/* Program to find a object and follow it if it moves (e.g. paper used as
 * "wall").  This uses the Scribbler 2 IR sensors.
 */

#include <stdio.h>
#include <unistd.h> /* for sleep(3) */
#include <MyroC.h>


int
main (void)
{
  rConnect ("/dev/rfcomm0");
 
  int left;
  int right;

  while (1)
    {
      left = rGetIRTxt ("left", 3);
      right = rGetIRTxt ("right", 3);

      printf ("left = %d", left);
      printf ("\tright = %d\n", right);

      switch (left + 2*right) 
        { case 0: /* no obstacle */
            printf ("moving forward\n");
            rForward (1,1);
            break;
        case 1: /* left blocked */
            printf ("turning right\n");
            rTurnRight (1, .2);
            break;
        case 2:  /* right blocked */
            printf ("turning left\n");
            rTurnLeft (1, .2);
            break;
        case 3: /* blocked ahead */
            printf ("no motion\n");
            sleep (1);
        } // switch (IR sensors)
    } // while

  rDisconnect ();
  return 0;
} // main