/* program to illustrate both blocking and non-blocking motion commands
 */

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

int main ()
{
  printf ("program to illustrate blocking and non-blocking motion commands\n");
  rConnect ("/dev/rfcomm0");
  
  printf ("blocking commands --- beeps wait until motion completed\n");
  rForward (0.5, 3.0); // forward at half speed for 3 seconds
  rBeep (0.5, 880);
  rBeep (0.5, 1109);
  rBeep (0.5, 1319);

  printf ("non-blocking commands --- beeps sound during motion\n");
  rForward (0.5, -3.0); // forward at half speed for 3 seconds
  rBeep (0.5, 880);
  rBeep (0.5, 1109);
  rBeep (0.5, 1319);
  
  rDisconnect ();
 
  return 0;
}