/************************************************************************/
/*                                                                      */
/* Program Name: NRLink-Send-One-Byte-to-RCX-Example.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()
{

  nI2CBytesReady[NRLinkPort] = 0;


	SensorType[NRLinkPort] = sensorI2CCustom9V;
	NRLinkSendCommand(NRLinkPort, NRLinkID, NRLinkFlush);
	NRLinkSendCommand(NRLinkPort, NRLinkID, NRLinkDefault);
	NRLinkSendCommand(NRLinkPort, NRLinkID, 'X');  // required when you are talking to RCX

	NRLinkWriteMacroByte(NRLinkPort, NRLinkID, 0x80, 0x02);
	NRLinkWriteMacroByte(NRLinkPort, NRLinkID, 0x81, 0xf7);					//OP code for set message as by the remote control.
	NRLinkWriteMacroByte(NRLinkPort, NRLinkID, 0x82, 112);			//Message ( value of 112 in this case).
	NRLinkWriteMacroByte(NRLinkPort, NRLinkID, 0x83, 0x02);
	NRLinkWriteMacroByte(NRLinkPort, NRLinkID, 0x84, 0xe1);					//OP code for motor speed.
	NRLinkWriteMacroByte(NRLinkPort, NRLinkID, 0x85, 0x04);			//data for this opcode

	while(true)
	{
		NRLinkRunMacro(NRLinkPort, NRLinkID, 0x80);  // run the macro.
		wait1Msec(1000);
		NRLinkRunMacro(NRLinkPort, NRLinkID, 0x83);  // run the macro.
		wait1Msec(1000);
	}

}

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