/*
  movement-test.c
  MyroC general commands testing
  Written by Jordan Yuan
  Written on 11-1 2013

  Testing for the following general MyroC commands:

  rTurnLeft
  rTurnRight
  TurnSpeed
  rForward
  rBackward
  rMotors
  rStop
  rHardStop 

gcc -c MyroC.c
gcc -lbluetooth -leSpeakPackage  -o setForward-test setForward-test.c MyroC.o
*/

#include "MyroC.h"
#include <stdio.h>
#include <string.h>
#include <stdlib.h>


int main(){

  //set up
  rConnect ("/dev/rfcomm0");
  rBeep (2, 880);

  rSetForwardness ("fluke-forward");
  rForward (1.0, 2.0);
  char * dir = rGetForwardness();
  printf ("direction: %s\n", dir);
  rBeep (2, 880);

  rSetForwardness ("scribbler-forward");
  rForward(1.0, 2.0);
  dir = rGetForwardness();
  printf ("direction: %s\n", dir);
  rBeep (2, 880);

  printf ("testing hard stop\n");
  rHardStop();
  printf ("finished hard stop testing\n");

  rSetForwardness ("fluke-forward");
  rForward (1.0, 2.0);
  dir = rGetForwardness();
  printf ("direction: %s\n", dir);  

  //finish up
  rBeep (2,1760);
  rBeep (2, 880);
  rDisconnect();

  //done
  return 0;
}