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5 PlaceRobot This subroutine allows the user to indicate a location (using the mouse) where the robot will be placed Once the left mouse button is clicked over a position on the screen that also has the color of the line (ie, it is part of the maze) the robot is placed at that location If the user keeps the mouse button clicked the robot is rotated (90 at a time) until the user releases the mouse button The routine also uses rInvisible to set the line color so the robot can use the rSense() function to move over the line The initial robot position is saved in the variables Rx and Ry We will not make any use of these in this program, but they will be useful later If you review the routine you will notice some lines are numbered.

Each has its own Man page with details of its use The NIS server programs are ypserv, ypinit, yppasswdd, yppush, ypxfr, and netgroup each also with its own Man page A detailed NIS HOW-TO document is available in the /usr/share/doc/HOWTO directory..

You have significant flexibility when setting up NIS servers. If you have a small network, you may need only one NIS domain, for which you would have one NIS server. For larger networks, you can divide your network into several NIS domains, each with its own server. Even if you only have one domain, you may want several NIS slave servers. For an NIS domain, you can have a master NIS server and several NIS slave servers. The slave servers can act as backups, in case the master server goes down. A slave server only contains copies of the configuration files set up on the NIS master server. Configuring an NIS server involves several steps, listed here: 1. Define the NIS domain name that the NIS server will work for. 2. Start the ypserv daemon. 3. In the /var/yp/Makefile file, set any NIS server options and specify the configuration files to manage. 4. Use ypinit to create the NIS versions of the configuration files. You first have to define an NIS domain name. On Red Hat, you can have the NIS domain defined whenever you start up your system, by defining the NIS_DOMAIN variable in the /etc/sysconfig/network file. To this variable, you assign the name you want to give your NIS domain. The following example defines the NIS domain called myturtles.nis:

F I G U R E 2-7

These numbers are used only for the purposes of this discussion The code in Lines 1 to 22 ensures that the robot center is at the center of the line Since the line is four pixels wide it is possible for the mouse to have been placed slightly off the center of the line when the user selected the position to place the robot We need to ensure that the robot is at the center of the line because of the line following routine, which is discussed later You should be familiar with the use of the Delay command; we use it to make it possible to control the rotation of the robot Without the delay the mouse input will be too fast for the user to control Lines 20 to 22 ensure that the robot s front is over a line.

When first setting up the server, you may want to define your NIS domain name without having to restart your system. You can do so with the domainname command, as shown here:

You can start the NIS server with the ypserv startup script:

Instead of the service command, you could reference the ypserv script directly, as shown here:

If it is not, the robot is turned until its front is over a line This ensures that when it starts following the line it will not fail 14116 SelectGoal The mouse is used to allow the user to indicate a location on the maze where the goal is to be placed Once the user clicks the left mouse button a small circle is drawn in red to create an obstacle at the indicated position This obstacle is used to indicate the nal goal of the maze Once the robot senses this object (think of it as a red cone on the ground) it will have solved the maze The position of the goal is saved in the variables Gx and Gy These variables are not used in this program, but will be used in later improvements of the algorithm 1411.

The actual history events are saved in a file whose name is held in a special variable called HISTFILE. By default, this file is the .bash_history file. You can change the file in which history events are saved, however, by assigning its name to the HISTFILE variable. In the next example, the value of HISTFILE is displayed. Then a new filename is assigned to it, newhist. History events are then saved in the newhist file.

You use the alias command to create another name for a command. The alias command operates like a macro that expands to the command it represents. The alias does not literally replace the name of the command; it simply gives another name to that command. An alias command begins with the keyword alias and the new name for the command, followed by an equal sign and the command the alias will reference. Note No spaces can be around the equal sign used in the alias command. In the next example, list becomes another name for the ls command: