First, you need to mount the device. For a CD-ROM, this can be done with "mount /mnt/cdrom". For a flopyy, "mount /mnt/floppy" OR "mount /dev/fd0". This is assuming that you have an fstab with your cdrom and floppy sent to mount to those directories. You must be logged in as root to mount devices.
Now, to copy the files, do "cp -R /mnt/cdrom/filename /folder/to/copy/to". Where /mnt/cdrom is either /mnt/cdrom for the CD-ROM or /mnt/floppy for a floppy.
I'm not sure what tape drives are called in the devfs, so I can't tell you how to mount one, but I'm sure someone else will know how.
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