v_arg[3] ); break; case S_Log_morph: slot_Log_morph = setLogYesNo( v_arg[2], v_arg[3] ); break; case S_Log_aphrase: slot_Log_aphrase = setLogYesNo( v_arg[2], v_arg[3] ); break; case S_Log_breath: slot_Log_breath = setLogYesNo( v_arg[2], v_arg[3] ); break; case S_Log_sentence: slot_Log_sentence = setLogYesNo( v_arg[2], v_arg[3] ); break; case S_Err: setErr( v_arg[2], v_arg[3] ); break; default: unknown_com(); } break; case C_inq: switch( slotID( v_arg[1] ) ) { case S_Run: inqRun(); break; case S_ModuleVersion: inqModuleVersion(); break; case S_ProtocolVersion: inqProtocolVersion(); break; case S_SpeakerSet: inqSpeakerSet(); break; case S_Speaker: inqSpeaker(); break; case S_SpeechFile: inqSpeechFile(); break; case S_ProsFile: inqProsFile(); break; case S_AutoPlay: inqAutoPlay(); break; case S_AutoPlayDelay: inqAutoPlayDelay(); break; case S_Text_text: inqTextText(); break; case S_Text_pho: inqTextPho(); break; case S_Text_dur: inqTextDur(); break; case S_Speak_text: inqSpeakText(); break; case S_Speak_pho: inqSpeakPho(); break; case S_Speak_dur: inqSpeakDur(); break; case S_Speak_utt: inqSpeakUtt(); break; case S_Speak_len: inqSpeakLen(); break; case S_Speak_stat: inqSpeakStat(); break; case S_Speak_syncinterval: inqSpeakSyncinterval(); break; case S_Log: RepMsg( "rep Log = %s\n", slot_Log_file ); break; case S_Log_conf: RepMsg( "rep Log.conf = %s\n", YesNoSlot(S_Log_conf) ); break; case S_Log_text: RepMsg( "rep Log.text = %s\n", YesNoSlot(S_Log_text) ); break; case S_Log_arranged_text: RepMsg( "rep Log.arranged_text = %s\n", YesNoSlot(S_Log_arranged_text) ); break; case S_Log_chasen: RepMsg( "rep Log.chasen = %s\n", YesNoSlot(S_Log_chasen) ); break; case S_Log_tag: RepMsg( "rep Log.tag = %s\n", YesNoSlot(S_Log_tag) ); break; case S_Log_phoneme: RepMsg( "rep Log.phoneme = %s\n", YesNoSlot(S_Log_phoneme) ); break; case S_Log_mora: RepMsg( "rep Log.mora = %s\n", YesNoSlot(S_Log_mora) ); break; case S_Log_morph: RepMsg( "rep Log.morph = %s\n", YesNoSlot(S_Log_morph) ); break; case S_Log_aphrase: RepMsg( "rep Log.aphrase = %s\n", YesNoSlot(S_Log_aphrase) ); break; case S_Log_breath: RepMsg( "rep Log.breath = %s\n", YesNoSlot(S_Log_breath) ); break; case S_Log_sentence: RepMsg( "rep Log.sentence = %s\n", YesNoSlot(S_Log_sentence) ); break; case S_Err: RepMsg( "rep Err = %s\n", slot_Err_file ); break; default: unknown_com(); } break; case C_prop: { SlotProp prop; if( strcmp(v_arg[2],"=")!=0 ) { unknown_com(); break; } if( strcmp(v_arg[3],"AutoOutput")==0 ) { prop = AutoOutput; } else if(strcmp(v_arg[3],"NoAutoOutput")==0 ) { prop = NoAutoOutput; } else { unknown_com(); break; } switch( slotID( v_arg[1] ) ) { case S_Run: prop_Run = prop; break; case S_ModuleVersion: prop_ModuleVersion = prop; break; case S_ProtocolVersion: prop_ProtocolVersion = prop; break; case S_SpeakerSet: prop_SpeakerSet = prop; break; case S_Speaker: prop_Speaker = prop; break; case S_SpeechFile: prop_SpeechFile = prop; break; case S_ProsFile: prop_ProsFile = prop; break; case S_Text: prop_Text = prop; break; case S_Text_text: prop_Text_text = prop; break; case S_Text_pho: prop_Text_pho = prop; break; case S_Text_dur: prop_Text_dur = prop; break; case S_Speak: prop_Speak = prop; break; case S_Speak_text: prop_Speak_text = prop; break; case S_Speak_pho: prop_Speak_pho = prop; break; case S_Speak_dur: prop_Speak_dur = prop; break; case S_Speak_utt: prop_Speak_utt = prop; break; case S_Speak_len: prop_Speak_len = prop; break; case S_Speak_stat: prop_Speak_stat = prop; break; case S_Speak_syncinterval: prop_Speak_syncinterval = prop; break; default: unknown_com(); } } break; default: unknown_com(); } } if( s_mode ) { server_destroy (); } exit(0); }
