Lab 4: Spin

/* 

 * File:   Spin_Main.c

 * Author: COSMOS

 *

 * Created on July 27, 2018, 10:29 AM

 */

#include <stdio.h>

#include <stdlib.h>

#include "serial.h"

#include "BOARD.h"

#include "roach.h"

#include "timers.h"

#include "Navigation.h"

#include "Bumpers.h"

#include "CheckLightSensor.h"

#define T_360 3000

#define MAX_SPEED 100

void main(void) {

    TIMERS_Init();

    SERIAL_Init();

    BOARD_Init();

    Roach_Init();

    TIMERS_InitTimer(0, T_360);

    while (1) {

        if (Roach_ReadBumpers() != 0) {

            break;

        }

    }

    char spins_remaining = 6;

    while (1) {

        if (TIMERS_IsTimerExpired(0)) {

            //once per T_360, update the number of spins left:

            if ((spins_remaining > 0)) {

                TIMERS_InitTimer(0, T_360);

                RotateLeft(MAX_SPEED);

                spins_remaining -= 1;

            }

//            else if ((spins_remaining % 2 == 0) && spins_remaining > 0) {

//                TIMERS_InitTimer(0, T_360);

//                Stop();

//                spins_remaining -= 1;

            else if (spins_remaining == 0) {

                Stop();

            }

        }

    }

}