/*
 * Final Project: Micro mouse, CS154 Spring 2001
 * Name         :   SooYoung Jung
 * Date         :   April, 11, 2001
 * File         :   mm.cc
 */
 
/* motor */
int RM = 0;  
int LM = 1;

/* IR sensor */
int IR0 = 0;  /* Back */
int IR1 = 1;  /* Right */
int IR2 = 2;  /* Front */
int IR3 = 3;  /* Left */

/*

90 deg right turn : 5

{lego0_counts = 0; while(lego0_counts > -5) {motor(0, -100); motor(1, 100);} ao();}


18cm  : 10

{lego0_counts = 0; while(lego0_counts < 10) {motor(0, 100); motor(1, 100);} ao();}

*/



void main()
{
    int speed = 90;

	float current;
	float remain;

	int i;


	start_press();

    motor(LM, speed);
    motor(RM, speed);

	reset_system_time();
	
	lego0_counts = 0;
	lego1_counts = 0;
	
	
    while(1)
    {
		printf("%d %d %d %d", analog(0), analog(1), analog(2), analog(3));

		printf(":%d %d \n", lego0_counts,lego1_counts);

		i++;
		if (i % 50 == 0)
		{
			i=0;
			motor(LM, 0);
			msleep(20L);
			motor(LM, speed);
		}


/*
		if (analog(IR1) < 235)
		{
			ao();
			break;
		}

		if (analog(IR2) < 190)
		{
			ao();
			break;
		}
*/

    }

	ao();

}