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Unfortunately this requires a lot more time to execute than just writing the number as a literal. Also since this line of code will be executed many times (for each boundaryline and every time the robot moves) the time penalty would be high. Line 41 determines if the formula has a solution. If it does, the program enters the inside of the if-block (Lines 42 55). If it does not, the next boundary is considered (using the for-next loop). Lines 42 to 44 are where the equation is solved to obtain the x-coordinate of the two possible intercept points (they could be equal which means the same point i.e., one point). Lines 47 to 50 are where we check to see if the intercept points are within the boundary line-segment and not just part of the extended in nite line. If either point is, then there is a violation and we abort any further checking by exiting out of the for-next loop using the Break statement. Otherwise we proceed with checking the other lines [see Sec. C.8 for details on the Within() function].

Once you have installed your SCSI emulation, you should check that your IDE drives are being recognized as SCSI drives. To do this, you run the cdrecord program with the -scanbus option. The following example shows two IDE CD drives now emulating SCSI CD drives. One is a Plextor IDE CD-RW drive (scd0) and the other is a Toshiba DVD-ROM drive (scd1).

# cdrecord -scanbus Cdrecord 1.9 (i686-pc-linux-gnu) Copyright (C) 1995-2000 J rg Schilling Linux sg driver version: 3.1.17 Using libscg version 'schily-0.1' scsibus0: 0,0,0 0) 'PLEXTOR ' 'CD-R PX-W1210A' '1.02' Removable CD-ROM 0,1,0 1) 'TOSHIBA ' 'DVD-ROM SD-M1402' '1010' Removable CD-ROM 0,2,0 2) * 0,3,0 3) * 0,4,0 4) * 0,5,0 5) * 0,6,0 6) * 0,7,0 7) *

Combine the code from Figs. 9.4 and 9.6 (without the line numbers) then run the program. Remember, the robot does not see the boundary lines except through the mathematics described in this chapter. It may appear that the robot is avoiding the boundary as if it was an object but this is only because we made boundary avoidance the same as obstacle avoidance. Convince yourself of this by commenting out Line 77 in Fig. 9.4. This prevents the boundary plotting and you will see the robot avoiding an invisible wall.

You then need to change the device links for any IDE CD drives already installed. Your Linux CD Writing software and your /etc/fstab entries are designed to reference /etc/cdrom links. Originally these were set up to link to your IDE device files, such as /dev/hdc. You now have to change them to reference the SCSI CD device files, like /dev/scd0. For example, if you have two IDE CD drives, then you will have two device links called /etc/cdrom and /etc/cdrom1. If both IDE CD drives are now emulating SCSI drives, you have to change both the cdrom and cdrom1 links. You can place these rm and ln commands in the /etc/rc.d/rc.local file to have them automatically implemented when your system starts up. 1. First, erase the IDE CD-ROM links in the /dev directory. These are currently pointing to the IDE CD-ROM devices like hdc or hdb.

3. Then create them again to point to the corresponding SCSI devices for these drives. Use the ln command with the -s option to create symbolic links. These devices begin with the prefix scd (SCSI CD) and are numbered from 0, beginning with scd0, scd1, and so on.

5. As the links are specified in the /etc/fstab file, you can now mount and access the drives just using their mount point.

9.4 Summary

6. Finally, in the CD-ROM entry for your CD-R or CD-RW drive in the /etc/fstab file, you would specify the rw (read/write) option instead of the ro (read-only) option. In this example, /dev/cdrom links to /dev/scd0, which is a Plextor IDE CD-RW drive.