void D()
{
	if(M == 0)
	{
		printf("STOP\n");
		return;
	}
		if(M * 20 >= P)
		{
			if(M && angle < 5 && angle > -5)//???????????
			{
				fire(P);
				return;
			}
			else
			{
				backward(X);
				return;
			}
		}
		else G();	
		return;
}

int main()
{
  double t1, t2;
  const int dim = 2000;
  Chronometer chrono;

  t1 = chrono.click();
  Vector x(dim);
  Matrix A(dim);
  t2 = chrono.click();
  std::cout << "Time to create matrix: " << t2 - t1 << " sec.\n";

  t1 = chrono.click();
  matrixAssembly(A);
  t2 = chrono.click();
  std::cout << "Time to compute coefficients of the matrix: " << t2 - t1 << " sec.\n";

  t1 = chrono.click();
  assemblyRhs(A, x);
  t2 = chrono.click();
  std::cout << "Time to compute coefficients of the right hand side: " << t2 - t1 << " sec.\n";

  t1 = chrono.click();
  factorize(A);
  t2 = chrono.click();
  std::cout << "Time to factorize the matrix: " << t2 - t1 << " sec.\n";

  t1 = chrono.click();
  forward(A, x);
  backward(A, x);
  t2 = chrono.click();
  std::cout << "Time to solve the linear system: " << t2 - t1 << " sec.\n";

  verifySolution(x);

  return EXIT_SUCCESS;
}

void MainWindow::initButtons(){
    QPixmap rotateLeft(":images/rotate_left.png");
    QIcon rotateLeftIcon(rotateLeft);
    this->ui->angZL->setIcon(rotateLeftIcon);

    QPixmap rotateRight(":images/rotate_right.png");
    QIcon rotateRightIcon(rotateRight);
    this->ui->angZR->setIcon(rotateRightIcon);

    QPixmap up(":images/up.png");
    QIcon upIcon(up);
    this->ui->linZU->setIcon(upIcon);

    QPixmap down(":images/down.png");
    QIcon downIcon(down);
    this->ui->linZD->setIcon(downIcon);

    QPixmap toggle(":images/toggle_cam.png");
    QIcon toggleIcon(toggle);
    this->ui->toggleCam->setIcon(toggleIcon);

    QPixmap forward(":images/forward.png");
    QIcon forwardIcon(forward);
    this->ui->linXF->setIcon(forwardIcon);

    QPixmap backward(":images/backward.png");
    QIcon backwardIcon(backward);
    this->ui->linXB->setIcon(backwardIcon);

    QPixmap left(":images/left.png");
    QIcon leftIcon(left);
    this->ui->linYL->setIcon(leftIcon);

    QPixmap right(":images/right.png");
    QIcon rightIcon(right);
    this->ui->linYR->setIcon(rightIcon);
}

    int candy(vector<int>& ratings) {
        if (ratings.empty()) {
            return 0;
        }
        vector<int> forward(ratings.size(), 1);
        vector<int> backward(ratings.size(), 1);

        for (int i = 1; i < ratings.size(); i++) {
            if (ratings[i] > ratings[i-1]) {
                forward[i] = forward[i-1] + 1;
            }
        }
        for (int i = ratings.size()-2; i >= 0; i--) {
            if (ratings[i] > ratings[i+1]) {
                backward[i] = backward[i+1] + 1;
            }
        }

        int candy = 0;
        for (int i = 0; i < ratings.size(); i++) {
            candy += max(forward[i], backward[i]);
        }
        return candy;
    }

void terminalCheck1()
{
	if (ct != ot)
	{
		if (dir == 1 || dir == 3)
		{
			if (ct == 3 || ct == 0)
				turnRight();
			else turnLeft();
			front();
		}
		if (((ct == 0 || ct == 1) && dir == 2) || ((ct == 2 || ct == 3) && dir == 0))
			backward();
		ot = ct;
	}
	if (((ct == 0 || ct == 1) && dir == 0) || ((ct == 2 || ct == 3) && dir == 2))
		turnRight();
	else turnLeft();
	//..printf("Enter term[%d][%d]\n", ct, 0);
	//..scanf("%d", &term[ct][0]);
	term[ct][0]=scan();
	if (term[ct][0] == -1 || term[ct][0] == color[ct])
		total--;
}

