/* Program to perform a simple robot dance step six times */

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

int main ()
{
  /* preliminaries */
  printf ("this program repeats a simple robot dance step six times\n");
  rConnect ("/dev/rfcomm0");

  int counter;  // variable to keep track of dance step repetitions

  /* repeat simple robot dance step six times */
  for (counter = 0; counter < 6; counter++)
    {
      /* basic robot dance step */
      rTurnRight (0.8, 0.6); /* turn right at 80% speed 
                                (max speed is 1.0)
                                for 6/10 seconds */
      rTurnLeft  (0.8, 0.4); /* turn left  at 80% speed 
                                for 4/10 seconds */
      rForward (0.75, 0.8);  /* move forward at 3/4 speed 
                                for 0.8 seconds */
      rBackward (0.5, 1.2);  /* move backward at half speed
                                for 1.2 seconds */
    }

  /* wrap up */
  printf ("dance finished\n");
  rDisconnect ();

  return 0;

}