int param;

void main() {
  init_mobile_serial();
  while (1) {
    data = get_sci();
    if (data > 0) {
      printf("\nsci: %d", data);
      beep();
      /* right or left turn */
      if (data & 0b01000000) {
	param = (data & 0b00001111);
	if (data & 0b00010000) {      /* right */
	  turnRight(param);
	}
	else {                        /* left */
	  turnLeft(param);
	}
      }
      /* forward or back */
      else if (data & 0b00100000) {
	param = (data & 0b00001111);
	if (data & 0b00010000) {      /* back */
	  goBack(param);
	}
	else {                        /* forward */
	  goForward(param);
	}
      }
      /* stop */
      else if (data & 0b00010000) {
	alloff();
      }
    }
  }

}

void turnLeft(int clicks) {
  int leftSpeed;
  int rightSpeed;
  float duration;
  
  leftSpeed = -100;
  rightSpeed = 100;
  duration = (float)clicks * 0.1;
  
  start_process(doMove(leftSpeed, rightSpeed, duration));
}

void turnRight(int clicks) {
  int leftSpeed;
  int rightSpeed;
  float duration;
  
  leftSpeed = 100;
  rightSpeed = -100;
  duration = (float)clicks * 0.1;
  
  start_process(doMove(leftSpeed, rightSpeed, duration));
}

void goForward(int clicks) {
  float duration;
  duration = (float)clicks * 0.3;
  start_process(doMove(100, 100, duration));
}

void goBack(int clicks) {
  float duration;
  duration = (float)clicks * 0.3;
  start_process(doMove(-100, -100, duration));
}


void doMove(int leftSpeed, int rightSpeed, float duration) {
  motor(2, leftSpeed);
  motor(3, rightSpeed);
  sleep(duration);
  alloff();
  return;
}