/* used primarily for taking contents of macro file */
void move_tank(char direc[], int time)
{
	if (!strcmp(direc, "ff")) {
		forward(time);
	}

	else if (!strcmp(direc, "bb")) {
		backward(time);
	}

	else if (!strcmp(direc, "fr")) {
		foright(time);
	}

	else if (!strcmp(direc, "fl")) {
		foleft(time);
	}

	else if (!strcmp(direc, "br")) {
		baright(time);
	}

	else if (!strcmp(direc, "bl")) {
		baleft(time);
	}

	else if (!strcmp(direc, "ss")) {
		stop(time);
	}
	
	else {
		printf("ERROR: cannot move tank in that direction\n");
		safe_exit(1);
	}

} /* end move_tank function */ 

  void FFT::convolve(VolumeList &vols, Volume &mask) {
    if (vols.size() > 0 && 
	vols[0].width == mask.width &&
	vols[0].height == mask.height &&
	vols[0].depth == mask.depth) {
      forward(vols);
      forward(mask);
      vols *= mask;
      size_t i = 0;
      for (size_t x = 0; x < vols[0].width; ++x) {
	for (size_t y = 0; y < vols[0].height; ++y) {
	  for (size_t z = 0; z < vols[0].complex_depth; ++z) {
	    if ((x+y+z) % 2) {
	      for (size_t j = 0; j < vols.size(); ++j) {
		vols[j].complex_data[i] *= -1.0;
	      }
	    }
	    ++i;
	  }
	}
      }
      backward(vols);
    }
  }

/// PUBLIC
HelpBrowser::HelpBrowser(QString strPath,
                         QString strFileName,
                         QWidget *parent):
    QWidget(parent)
{
    pButtonBack    = new QPushButton("<<");
    pButtonHome    = new QPushButton("Home");
    pButtonForward = new QPushButton(">>");
    textBrowser = new QTextBrowser();

    connect(pButtonBack, SIGNAL(clicked()),
            textBrowser, SLOT(backward()));
    connect(pButtonHome, SIGNAL(clicked()),
            textBrowser, SLOT(home()));
    connect(pButtonForward, SIGNAL(clicked()),
            textBrowser, SLOT(forward()));
    connect(textBrowser, SIGNAL(backwardAvailable(bool)),
            pButtonBack, SLOT(setEnabled(bool)));
    connect(textBrowser, SIGNAL(forwardAvailable(bool)),
            pButtonForward, SLOT(setEnabled(bool)));

    textBrowser->setSource(QUrl::fromLocalFile(QString(strPath + strFileName)));

    hBoxLayoutCommandButton = new QHBoxLayout;

    hBoxLayoutCommandButton->addWidget(pButtonBack);
    hBoxLayoutCommandButton->addWidget(pButtonHome);
    hBoxLayoutCommandButton->addWidget(pButtonForward);

    vBoxLayoutMain = new QVBoxLayout;

    vBoxLayoutMain->addLayout(hBoxLayoutCommandButton);
    vBoxLayoutMain->addWidget(textBrowser);

    setLayout(vBoxLayoutMain);
}

/* More robust, but expensive, bbox transform
 * in the face of proj4 out of bounds conditions.
 * Can result in 20 -> 10 r/s performance hit.
 * Alternative is to provide proper clipping box
 * in the target srs by setting map 'maximum-extent'
 */
bool proj_transform::backward(box2d<double>& env, int points) const
{
    if (is_source_equal_dest_)
        return true;

    std::vector<coord<double,2> > coords;
    envelope_points(coords, env, points);

    double z;
    for (std::vector<coord<double,2> >::iterator it = coords.begin(); it!=coords.end(); ++it) {
        z = 0;
        if (!backward(it->x, it->y, z)) {
            return false;
        }
    }

    box2d<double> result = calculate_bbox(coords);

    env.re_center(result.center().x, result.center().y);
    env.height(result.height());
    env.width(result.width());

    return true;
}

void A()
{
		scanf("%d%d", &N, &NP);
		if(M == 0)
		{
			front(X);
			return;
		}
		if((N*NP > M*MP*3))
		{
			if(M && angle <= 10 && angle >= -10)//???????????
			{
				fire(P);
				return;
			}
			else
			{
				front(X);
				return;
			}
		}
		else
		{
			if(M && angle <= 5 && angle >= -5)//???????????
			{
				fire(P);
				return;
			}
			else
			{
				backward(X);
				return;
			}
		}
		//return 0;
}

