/*  code for a walking robot
    Motor A is walk forward/backward
	Sensor A is on when Legs up

	Motor C  turns the robot left/right
	Sensor C detects collisions, and triggers song

	Run motor B left/right randomly

	Sensor B is light - randomly blink it
*/

#include <conio.h>
#include <unistd.h>
#include <stdlib.h>

#include <dsensor.h>
#include <dmotor.h>
#include <dsound.h>
#include <sys\lcd.h>



// define to use light
#define LIGHTSENS       SENSOR_2

void PutText(void)
	{ // display a random text
	char * texts[] = {
		"Tests","Chris","12345","Eatit","Spank",
		0};

	int count = 0;
	while (texts[count] != 0)
		count++;
	if (count > 0)
		cputs(texts[random()%count]);
	} // PutText

void PlaySong(void)
	{
	static const note_t song[] = { 
		{ PITCH_C4,  1 } , { PITCH_D4,  1 } , { PITCH_E4,  1 },
		{ PITCH_F4,  1 } , { PITCH_G4,  1 } , { PITCH_A4,  1 },
		{ PITCH_B4,  1 } , { PITCH_C5,  1 } , { PITCH_B4,  1 },
		{ PITCH_A4,  1 } , { PITCH_G4,  1 } , { PITCH_F4,  1 },
		{ PITCH_E4,  1 } , { PITCH_D4,  1 } , { PITCH_C4,  3 },
		{ PITCH_END, 0 }
		};

	dsound_play(song);
	} // PlaySong

wakeup_t press_A(wakeup_t data) 
	{
	return TOUCH_1;
	}

void Turn(int dir, int time)
	{ // backup till sensor A hit, then motor C left(dir=0) or right(dir=1) time msecs
	motor_a_dir(off);
	msleep(100);
	motor_a_speed(MAX_SPEED);
	motor_a_dir(rev);
	wait_event(press_A,0);

	motor_a_dir(brake);
	motor_c_speed(MAX_SPEED);
	if (dir == 0)
		motor_c_dir(fwd);
	else
		motor_c_dir(rev);

	msleep(time);
	motor_c_dir(brake);
	msleep(100);
	motor_c_dir(off);
	motor_a_dir(off); // to avoid power drain
	} // Turn

int main(int argc, char *argv[]) 
	{
	int light = 0; // light off
	int b_dir = 0; // to toggle directions

	srandom(1234); // randomize the system

	// start walking, and motor B
	motor_a_speed(MAX_SPEED);
	motor_a_dir(fwd);

	motor_b_speed(MAX_SPEED);
	motor_b_dir(fwd);

	while (1)
		{
		// start it up
		if (TOUCH_3)
			{
			cputs("Turn");
			PlaySong();
			motor_a_speed(MAX_SPEED);
			motor_a_dir(rev);
			msleep(1000);
			Turn(random()&1,2000);

			// walk again
			motor_a_speed(MAX_SPEED);
			motor_a_dir(fwd);
			}

		// random action
		if ((random()%2000) < 30)
			{ // reverse B
			if (b_dir == 0)
				{
				b_dir = 1;
				motor_b_dir(rev);
				}
			else
				{
				b_dir = 0;
				motor_b_dir(fwd);
				}
			}

		if ((random()%2000) < 30)
			{ // reverse light, draw text
			PutText();
			if (light == 0)
				{
				light = 1;
				ds_passive(&LIGHTSENS);
				}
			else
				{
				light = 0;
				ds_active(&LIGHTSENS);
				}
			}
		} // infinite loop
	return 0;
	} // main

// end - WalkerI.c