int read_command( char **args ) { int n=0, p=0; char *c; if( s_mode ) { if (server_getline( cline, MAX_COMMAND_LEN ) <= 0) { args[0] = ""; return 0; } } else { if( g_getline( cline, MAX_COMMAND_LEN ) < 0) setRun( "=", "EXIT" ); if( ! strlen( cline) > 0) return 0; } c = cline; /* to skip space */ while( *c==' ' || *c=='\t' ) { ++c; }; /* to get a command name */ *(args++) = c; while( *c!=' ' && *c!='\t' && *c!='\n' && *c!= EOF ) { c++; } *(c++) = '\0'; ++n; /* to skip space */ while( *c==' ' || *c=='\t' ) { ++c; }; /* to get a slot name */ *(args++) = c; while( *c!=' ' && *c!='\t' && *c!='=' && *c!='<' && *c!='\n' && *c!= EOF ) { c++; }; *(c++) = '\0'; ++n; /* to skip space */ while( *c==' ' || *c=='\t' ) { ++c; }; /* to get relation */ *(args++) = c; if( *c=='=' || *c=='<' ) { c++; if( *(c-1)=='<' && *c=='<' ) { c++; } *(c++) = '\0'; ++n; } /* to skip space */ while( *c==' ' || *c=='\t' ) { ++c; }; /* to get a value */ *(args++) = c; while( *c!='\n' && *c!='\0' && *c!= EOF ) { c++; }; *c = '\0'; ++n; return n; }
/*MAIN*/ int main() { //Declarations int i, j; int targets; int center, error, most_blob; int num_balls = 5; int dist, prev; int n = 0; //Set up GPIO gpio_export(POWER_LED_PIN); gpio_set_dir(POWER_LED_PIN, OUTPUT_PIN); gpio_export(CAMERA_LED_PIN); gpio_set_dir(CAMERA_LED_PIN, OUTPUT_PIN); gpio_export(BUTTON_PIN); gpio_set_dir(BUTTON_PIN, INPUT_PIN); gpio_export(RELOAD_LED_PIN); gpio_set_dir(RELOAD_LED_PIN, OUTPUT_PIN); gpio_export(ARDUINO_PIN); gpio_set_dir(ARDUINO_PIN, OUTPUT_PIN); gpio_set_value(ARDUINO_PIN, LOW); //Set up PWM initPWM(); usleep(microsecondsToMilliseconds(500)); //Dropper setPeriod(DROPPER_MOTOR_INDEX, PWM_PERIOD); setDuty(DROPPER_MOTOR_INDEX, percentageToDuty(DROPPER_DOWN_POSITION)); setRun(DROPPER_MOTOR_INDEX, 1); //Grabber setPeriod(GRABBER_MOTOR_INDEX, PWM_PERIOD); setDuty(GRABBER_MOTOR_INDEX, GRABBER_UP_POSITION); setRun(GRABBER_MOTOR_INDEX, 1); //Right wheel setPeriod(RIGHT_WHEEL_INDEX, PWM_PERIOD); setDuty(RIGHT_WHEEL_INDEX, NEUTRAL_DUTY); setRun(RIGHT_WHEEL_INDEX, 0); //Left wheel setPeriod(LEFT_WHEEL_INDEX, PWM_PERIOD); setDuty(LEFT_WHEEL_INDEX, NEUTRAL_DUTY); setRun(LEFT_WHEEL_INDEX, 0); //Roller setRun(ROLLER_MOTOR_INDEX, 0); setPeriod(ROLLER_MOTOR_INDEX, PWM_PERIOD); setDuty(ROLLER_MOTOR_INDEX, PWM_PERIOD*ROLLER_SPEED); //Set up serial serial* arduinoSerial; if (serial_open(&arduinoSerial, ARDUINO_SERIAL_PORT, ARDUINO_BAUD_RATE) == 0){ printf("Opened Ardunio serial port sucessfully\n"); } else{ printf("Failed to open Arduino serial port\n"); } /*for(i = 0; i < 50; i++) { dist = getDistance(arduinoSerial); printf("Instensity: %d\n", dist); usleep(microsecondsToMilliseconds(100)); } usleep(microsecondsToMilliseconds(5000));*/ //Turn on power LED gpio_set_value(POWER_LED_PIN, HIGH); printf("Systems are GO for launch!