/*******
 * square-move-2.c
 * 
 * Program uses a struct to store a move by the Scribbler 2 robot
 *  
 * Author:  Henry M. Walker
 * Date:  15 March 2012
 * Revised 18 October 2016
 *
 * Motivated by an example by April O'Neill and Erik Opavsky
 * Date: 4 August 2011
 *******/

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

struct movement {
  double speed;
  double time;
};

/* 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 (struct movement *move)
{
  (*move).speed = 0.8;
  (*move).time = 2.0;
}

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

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

int main()
{
  rConnect ("/dev/rfcomm0");
 
  /* Declare information for one robot struct movement */
  struct movement action;

  /* Initialize, print, and execute a robot movement */
  initialize (&action);  // address allows this variable to change

  printMove (action);

  moveRobot (action);

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

  rDisconnect();

  return 0;
} // main