int main(int argc, char *argv[])
{
printf("hourglass\n");
opt(argc, argv, &opts);
init(&opts);
report_params(&opts);
setup(&opts);
run(&opts, &results);
setdown(&opts);
report(&opts, &results);
run_free(&opts, &results);
deinit(&opts);
return EXIT_SUCCESS;
}
void getup()
{
SetMotor_Code(1, 1, 0);
SetMotor_Code(2, 1, 0);
SetTenthS(2);
SetMotor_Code(1, 0, 30);
SetMotor_Code(2, 2, 30);
SetThousandthS(5);
SetMotor_Code(1, 1, 35);
SetMotor_Code(2, 1, 35);
SetTenthS(3);
SetOneServo(_SERVOCTRL_ST_, 2, 150, 100);
SetTenthS(10);
SetOneServo(_SERVOCTRL_ST_, 2, 100, 500);
SetTenthS(10);
SetOneServo(_SERVOCTRL_ST_, 1, 156, 0);
SetTenthS(3);
SetOneServo(_SERVOCTRL_ST_, 2, 50, 800);
SetTenthS(15);
SetOneServo(_SERVOCTRL_ST_, 2, 49, 400);
SetOneServo(_SERVOCTRL_ST_, 1, 180, 400);
SetTenthS(8);
setdown();
}
int
main(int argc, char **argv)
{
WNDCLASS wc;
RECT rect;
HINSTANCE hinstance;
MSG msg;
HWND window;
LPDIRECTDRAW object;
LPDIRECTDRAWSURFACE surface_primary;
LPDIRECTDRAWSURFACE surface_back;
int depth;
int running;
int pause_me = 0;
hinstance = GetModuleHandle(0);
wc.style = 0;
wc.lpfnWndProc = MainWndProc;
wc.cbClsExtra = 0;
wc.cbWndExtra = 0;
wc.hInstance = hinstance;
wc.hIcon = LoadIcon (NULL, IDI_APPLICATION);
wc.hCursor = LoadCursor (NULL, IDC_ARROW);
wc.hbrBackground = (HBRUSH)(1 + COLOR_BTNFACE);
wc.lpszMenuName = NULL;
wc.lpszClassName = "Evas_Software_DDraw_Test";
if(!RegisterClass(&wc)) return EXIT_FAILURE;
rect.left = 0;
rect.top = 0;
rect.right = win_w;
rect.bottom = win_h;
AdjustWindowRect (&rect, WS_OVERLAPPEDWINDOW | WS_SIZEBOX, FALSE);
window = CreateWindowEx(0,
"Evas_Software_DDraw_Test",
"Evas_Software_DDraw_Test",
WS_OVERLAPPEDWINDOW | WS_SIZEBOX,
CW_USEDEFAULT, CW_USEDEFAULT,
rect.right - rect.left, rect.bottom - rect.top,
NULL, NULL, hinstance, NULL);
if (!window) return EXIT_FAILURE;
if (!_directdraw_init(window,
&object,
&surface_primary,
&surface_back,
&depth, win_w, win_h))
return EXIT_FAILURE;
ShowWindow(window, SW_SHOWDEFAULT);
UpdateWindow(window);
/* test evas_free.... :) */
evas_init();
evas = evas_new();
evas_output_method_set(evas, evas_render_method_lookup("software_ddraw"));
evas_output_size_set(evas, win_w, win_h);
evas_output_viewport_set(evas, 0, 0, win_w, win_h);
{
Evas_Engine_Info_Software_DDraw *einfo;
einfo = (Evas_Engine_Info_Software_DDraw *)evas_engine_info_get(evas);
/* the following is specific to the engine */
einfo->info.window = window;
einfo->info.object = object;
einfo->info.surface_primary = surface_primary;
einfo->info.surface_back = surface_back;
einfo->info.depth = depth;
einfo->info.rotation = 0;
evas_engine_info_set(evas, (Evas_Engine_Info *) einfo);
}
setup();
printf("################ evas free\n");
setdown();
evas_free(evas);
printf("evas freed. DONE\n");
evas = evas_new();
evas_output_method_set(evas, evas_render_method_lookup("software_ddraw"));
evas_output_size_set(evas, win_w, win_h);
evas_output_viewport_set(evas, 0, 0, win_w, win_h);
{
Evas_Engine_Info_Software_DDraw *einfo;
einfo = (Evas_Engine_Info_Software_DDraw *) evas_engine_info_get(evas);
/* the following is specific to the engine */
einfo->info.window = window;
einfo->info.object = object;
einfo->info.surface_primary = surface_primary;
einfo->info.surface_back = surface_back;
einfo->info.depth = depth;
einfo->info.rotation = 0;
evas_engine_info_set(evas, (Evas_Engine_Info *) einfo);
}
setup();
printf("################ evas free\n");
setdown();
evas_free(evas);
printf("evas freed. DONE\n");
evas = evas_new();
evas_output_method_set(evas, evas_render_method_lookup("software_ddraw"));
