/* Program uses a struct to store a move by the Scribbler 2 robot
 * Procedures are used for initialization and use of the struct
 */

#include <stdio.h>
#include <MyroC.h>

/* declare struct that can be used in procedures and main */
typedef struct {
  double speed;
  double time;
} movement_t;

/* Set speed and action for a move by the Scribbler 2 robot */
/* must pass address of pointer to get values out of procedure */
void 
initialize(movement_t* move)
{
  (*move).speed = 0.8;
  (*move).time = 2.0;
}

/* print values in movement struct */
void
printMove(movement_t move)
{
  printf("robot action:  time = %lf,   speed = %lf\n", move.time, move.speed);
}

/* move robot */
void
moveRobot(movement_t move)
{
  rForward (move.speed, move.time);
}

int
main()
{
  rConnect("/dev/rfcomm0");
  rSetForwardnessTxt("fluke-forward");

  /* Declare information for one robot movement */
  movement_t action;

  /* Initialize, print, and execute a robot movement */
  initialize(&action);  /* address needed for getting struct out of procedure */
  printMove(action);
  moveRobot(action);

  /* beep after movement */
  rBeep (1, 600);

  rDisconnect();
  return 0;
} // main