void watch_ir() {
  while (1) {
    printf("\n%d", analog(6));
    sleep(0.25);
  }
}

void average_ir(int sensor) {
  
  int reading;
  int sensor_id = sensor;
  
  while (1) {

    reading = 0;
    
    for(i = 0; i < 40; i++) {
      reading += analog(sensor_id);
      sleep(0.0125);
    }
    reading /= 40;
    printf("\n%d", reading);
  }
}

void average_all_ir() {
  
  int reading_left;
  int reading_right;
  int reading_center;

  while (1) {

    reading_left   = 0;
    reading_right  = 0;
    reading_center = 0;
        
    for(i = 0; i < 40; i++) {
      reading_right  += analog(5);
      reading_left   += analog(6);
      reading_center += analog(4);      
      sleep(0.0125);
    }
    reading_left   /= 40;
    reading_right  /= 40;
    reading_center /= 40;
    
    /*printf("\nR:%d, L:%d    C:%d",reading_left,reading_right,reading_center);
     */
    LEFT_IR   = reading_left;
    RIGHT_IR  = reading_right;
    CENTER_IR = reading_center;
  }
}

void sample_all_ir() {
  
  int reading_left;
  int reading_right;
  int reading_center;

  while (1) {

    reading_left   = 0;
    reading_right  = 0;
    reading_center = 0;
        
    for(i = 0; i < 40; i++) {
      reading_right  += analog(5);
      reading_left   += analog(6);
      reading_center += analog(4);      
      sleep(0.0125);
    }
    reading_left   /= 40;
    reading_right  /= 40;
    reading_center /= 40;
    
    printf("\nR:%d, L:%d    C:%d",reading_left,reading_right,reading_center);
    
    LEFT_IR   = reading_left;
    RIGHT_IR  = reading_right;
    CENTER_IR = reading_center;
  }
} 
     
int left_bump() {
  return digital(15);
}

int right_bump() {
  return digital(7);
}