/* A program that responds to the presence of an obstacle.
   If an obstacle is not detected, the robot beeps twice.
   If an obstacle is detected, the robot turns on a light for 3 seconds. */

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

int main ()
{
   printf ("Program to respond to a detected obstacle\n");
   rConnect ("/dev/rfcomm0");

   /* Obtain sensor data for obstacles on the left of the Scribbler 2 robot */
   int sensorReading = rGetIRTxt ("left", 5);

   /* Check if obstacle present */
   if (sensorReading)

     {
       printf ("obstacle detected\n");
       /* turn on light */
       rSetLEDFront (1);
       /* wait 3 seconds by beeping with zero frequency */
       rBeep (3.0, 0);
       /* turn off light */
       rSetLEDFront (0);
     }
   else
     {
       printf ("no obstacle found\n");
       rBeep (1.5, 880);
       rBeep (1.5, 1760);
     }

  printf ("Processing completed\n");
  return 0;
}