// real backward
int check_rb(int n, int mode, int veclen, int sizeOfVect) {
  int i,j;

  DFT *p = DFT_init(mode, n, DFT_FLAG_REAL);
  REAL *sx = SIMDBase_alignedMalloc(sizeOfVect*n);

  //

  double complex fs[veclen][n], ts[veclen][n];

  for(j=0;j<veclen;j++) {
    for(i=0;i<n/2;i++) {
      if (i == 0) {
	fs[j][0  ] = (random() / (double)RAND_MAX);
	fs[j][n/2] = (random() / (double)RAND_MAX);
      } else {
	fs[j][i  ] = (random() / (double)RAND_MAX) + (random() / (double)RAND_MAX) * _Complex_I;
	fs[j][n-i] = conj(fs[j][i]);
      }
    }
  }

  for(j=0;j<veclen;j++) {
    for(i=0;i<n/2;i++) {
      if (i == 0) {
	sx[(2*0+0) * veclen + j] = creal(fs[j][0  ]);
	sx[(2*0+1) * veclen + j] = creal(fs[j][n/2]);
      } else {
	sx[(2*i+0) * veclen + j] = creal(fs[j][i]);
	sx[(2*i+1) * veclen + j] = cimag(fs[j][i]);
      }
    }
  }

  //

  for(j=0;j<veclen;j++) {
    backward(fs[j], ts[j], n);
  }

  DFT_execute(p, mode, sx, 1);

  //

  int success = 1;

  for(j=0;j<veclen;j++) {
    for(i=0;i<n;i++) {
      if (fabs(cimag(ts[j][i])) > THRES) {
	success = 0;
      }

      if ((fabs(sx[i * veclen + j]*2 - creal(ts[j][i])) > THRES)) {
	success = 0;
      }
    }
  }

  //

  SIMDBase_alignedFree(sx);
  DFT_dispose(p, mode);

  //

  return success;
}

/*
 * Main command processor.
 * Accept and execute commands until a quit command, then return.
 */
void
commands(void)
{
	int c, action;

	last_mca = 0;
	nscroll = (sc_height + 1) / 2;

	for (;;) {
		mca = 0;
		number = 0;

		/*
		 * See if any signals need processing.
		 */
		if (sigs) {
			psignals();
			if (quitting)
				quit();
		}
		/*
		 * Display prompt and accept a character.
		 */
		CMD_RESET;
		if (!prompt()) {
			next_file(1);
			continue;
		}
		noprefix();
		c = getcc();

again:		if (sigs)
			continue;

		/*
		 * If we are in a multicharacter command, call mca_char.
		 * Otherwise we call cmd_decode to determine the
		 * action to be performed.
		 */
		if (mca)
			switch (mca_char(c)) {
			case MCA_MORE:
				/*
				 * Need another character.
				 */
				c = getcc();
				goto again;
			case MCA_DONE:
				/*
				 * Command has been handled by mca_char.
				 * Start clean with a prompt.
				 */
				continue;
			case NO_MCA:
				/*
				 * Not a multi-char command
				 * (at least, not anymore).
				 */
				break;
			}

		/* decode the command character and decide what to do. */
		switch (action = cmd_decode(c)) {
		case A_DIGIT:		/* first digit of a number */
			start_mca(A_DIGIT, ":");
			goto again;
		case A_F_SCREEN:	/* forward one screen */
			CMD_EXEC;
			if (number <= 0 && (number = sc_window) <= 0)
				number = sc_height - 1;
			forward(number, 1);
			break;
		case A_B_SCREEN:	/* backward one screen */
			CMD_EXEC;
			if (number <= 0 && (number = sc_window) <= 0)
				number = sc_height - 1;
			backward(number, 1);
			break;
		case A_F_LINE:		/* forward N (default 1) line */
			CMD_EXEC;
			forward(number <= 0 ? 1 : number, 0);
			break;
		case A_B_LINE:		/* backward N (default 1) line */
			CMD_EXEC;
			backward(number <= 0 ? 1 : number, 0);
			break;
		case A_F_SCROLL:	/* forward N lines */
			CMD_EXEC;
			if (number > 0)
				nscroll = number;
			forward(nscroll, 0);
			break;
		case A_B_SCROLL:	/* backward N lines */
			CMD_EXEC;
			if (number > 0)
				nscroll = number;
//.........这里部分代码省略.........