evas_output_size_set(evas, win_w, win_h);
evas_output_viewport_set(evas, 0, 0, win_w, win_h);
{
Evas_Engine_Info_Software_DDraw *einfo;
einfo = (Evas_Engine_Info_Software_DDraw *) evas_engine_info_get(evas);
/* the following is specific to the engine */
einfo->info.window = window;
einfo->info.object = object;
einfo->info.surface_primary = surface_primary;
einfo->info.surface_back = surface_back;
einfo->info.depth = depth;
einfo->info.rotation = 0;
evas_engine_info_set(evas, (Evas_Engine_Info *) einfo);
}
setup();
printf("################ evas free\n");
setdown();
evas_free(evas);
printf("evas freed. DONE\n");
evas = evas_new();
evas_output_method_set(evas, evas_render_method_lookup("software_ddraw"));
evas_output_size_set(evas, win_w, win_h);
evas_output_viewport_set(evas, 0, 0, win_w, win_h);
{
Evas_Engine_Info_Software_DDraw *einfo;
einfo = (Evas_Engine_Info_Software_DDraw *) evas_engine_info_get(evas);
/* the following is specific to the engine */
einfo->info.window = window;
einfo->info.object = object;
einfo->info.surface_primary = surface_primary;
einfo->info.surface_back = surface_back;
einfo->info.depth = depth;
einfo->info.rotation = 0;
evas_engine_info_set(evas, (Evas_Engine_Info *) einfo);
}
setup();
printf("################ evas free\n");
setdown();
evas_free(evas);
printf("evas freed. DONE\n");
evas = evas_new();
evas_output_method_set(evas, evas_render_method_lookup("software_ddraw"));
evas_output_size_set(evas, win_w, win_h);
evas_output_viewport_set(evas, 0, 0, win_w, win_h);
{
Evas_Engine_Info_Software_DDraw *einfo;
einfo = (Evas_Engine_Info_Software_DDraw *) evas_engine_info_get(evas);
/* the following is specific to the engine */
einfo->info.window = window;
einfo->info.object = object;
einfo->info.surface_primary = surface_primary;
einfo->info.surface_back = surface_back;
einfo->info.depth = depth;
einfo->info.rotation = 0;
evas_engine_info_set(evas, (Evas_Engine_Info *) einfo);
}
setup();
orig_start_time = start_time = get_time();
running = 1;
while (running)
{
while (PeekMessage (&msg, window, 0, 0, PM_NOREMOVE))
{
int res;
res = GetMessage (&msg, NULL, 0, 0);
TranslateMessage (&msg);
DispatchMessage (&msg);
if (res == 0)
running = 0;
}
if (!(pause_me == 1))
{
loop();
evas_render(evas);
}
}
exit:
setdown();
evas_free(evas);
if (surface_primary)
IDirectDrawSurface7_Release (surface_primary);
if (object)
IDirectDraw7_Release (object);
evas_shutdown();
return EXIT_SUCCESS;
}
void ds(unsigned int speed, double toAngle, double dcode)
{
unsigned int s1 = 0;
unsigned int s2 = 0;
double code = 0;
unsigned int b4 = 0;
setdown();
SetMotorCode0(2);
SetMotor_Code(1, 0, speed);
SetMotor_Code(2, 2, speed);
while (1)
{
code = GetMotorCode(2);
if ( (code/dcode)<=-toAngle )
{
break;
}
b4 = GetColorSensor(_COLOR_1_, 1, 4);
if ( b4==3 )
{
getup();
SetMotor_Code(1, 0, speed);
SetMotor_Code(2, 2, speed);
}
}
SetMotor_Code(1, 1, speed);
SetMotor_Code(2, 1, speed);
SetTenthS(2);
SetMotor_Code(1, 2, speed);
SetMotor_Code(2, 0, speed);
while (1)
{
code = GetMotorCode(2);
if ( (code/dcode)>=toAngle )
{
break;
}
b4 = GetColorSensor(_COLOR_1_, 1, 4);
if ( b4==3 )
{
getup();
SetMotor_Code(1, 2, speed);
SetMotor_Code(2, 0, speed);
}
}
SetMotorCode0(2);
SetMotor_Code(1, 0, speed);
SetMotor_Code(2, 2, speed);
while (1)
{
code = GetMotorCode(2);
if ( (code/dcode)<=-toAngle )
{
break;
}
b4 = GetColorSensor(_COLOR_1_, 1, 4);
if ( b4==3 )
{
getup();
SetMotor_Code(1, 0, speed);
SetMotor_Code(2, 2, speed);
}
}
SetMotor_Code(1, 1, speed);
SetMotor_Code(2, 1, speed);
}
