/************************************************************************/
/*                                                                      */
/* Program Name: NRLink-PF-macro-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;

task main()
{
	byte i, j;
	nI2CBytesReady[NRLinkPort] = 0;

	SensorType[NRLinkPort] = sensorI2CCustom9V;
	NRLinkSendCommand(NRLinkPort, NRLinkID, NRLinkFlush);
	NRLinkSendCommand(NRLinkPort, NRLinkID, NRLinkDefault);
	NRLinkSendCommand(NRLinkPort, NRLinkID, 'P');  // required when you are running PF motors.

	NRLinkWriteMacroByte(NRLinkPort, NRLinkID, 0x80, 0x02);
	NRLinkWriteMacroByte(NRLinkPort, NRLinkID, 0x81, 0x01);
	NRLinkWriteMacroByte(NRLinkPort, NRLinkID, 0x82, 0x60);

	NRLinkPrintMacro(NRLinkPort, NRLinkID, 0x80, 2);

  while(true)
	{
		NRLinkRunMacro(NRLinkPort, NRLinkID, 0x80);  // run the macro

    wait1Msec(1000);

	}

}

/*
	RCX Opcode reference:
  http://graphics.stanford.edu/~kekoa/rcx/opcodes.html
*/