void makeLine(int count){
	int i;
	for (i=0; i<count;i++)
		makePattern();
	backward(count*5);
}

task main()
{

  initializeRobot();

  waitForStart();

  while(true)
  {
    switch(sm)
		{

		case DELAY_1:

		count++;

		if (count>=300)
		{
		sm=FORWARD_2;
		}

		break;

		case DELAY_2:

		count++;

		if (count>=300)
		{
		sm=POSITION_2_PH_2;
		}

		break;

		case DELAY_3:

		count++;

		if (count>=300)
		{
		sm=POSITION_3_PH_2;
		}

		break;

		case FORWARD:
		servo[score]=230;
		writeDebugStreamLine("%d",SensorValue[IR]);
		if (forward(50,4000)==true)
		{
		wait1Msec(1000);
		sm=IR;
		}

		break;

		case IR:

		writeDebugStreamLine("%d",SensorValue[IR]);

		if (SensorValue[IR]==3)
		{
		sm=POSITION_1;
		}

		if (SensorValue[IR]==5||SensorValue[IR]==4)
		{
		sm=POSITION_2;
		}

		if (SensorValue[IR]==7||SensorValue[IR]==6)
		{
		sm=POSITION_3;
		}

		break;

		case POSITION_1:

		if(forward(25,250)==true)
		{
		sm=POSITION_1_PH_1;
		}

		break;

			case POSITION_1_PH_1:

		if(Turnright(25,65)==true)
		{
		sm=DELAY_1;
		}

		break;

		case POSITION_2:

	if (backward(25,500)==true)
	{
	sm=POSITION_2_PH_1;
//.........这里部分代码省略.........

void
play(void)
{
	MWEvent		event;
	MW244BPacket	incoming;

	event.eventDetail = &incoming;

	while (TRUE) {
		NextEvent(&event, M->theSocket());
		if (!M->peeking())
			switch(event.eventType) {
			case EVENT_A:
				aboutFace();
				break;

			case EVENT_S:
				leftTurn();
				break;

			case EVENT_D:
				forward();
				break;

			case EVENT_F:
				rightTurn();
				break;

			case EVENT_BAR:
				backward();
				break;

			case EVENT_LEFT_D:
				peekLeft();
				break;

			case EVENT_MIDDLE_D:
				shoot();
				break;

			case EVENT_RIGHT_D:
				peekRight();
				break;

			case EVENT_NETWORK:
				processPacket(&event);
				break;

			case EVENT_INT:
				quit(0);
				break;

			}
		else
			switch (event.eventType) {
			case EVENT_RIGHT_U:
			case EVENT_LEFT_U:
				peekStop();
				break;

			case EVENT_NETWORK:
				processPacket(&event);
				break;
			}

		ratStates();		/* clean house */

		manageMissiles();

		DoViewUpdate();

		mws_update(M->state);

		/* Any info to send over network? */

	}
}

void NeighbourGenerator::makeNeighbour(){
	vector<Node*> bottleneck;
	Graph g(m_solution,m_SettingTable);
	g.setLongestPath();
	int L=g.getMakespan();
	for(int i=0;i<g.size();i++){
		if(g[i]->m_R+g[i]->m_Q-g[i]->m_Jobpair->time==L){
			bottleneck.push_back(g[i]);
		}
	}

	m_CriticalPathList=pair<vector<Node*>,int>(vector<Node*>(),-1);
	vector<Node*> criticalPath;
	findCriticalPath(g[0],g[g.size()-1],bottleneck,criticalPath,0);

