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01 FollowWall: 02 RangeLimit = 30 03 NoWallLimit = 35 04 RangerAngle = TurnDir*90 05 while True 06 while rBumper()&4 07 rTurn -TurnDir 08 wend 09 rTurn -2*TurnDir 10 rForward 1 12 while rRange(RangerAngle) > 13 rTurn TurnDir 14 wend 15 while true 16 if rRange(RangerAngle) >= 17 for WF_I = 1 to 45 18 if rBumper()&4 then 19 rForward 1 20 next 21 rTurn TurnDir*90 22 for WF_I = 1 to 20 23 if rBumper()&4 then 24 rForward 1 25 next 26 endif 27 while rRange() <=5 28 rTurn TurnDir 29 wend 30 while rRange(RangerAngle) 31 rTurn -TurnDir 32 wend 33 while rRange(RangerAngle) 34 rTurn TurnDir 35 wend 36 if not (rBumper()&4) 37 rForward 1 38 else 39 Break 40 endif 41 wend 42 wend 43 Return

period. You can also select a default for these limits. The default is set using the Set Quota Defaults panel in the File System menu. There are entries for both group and user soft and hard defaults. Linuxconf will allow you to place limits on both the disk size and the number of files. The edquota command is run from the command line. With it you can access the quota record for a particular user and group, which is maintained in the disk quota database. You can also set default quotas that will be applied to any user or group on the file system for which quotas have not been set. edquota will open the record in your default editor, and you can use your editor to make any changes. To open the record for a particular user, use the -u option and the user name as an argument for edquota (see Table 30-2). The following example opens the disk quota record for the user larisa:

Table 30-2: The options edquota and quota Description Edit the user quota. This is the default. Edit the group quota. Duplicate the quotas of the prototypical user specified for each user specified. This is the normal mechanism used to initialize quotas for groups of users. Edit the soft time limits for each file system. Description Print group quotas for the group of which the user is a member. Print the user's quota. Will display quotas on file systems where no storage is allocated. Print information on file systems where usage is over quota.

The quota record begins with the hard disk device name and the blocks of memory and inodes in use. The Limits segments have parameters for soft and hard limits. If these entries are 0, there are no limits in place. You can set both hard and soft limits, using the hard limit as a firm restriction. Blocks in Linux are currently about 1,000 bytes. The inodes are used by files to hold information about the memory blocks making up a file. To set the time limit for a soft limit, you use the edquota command with the -t option. The following example displays the quota record for larisa:

limit set by NoWallLimit (Line 16). If it is on a corner the robot will forward until it is clear of the corner (Lines 17 20) then turn 90 toward the wall (Line 21) then forward half a robot diameter (Lines 22 25). This ensures that the ranger is sensing the wall again. All the forwarding will only be done so long as there is no obstacle in the way. This allows for awkwardly turning walls (we shall see this later). Lines 27 to 29 check for a wall ahead of the robot. Lines 30 to 32 turn the robot away from the wall if it is getting too close. Lines 33 to 35 turn the robot towards the wall if it is getting too far. Lines 36 to 40 forward the robot if there is no obstruction. If there is an obstruction we exit out of the inner while-loop so as to renegotiate the wall as if the robot was approaching it anew.

Quotas for user larisa: /dev/hda3: blocks in use: 9000, limits (soft = 40000, hard = 60000) inodes in use: 321, limits (soft = 0, hard = 0)

These records are maintained in the quota database for that partition. Each partition that has quotas enabled will have its own quota database. You can check the validity of your quota database with the quotacheck command. You can turn quotas on an off using the quotaon and quotaoff commands. When you start up your system, quotacheck is run to check the quota databases and then quotaon is run to turn on quotas.