\n"); waitForButtonPress(); getDistance(arduinoSerial); //Move to center of the board goForward(); usleep(microsecondsToMilliseconds(1800)); stopWheels(); //Aim at right target rotate(180); if(aimAtSideMostTarget(1)) { for (; num_balls > 3; num_balls--) { fireGolfBall(); } } //Move toward left target rotate(-550); goForward(); usleep(microsecondsToMilliseconds(2200)); stopWheels(); //Aim at left target rotate(300); if(aimAtSideMostTarget(0)) { for (; num_balls > 1; num_balls--) { fireGolfBall(); } } //Aim at middle target rotate(260); aimAtBiggestTarget(); for(; num_balls > 0; num_balls--) { fireGolfBall(); } //Move to sideline for reload rotate(-600); goForward(); buffer_clear(arduinoSerial); do { prev = dist; dist = getDistance(arduinoSerial); //printf("%d, ", dist); usleep(microsecondsToMilliseconds(9)); } while (dist < DISTANCE_TO_WALL || dist == 0 || prev - dist > 5); stopWheels(); rotate(1100); //Turn on reload LED gpio_set_value(RELOAD_LED_PIN, HIGH); usleep(microsecondsToMilliseconds(3000)); gpio_set_value(RELOAD_LED_PIN, LOW); while (n < 3) //big while loop thing! { //start from left num_balls = 5; goForward(); usleep(microsecondsToMilliseconds(1200)); stopWheels(); rotate(-420); goForward(); usleep(microsecondsToMilliseconds(590)); stopWheels(); //Aim at left target if(aimAtSideMostTarget(0)) { for(; num_balls > 3; num_balls--) { fireGolfBall(); } } //Aim at middle target rotate(420); goForward(); usleep(microsecondsToMilliseconds(600)); stopWheels(); rotate(-150); aimAtBiggestTarget(); for(; num_balls > 2; num_balls--) { fireGolfBall(); } //Aim at right target rotate(400); goForward(); usleep(microsecondsToMilliseconds(2700)); stopWheels(); rotate(-370); if(aimAtSideMostTarget(1)) { for(; num_balls > 0; num_balls--) { fireGolfBall(); } } //Move to sideline for reload rotate(320); //usleep(microsecondsToMilliseconds(50)); goForward(); buffer_clear(arduinoSerial); dist = 0; do { prev = dist; dist = getDistance(arduinoSerial); //printf("And another thing....\n"); //printf("%d!!! \n", dist); usleep(microsecondsToMilliseconds(10)); }while (dist < DISTANCE_TO_WALL || dist == 0 || prev - dist > 5); stopWheels(); rotate(-900); gpio_set_value(RELOAD_LED_PIN, HIGH); usleep(microsecondsToMilliseconds(3000)); gpio_set_value(RELOAD_LED_PIN, LOW); //start from right num_balls = 5; goForward(); usleep(microsecondsToMilliseconds(1350)); stopWheels(); rotate(570); //Aim at right target if(aimAtSideMostTarget(1)) { for(; num_balls > 3; num_balls--) { fireGolfBall(); } } //Aim at middle target rotate(-500); goForward(); usleep(microsecondsToMilliseconds(4500)); stopWheels(); rotate(650); aimAtBiggestTarget(); for(; num_balls > 2; num_balls--) { fireGolfBall(); } //Aim at left target rotate(-200); if(aimAtSideMostTarget(0)) { for(; num_balls > 0; num_balls--) { fireGolfBall(); } } //Move to sideline for reload rotate(-400); goForward(); buffer_clear(arduinoSerial); do { prev = dist; dist = getDistance(arduinoSerial); usleep(microsecondsToMilliseconds(9)); } while(dist < DISTANCE_TO_WALL || dist == 0 || prev - dist > 5); stopWheels(); rotate(1000); gpio_set_value(RELOAD_LED_PIN, HIGH); usleep(microsecondsToMilliseconds(3000)); gpio_set_value(RELOAD_LED_PIN, LOW); } //end of while loop //Turn off gpio power gpio_set_value(POWER_LED_PIN, LOW); gpio_set_value(RELOAD_LED_PIN, LOW); gpio_set_value(ARDUINO_PIN, LOW); //Turn off motors setRun(GRABBER_MOTOR_INDEX, 0); setRun(DROPPER_MOTOR_INDEX, 0); setRun(ROLLER_MOTOR_INDEX, 0); setRun(RIGHT_WHEEL_INDEX, 0); setRun(LEFT_WHEEL_INDEX, 0); //Remove GPIO files //gpio_unexport(PING_PIN); return 0; }
void turnOnRoller(void){ setRun(ROLLER_MOTOR_INDEX, 1); }
void goForward(void){ setRun(LEFT_WHEEL_INDEX, 1); setRun(RIGHT_WHEEL_INDEX, 1); setDuty(LEFT_WHEEL_INDEX, MAXIMUM_DUTY); setDuty(RIGHT_WHEEL_INDEX, MINIMUM_DUTY); }