	criticalPath.clear();
	criticalPath=m_CriticalPathList.first;
	for(int j=0;j<criticalPath.size()-1;j++){
		for(int k=j+1;k<criticalPath.size()-1;k++){
			if(criticalPath[j]->m_Jobpair->machine!=
				criticalPath[k]->m_Jobpair->machine)
				continue;
			JobPair *I=criticalPath[j]->m_Jobpair;
			JobPair *J=criticalPath[k]->m_Jobpair;
			JobPair *alphaI=findJobFromSetting(I,PREV);
			JobPair *gammaI=findJobFromSetting(I,NEXT);
			JobPair *alphaJ=findJobFromSetting(J,PREV);
			JobPair *gammaJ=findJobFromSetting(J,NEXT);

			for(int l=0;l<criticalPath.size();l++){
				// gammaJがCriticalPathに含まれていればforwardchangeする
				if(gammaJ!=NULL && gammaI!=NULL && gammaJ->index==criticalPath[l]->m_Jobpair->index &&
					g.getNodeByIndex(J->index)->m_Q-J->time>=g.getNodeByIndex(gammaI->index)->m_Q-gammaI->time){
					vector<vector<JobPair> > forwardSolution;
					forwardSolution=changeForward(m_solution,criticalPath[j]->m_Jobpair,criticalPath[k]->m_Jobpair);
					m_NeighbourList.push_back(forwardSolution);
					Graph forward(forwardSolution,m_SettingTable);
					forward.setLongestPath();
					if(g.getMakespan()>forward.getMakespan()){
					}else{
						if(forward.getNodeByIndex(J->index)->m_R-J->time<=g.getNodeByIndex(J->index)->m_R-J->time-I->time){
						}
						if(forward.getNodeByIndex(J->index)->m_Q<=g.getNodeByIndex(J->index)->m_Q+I->time){
						}
					}
				}
				
				// alphaIがCriticalPathに含まれていればbackwardchangeする
				if(alphaI!=NULL && alphaJ!=NULL && alphaI->index==criticalPath[l]->m_Jobpair->index &&
					g.getNodeByIndex(I->index)->m_R>=g.getNodeByIndex(alphaJ->index)->m_R){
					vector<vector<JobPair> > backwardSolution;
					backwardSolution=changeBackward(m_solution,criticalPath[j]->m_Jobpair,criticalPath[k]->m_Jobpair);
					m_NeighbourList.push_back(backwardSolution);

					Graph backward(backwardSolution,m_SettingTable);
					backward.setLongestPath();
					if(g.getMakespan()>backward.getMakespan()){
					}else{
						if(backward.getNodeByIndex(I->index)->m_Q<=g.getNodeByIndex(I->index)->m_Q-J->time){
						}
						if(backward.getNodeByIndex(I->index)->m_R-I->time<=g.getNodeByIndex(I->index)->m_R-I->time+J->time){
						}
					}
				}
			}
		}
	}
}

DocumentBrowser::DocumentBrowser(LiteApi::IApplication *app, QObject *parent) :
    LiteApi::IDocumentBrowser(parent),
    m_liteApp(app),
    m_extension(new Extension)
{
    m_widget = new QWidget;

    m_htmlWidget = app->htmlWidgetManager()->createByName(this,"QTextBrowser");

    m_toolBar = new QToolBar;
    m_toolBar->setIconSize(LiteApi::getToolBarIconSize());

    m_backwardAct = new QAction(QIcon("icon:images/backward.png"),tr("Back"),this);
    m_forwardAct = new QAction(QIcon("icon:images/forward.png"),tr("Forward"),this);
    m_reloadUrlAct = new QAction(QIcon("icon:images/reload.png"),tr("Reload"),this);
    m_toolBar->addAction(m_backwardAct);
    m_toolBar->addAction(m_forwardAct);

