/*
 *        Authors: Ryan Gibson, Paul Ruvolo, Conor Sen
 *           File: TableSweeper.ic
 *  Last Modified: 6 March, 2003
 */

// MOTOR locations and their power settings
#define L_MOTOR 3
#define R_MOTOR 2

#define L_MOTOR_POWER 38
#define R_MOTOR_POWER 35


// LIGHT SENSOR location and settings
// - White paper reads around 12 on the light sensor
// - Tabletop is around 18
#define LIGHT 6
#define BOUNDARY 15

// TOUCH SENSOR location
#define TOUCH 8


int main() {
    while (1) {
        // Move forward until the table boundary is reached or an obstacle
        // has been hit
        while( ( analog(LIGHT) > BOUNDARY ) && !digital( TOUCH ) ) {
            drive( L_MOTOR_POWER, R_MOTOR_POWER );
        }

        /*
           sleep( 0.25 );
           backup( 0.5 );
           sleep( 0.25 );
           leftTurn();
           sleep( 0.25 );
           rightTurn();
        */

           alloff();
    }
}

void drive( int left, int right ) {
    motor( L_MOTOR, -left );
    motor( R_MOTOR, right );
}

void backup( float time ) {
    drive( -L_MOTOR_POWER, -R_MOTOR_POWER );
    sleep( time );
    stop();
}

void leftTurn( ) {
    drive( -60, 60 );
    sleep( .81 );
    stop();
}

void rightTurn( ) {
    drive( 60, -60 );
    sleep( .87 );
    stop();
}

void stop( ){
    drive( 0, 0 );
}