#include <SPU-Toolbox/DPPTU.h>
#include <iostream.h>

int main() {

  DPPTU dpptu("/dev/ttyS0");
  if (!dpptu.open_status()) {
    cerr << "Uh oh." << endl;
    exit(1);
  }

  dpptu.pan_to(0.0);
  dpptu.tilt_to(0.0);
  dpptu.await();
  cerr << "At the origin" << endl;

  dpptu.pan_by(-30.0);
  dpptu.tilt_by(-15.0);
  dpptu.await();
  //if (dpptu.is_moving()) cerr << "Pan-tilt unit is moving!" << endl;
  //dpptu.await();
  //if (dpptu.is_moving()) cerr << "Is moving!" << endl;
  dpptu.pan_by(60.0);
  dpptu.tilt_by(15.0);
  dpptu.await();
  //if (dpptu.is_moving()) cerr << "Is moving!" << endl;
  //dpptu.await();
  //dpptu.await();
  dpptu.tilt_by(15.0);
  //dpptu.await();
  dpptu.tilt_by(-15.0);
  dpptu.await();
  
  dpptu.tilt_to(0.0);
  dpptu.pan_to(0.0);
  return(0);
}