    LiteApi::IActionContext *actionContext = m_liteApp->actionManager()->getActionContext(this,"Document");

    m_increaseFontSize = new QAction(tr("Increase Font Size"),this);
    actionContext->regAction(m_increaseFontSize,"IncreaseFontSize","Ctrl++;Ctrl+=");

    m_decreaseFontSize = new QAction(tr("Decrease Font Size"),this);
    actionContext->regAction(m_decreaseFontSize,"DecreaseFontSize","Ctrl+-");

    m_resetFontSize = new QAction(tr("Reset Font Size"),this);
    actionContext->regAction(m_resetFontSize,"ResizeFontSize","Ctrl+0");

    m_urlComboBox = new QComboBox;
    m_urlComboBox->setEditable(true);
    m_urlComboBox->setSizePolicy(QSizePolicy::Expanding,QSizePolicy::Preferred);

    m_toolBar->addSeparator();
    m_toolBar->addWidget(m_urlComboBox);
    m_toolBar->addAction(m_reloadUrlAct);

    QVBoxLayout *mainLayout = new QVBoxLayout;
    mainLayout->setMargin(0);
    mainLayout->setSpacing(0);

    mainLayout->addWidget(m_toolBar);
    mainLayout->addWidget(m_htmlWidget->widget());
    m_widget->setLayout(mainLayout);

    m_widget->addAction(m_increaseFontSize);
    m_widget->addAction(m_decreaseFontSize);
    m_widget->addAction(m_resetFontSize);

    connect(m_increaseFontSize,SIGNAL(triggered()),this,SLOT(increaseFontSize()));
    connect(m_decreaseFontSize,SIGNAL(triggered()),this,SLOT(decreaseFontSize()));
    connect(m_resetFontSize,SIGNAL(triggered()),this,SLOT(resetFontSize()));
    connect(m_htmlWidget,SIGNAL(linkHovered(QUrl)),this,SIGNAL(linkHovered(QUrl)));
    connect(m_htmlWidget,SIGNAL(linkClicked(QUrl)),this,SLOT(linkClicked(QUrl)));
    connect(m_htmlWidget,SIGNAL(loadFinished(bool)),this,SIGNAL(documentLoaded()));
    connect(m_backwardAct,SIGNAL(triggered()),this,SLOT(backward()));
    connect(m_forwardAct,SIGNAL(triggered()),this,SLOT(forward()));
    connect(m_reloadUrlAct,SIGNAL(triggered()),this,SLOT(reloadUrl()));
    connect(m_urlComboBox,SIGNAL(activated(QString)),this,SLOT(activatedUrl(QString)));
    connect(this,SIGNAL(backwardAvailable(bool)),m_backwardAct,SLOT(setEnabled(bool)));
    connect(this,SIGNAL(forwardAvailable(bool)),m_forwardAct,SLOT(setEnabled(bool)));

    m_extension->addObject("LiteApi.IDocumentBrowser",this);
    m_extension->addObject("LiteApi.IHtmlWidget",m_htmlWidget);
    m_extension->addObject("LiteApi.QTextBrowser",m_htmlWidget->widget());
    m_htmlWidget->installEventFilter(m_liteApp->editorManager());

    requestFontZoom(0);

    QPalette p = m_htmlWidget->widget()->palette();
    p.setBrush(QPalette::Highlight,Qt::yellow);
    p.setColor(QPalette::HighlightedText,Qt::black);
    m_htmlWidget->widget()->setPalette(p);

    emit backwardAvailable(false);
    emit forwardAvailable(false);
}

void QHTMLView::init()
{
  QString qs;
  QString qs2;
  mpTextBrowser = new QTextBrowser(this);
  mpTextBrowser->setTextFormat(Qt::RichText);
  setCentralWidget(mpTextBrowser);
  qs = xmlConfig->stringValue("HELP_INDEX");
  qs2 = xmlConfig->stringValue("HELP_LAST_PAGE");
  QFile qf1(qs);
  if(qf1.exists()) mpTextBrowser->setSource(qs);
  if(qs != qs2 )
  {
    QFile qf2(qs2);
    if(qf2.exists()) mpTextBrowser->setSource(qs2);
  }
  QPopupMenu* file = new QPopupMenu( this );
  file->insertItem( tr("&Open File"), this, SLOT( openFile() ), ALT | Key_O );
  file->insertSeparator();
  file->insertItem( tr("&Quit"), this, SLOT( close() ), ALT | Key_Q );

