/************************************************************************/
/*                                                                      */
/* Program Name: NRLink-Nx-RCX-sample.c                                 */
/* ===========================                                          */
/*                                                                      */
/* Copyright (c) 2008 by mindsensors.com                                */
/* Email: info (<at>) mindsensors (<dot>) com                           */
/*                                                                      */
/* This program is free software. You can redistribute it and/or modify */
/* it under the terms of the GNU General Public License as published by */
/* the Free Software Foundation; version 3 of the License.              */
/* Read the license at: http://www.gnu.org/licenses/gpl.txt             */
/*                                                                      */
/************************************************************************/

#include "NRLink-lib.c"

const tSensors NRLinkPort         = S1;        // Connect NRLink sensor to this port!!
const ubyte NRLinkID              = 0x02;

byte replyMsg[7];

///////////////////////////////////////////////////////////////////////////////
//
//      Run Some commands and macro to control RCX using NRLink.
//
/////////////////////////////////////////////////////////////////////////////

task main()
{

	byte Data[10];

	nI2CBytesReady[NRLinkPort] = 0;


	SensorType[NRLinkPort] = sensorI2CCustomFast9V;
	nxtDisplayTextLine(0,"mindsensors.com");
	nxtDisplayTextLine(1,"NRLink");
	NRLinkSendCommand(NRLinkPort, NRLinkID, NRLinkFlush);
	NRLinkSendCommand(NRLinkPort, NRLinkID, NRLinkDefault);

	while(1)
	{
		NRLinkRunMacro(NRLinkPort, NRLinkID, RCX_Motor_A_FWD);
		wait10Msec(20);
		NRLinkRunMacro(NRLinkPort, NRLinkID, RCX_Motor_C_REV);
		wait10Msec(20);
		NRLinkRunMacro(NRLinkPort, NRLinkID, RCX_Motor_C_FWD);
		wait10Msec(20);
		NRLinkRunMacro(NRLinkPort, NRLinkID, RCX_Motor_A_REV);
		wait10Msec(20);
		NRLinkRunMacro(NRLinkPort, NRLinkID, RCX_Beep);
		wait10Msec(20);
	}
	StopAllTasks();

}