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RotateMotor(WHEELS,40,length/2); // // HERE YOU CAN ADD A SIMILAR PROCEDURE TO // MEASURE THE MINE WIDTH // // clear line 6 of the screen TextOut(0,LCD_LINE6," "); } //===================================================================// // COLLECT THE MINE // //===================================================================// sub CollectMine() { TextOut(0,LCD_LINE5,"COLLECTING MINE "); // move forward to get the mine between the claws RotateMotorEx(WHEELS, 50, 115, 0, true, true); ResetAllTachoCounts(WHEELS); StopSound(); // grab the mine and lift it RotateMotorPID(GRABBER,90,1460,30,30,60); // release the mine into the hold, and lower the arm again RotateMotorExPID(GRABBER,-100,1000,0,false,false,30,20,50); GrabberZeroPosition(); } task main () { // call the initialization subroutine MineSweeper_init(); // execute the sequence of actions forever // using the preceding subroutines while ( true ) { SearchMine(); CenterMine(); CollectMine(); } } The program starts, as always, by executing the main task, which is the only task running in this program. In main, the MineSweeper_init() subroutine is called to perform robot initialization. After the sensor ports are configured to read data from the Light Sensor and the Ultrasonic Sensor, the color of the ground is acquired to set the threshold that will be used in the rest of the program to distinguish the dark mines on the ground. Then, the grabber arm is brought into its zero position by the GrabberZeroPosition() subroutine, using the useful motor stall detection algorithm you have seen throughout the book.



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for clarity, and purposes of the previous examples, I have created a new application called Etomic.Share Transformer. The code is in the usual place in the VSS database. Additionally, it does not rely on the separate engine assembly for the same reason, though I imagine it would if this was a real application.

It is at this point that the query optimizer is invoked to optimize the execution of the query via the join->prepare() and join->optimize() functions. Query execution occurs next, with control passing to the lower-level do_select() function that carries out the restrict and projection operations. Finally, the sub_select() function invokes the storage engine to read the tuples, process them, and return results to the client. These methods are located in /sql/sql_select.cc. After the results are written to the network, control returns to the hand_connections_sockets loop (located in /sql/mysqld.cc).





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Figure 8-13 shows the new screen for the application that has generated all the excitement at Etomic.

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After initialization, the program flow comes back to the main task, where a perpetual loop begins: here inside the mine, searching, centering, and collecting procedures are called, one after another. You may begin to compare these parts of the code with the corresponding abstract blocks of the flow chart in Figure 7-6. Let s dive into the detailed description of these three procedures, proceeding in order. The SearchMine() subroutine contains a loop that sequentially activates phases 1, 2, and 3 of the search, calling the SearchPhase(byte phase) function, passing the phase number as an argument. The program flow breaks out the SearchMine() loop only if a mine is found during one of those phases. Also, notice that the SearchPhase function calls after the first are performed only if the mine has not already been found (and the found variable is false). In fact, when the mine is right under the sensor, the robot must not continue with the successive scanning phases: the SearchMine() subroutine returns, and the main task can call the other subroutines. The SearchPhase function implements the subloops shown in gray in Figure 7-6, returning a Boolean value that is true if a mine has been detected during the scan, false otherwise. Inside this function, the ravine avoidance maneuver can be eventually triggered. According to the phase argument passed to this function, the robot spins clockwise or counterclockwise, and the span covered is determined by the value of the span variable. Every time that the motors are started, their Tacho Count register is reset. So, the condition abs(MotorTachoCount(LEFT_ WHEEL))>span allows you to check if the left wheel has turned by the number of degrees specified by the span variable.

Tip Classes, structures, classes, structures it s all about classes and structures! Keep this in mind while

you examine the MySQL source code. For just about any operation in the server, there is at least one class or structure that either manages the data or drives the execution. Learning the commonly used MySQL classes and structures is the key to understanding the source code, as you ll see in the Important Classes and Structures section later in this chapter.

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