  QPopupMenu* go = new QPopupMenu( this );

  mIdBackward = go->insertItem(tr("&Backward"),mpTextBrowser,
                   SLOT( backward() ),ALT | Key_Left );
  mIdForward = go->insertItem(tr("&Forward"),mpTextBrowser,
                   SLOT( forward() ),ALT | Key_Right );
  go->insertItem(tr("&Home"),mpTextBrowser, SLOT( home() ) );

  QPopupMenu* help = new QPopupMenu( this );
  help->insertItem(tr("&About ..."),this,SLOT(about()));

#ifdef KDEAPP
  KMenuBar* mb = new KMenuBar(this);
#else
  QMenuBar* mb = new QMenuBar(this);
#endif
  mb->insertItem(tr("&File"),file);
  mb->insertItem(tr("&Go"),go);
  mb->insertSeparator();
  mb->insertItem(tr("&Help"),help );

  mb->setItemEnabled( mIdForward, false);
  mb->setItemEnabled( mIdBackward, false);

  connect(mpTextBrowser, SIGNAL( backwardAvailable( bool ) ),
    	    this, SLOT( setBackwardAvailable( bool ) ) );
  connect(mpTextBrowser, SIGNAL( forwardAvailable( bool ) ),
	        this, SLOT( setForwardAvailable( bool ) ) );
  connect(mpTextBrowser,SIGNAL(textChanged() ),this,
          SLOT( slotTextChanged() ) );

  QToolBar* toolbar = new QToolBar( this );
  addToolBar( toolbar);
  QToolButton* tb1;

	mPixForward = QPixmap((const char **)forward_xpm);
	mPixBackward = QPixmap((const char **)backward_xpm);
	mPixHome = QPixmap((const char **)home_xpm);

  tb1 = new QToolButton(mPixBackward, tr("Backward"), "", mpTextBrowser,
                        SLOT(backward()), toolbar );
  connect(mpTextBrowser, SIGNAL( backwardAvailable(bool) ),tb1,
          SLOT( setEnabled(bool) ) );
  tb1->setEnabled( false );

  tb1 = new QToolButton(mPixForward, tr("Forward"), "",mpTextBrowser,
                        SLOT(forward()), toolbar );
  connect(mpTextBrowser,SIGNAL(forwardAvailable(bool) ),tb1,
          SLOT( setEnabled(bool) ) );
  tb1->setEnabled( false );

  tb1 = new QToolButton(mPixHome, tr("Home"), "",this,
                        SLOT(home()), toolbar );
  QWidget* dummy = new QWidget(toolbar);
  toolbar->setStretchableWidget(dummy);
  setRightJustification(true);
}

//.........这里部分代码省略.........
							motor(MOT_LEFT,0);
							motor(MOT_RIGHT,0);
							//msleep(10);
							printf("blob is too close\n");
						}
						
						if(yvalue < centery-margin) // moves backwar if senses value less than 38
						{
							motor(MOT_LEFT,50);
							motor(MOT_RIGHT,50);
							msleep(stepsizey);
							motor(MOT_LEFT,0);
							motor(MOT_RIGHT,0);
							//msleep(10);
							printf("blob is too far\n");
						}
					}
				}
			}
		}
	}
	set_servo_position(S_GATE,S_CLOSE);	
	while (analog10(2)<BLACK_SEN_THRESH)
	{
		motor(MOT_LEFT,-100);
	}
	
	// SCORE PILE 1
	
	left(5,0);
	//backward(50);
	touch_back(TOUCH_SEN);
	forward(10);
	backward(10);
	forward(20);
	right(55,0);
	forward(35);
	backward(4);
	right(45,0);
	while (analog10(3)<BLACK_SEN_THRESH)
	{
		motor(MOT_LEFT, 100);
		motor(MOT_RIGHT, 100);
	}
	msleep(10);
	backward(24);
	left(42,0);
	backward(10); 
	left(50,0);
	//backward(35);
	touch_back(TOUCH_SEN);
	forward(120.00);
	
	// TRIBBLE PILE 2
	
	set_servo_position(S_GATE,S_OPEN);
	forward(40.00);
	set_servo_position(S_GATE,S_GAP);
	
	// camera sort
	
	s_time = curr_time();
	while((curr_time()-s_time) < 14) //timer
	{
		while (greencentered == 0)
		{

