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FIGURE 7.8 This routine deals with sharp turns in a unique way, allowing it to not only handle very sharp turns, but also acquire the line if it nds it while roaming randomly.

Although you can power down the system with the telinit command and the 0 state, you can also use the shutdown command. The shutdown command has a time argument that gives users on the system a warning before you power down. You can specify an exact time to shut down or a period of minutes from the current time. The exact time is specified by hh:mm for the hour and minutes. The period of time is indicated by a + and the number of minutes. The shutdown command takes several options with which you can specify how you want your system shut down. The -h option, which stands for halt, simply shuts down the system, whereas the -r option shuts down the system and then reboots it. In the next example, the system is shut down after ten minutes. The shutdown options are listed in Table 28-3.

Command shutdown [-rkhncft] time [warning-message]

The principle is that when one of the outside sensors and the middle sensor are on simultaneously, the robot assumes that the line must be making a sharp turn. When this situation is detected, the robot moves forward so that its center is near the point where the line turns. The robot then turns until its outside sensor nds the line again. Having done all this, the routine proceeds as before with the while-loops keeping the robot on the line in the same manner as in Fig. 7.6. When you run the program you will see that the new algorithm does in fact handle very sharp turns. You will also see that this new turning behavior happens even on moderately sharp turns, making the robot correctly follow more complex lines. However, the robot s movement is now somewhat erratic which may not be acceptable in some situations. There are many factors that can cause an algorithm to fail. The above algorithm, for example, will not work properly if the line width is reduced from 4 to 3 pixels. Any algorithm is only a potential solution until it has been thoroughly tested in a variety of expected environments. A robot s ability to perform properly depends on the programmer s ability to predict the situations the robot is likely to face. Subsequent chapters will explore this idea further.

Table 28-3: System Shutdown Options Description Shuts the system down after the specified time period, issuing warnings to users; you can specify a warning message of your own after the time argument; if neither -h nor -r is specified to shut down the system, the system sets to the administrative mode, runlevel state 1. Has two possible formats: it can be an absolute time in the format hh:mm, with hh as the hour (one or two digits) and mm as the minute (in two digits); it can also be in the format +m, with m as the number of minutes to wait; the word now is an alias for +0. Tells init to wait sec seconds for the interval between sending processes the warning and the kill signals, before changing to another runlevel. Doesn't actually shut down; only sends the warning messages to everybody. Reboots after shutdown, runlevel state 6. Halts after shutdown, runlevel state 0. Doesn't call init to do the shutdown; you do it yourself. Does a fast reboot. Cancels an already running shutdown; no time argument.

To shut down the system immediately, you can use +0 or the word now. The following example has the same effect as the CTRL-ALT-DEL method of shutting down your system, as described in 3. It shuts down the system immediately, and then reboots.

47 If a stock pays a cash dividend during the call s life, it may be optimal to exercise the call early, just prior to dividend payment An American-style call on a dividend-paying stock, therefore, can be modeled as a compound option providing its holder with the right, on the ex-dividend date, either to exercise early and collect the dividend, or to leave the position open Chooser options Rubinstein used the compound option framework in 1991 to value the chooser or as-you-like-it options traded in the over-the-counter market48 The holder of a chooser option has the right to decide at some future date whether the option is a call or a put The call and the put usually have the same exercise price and the same time remaining to expiration Bear market warrants with a periodic reset.

With the shutdown command, you can include a warning message to be sent to all users currently logged in, giving them time to finish what they are doing before you shut them down.

7.4 Random Roaming with Line-Following (Racetrack)

# shutdown -h +5 "System needs a rest"