FLHelpWindow::FLHelpWindow(const QString &home_,
                           const QString &_path,
                           QWidget *parent,
                           const char *name) :
  QMainWindow(parent, name, WDestructiveClose),
  pathCombo(0), selectedURL()
{
  readHistory();
  readBookmarks();

  browser = new QTextBrowser(this);

  browser->mimeSourceFactory() ->setFilePath(_path);
  browser->setFrameStyle(QFrame::Panel | QFrame::Sunken);
  connect(browser, SIGNAL(textChanged()), this, SLOT(textChanged()));

  setCentralWidget(browser);

  if (!home_.isEmpty())
    browser->setSource(home_);

  connect(browser, SIGNAL(highlighted(const QString &)), statusBar(),
          SLOT(message(const QString &)));

  resize(640, 700);

  QPopupMenu *file = new QPopupMenu(this);

  file->insertItem(tr("&Imprimir"), this, SLOT(print()), CTRL + Key_I);
  file->insertSeparator();
  file->insertItem(tr("&Cerrar"), this, SLOT(close()), Key_Escape);

  // The same three icons are used twice each.
  QIconSet icon_back(QPixmap::fromMimeSource("previous.png"));
  QIconSet icon_forward(QPixmap::fromMimeSource("next.png"));
  QIconSet icon_home(QPixmap::fromMimeSource("home.png"));

  QPopupMenu *go = new QPopupMenu(this);

  backwardId =
    go->insertItem(icon_back, tr("&Atrás"), browser, SLOT(backward()),
                   CTRL + Key_Left);
  forwardId =
    go->insertItem(icon_forward, tr("&Adelante"), browser,
                   SLOT(forward()), CTRL + Key_Right);
  go->insertItem(icon_home, tr("&Inicio"), browser, SLOT(home()));

  QPopupMenu *help = new QPopupMenu(this);

  help->insertItem(tr("&Acerca ..."), this, SLOT(about()));
  help->insertItem(tr("Acerca de &Qt ..."), this, SLOT(aboutQt()));

  hist = new QPopupMenu(this);
  QStringList::Iterator it = history.begin();
  for (; it != history.end(); ++it)
    mHistory[ hist->insertItem(*it)] = *it;
  connect(hist, SIGNAL(activated(int)), this, SLOT(histChosen(int)));

  bookm = new QPopupMenu(this);
  bookm->insertItem(tr("Agregar Favorito"), this, SLOT(addBookmark()));
  bookm->insertSeparator();

  QStringList::Iterator it2 = bookmarks.begin();
  for (; it2 != bookmarks.end(); ++it2)
    mBookmarks[ bookm->insertItem(*it2)] = *it2;
  connect(bookm, SIGNAL(activated(int)), this, SLOT(bookmChosen(int)));

  menuBar() ->insertItem(tr("&Archivo"), file);
  menuBar() ->insertItem(tr("&Ir"), go);
  menuBar() ->insertItem(tr("Historial"), hist);
  menuBar() ->insertItem(tr("Favoritos"), bookm);
  menuBar() ->insertSeparator();
  menuBar() ->insertItem(tr("&Ayuda"), help);

  menuBar() ->setItemEnabled(forwardId, FALSE);
  menuBar() ->setItemEnabled(backwardId, FALSE);
  connect(browser, SIGNAL(backwardAvailable(bool)), this,
          SLOT(setBackwardAvailable(bool)));
  connect(browser, SIGNAL(forwardAvailable(bool)), this,
          SLOT(setForwardAvailable(bool)));


  QToolBar *toolbar = new QToolBar(this);

  addToolBar(toolbar, "Toolbar");
  QToolButton *button;

  button =
    new QToolButton(icon_back, tr("Atrás"), "", browser, SLOT(backward()),
                    toolbar);
  connect(browser, SIGNAL(backwardAvailable(bool)), button,
          SLOT(setEnabled(bool)));
  button->setEnabled(FALSE);
  button =
    new QToolButton(icon_forward, tr("Adelante"), "", browser,
                    SLOT(forward()), toolbar);
  connect(browser, SIGNAL(forwardAvailable(bool)), button,
          SLOT(setEnabled(bool)));
  button->setEnabled(FALSE);
  button =
//.........这里部分代码省略.........