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/*********************************************************************** 
**  ██████╗ ███████╗██╗███████╗██╗    ██╗ █████╗ ██████╗ ███╗   ███╗  **
**  ██╔══██╗██╔════╝██║██╔════╝██║    ██║██╔══██╗██╔══██╗████╗ ████║  **
**  ██████╔╝███████╗██║███████╗██║ █╗ ██║███████║██████╔╝██╔████╔██║  **
**  ██╔═══╝ ╚════██║██║╚════██║██║███╗██║██╔══██║██╔══██╗██║╚██╔╝██║  **
**  ██║     ███████║██║███████║╚███╔███╔╝██║  ██║██║  ██║██║ ╚═╝ ██║  **
**  ╚═╝     ╚══════╝╚═╝╚══════╝ ╚══╝╚══╝ ╚═╝  ╚═╝╚═╝  ╚═╝╚═╝     ╚═╝  **
************************************************************************
**(C) Dr James Hilder - York Robotics Laboratory - University of York **
***********************************************************************/

// PsiSwarm Example Main File

// Include psiswarm.h - this includes all the other necessary core files
#include "psiswarm.h"

// Use these variables to store the name for the program and the author
// NB: Keep the strings as short as possible (ie 12 chars or less) to ensure reliable comms
char * program_name = "Example";
char * author_name  = "JAH-YRL";

// Place user variables here

char green = 3;
char red = 48;
int re =0 ;
int le =0;

//Place user code here that should be run after initialisation but before the main loop
void user_code_setup(){

    /*
    wait(2);
    calibrate_base_ir_sensors();
    wait(2);
    */
}

//This function is the loop where user code should be placed
void user_code_loop(){  
    
    
    //Do not place code within a loop, but consider this function to be a loop that is always run
    //unless the user code is externally paused (such as by debug or recharging system)
    
    
    
    
    /*
    store_base_ir_values();
    bt.printf("OFF: %d %d %d %d %d\n ON: %d %d %d %d %d\n\n",
            get_background_base_ir_value(0),
            get_background_base_ir_value(1),
            get_background_base_ir_value(2),
            get_background_base_ir_value(3),
            get_background_base_ir_value(4),
            get_illuminated_base_ir_value(0),
            get_illuminated_base_ir_value(1),
            get_illuminated_base_ir_value(2),
            get_illuminated_base_ir_value(3),
            get_illuminated_base_ir_value(4));
    set_leds(green,red);
    switch(green){
            case 192: green = 129; break;
            case 129: green = 3; break;
            default: green = green << 1; break;   
    }
    switch(red){
            case 192: red = 129; break;
            case 129: red = 3; break;
            default: red = red << 1; break;   
    }
    

    if(re != right_encoder){
        re = right_encoder;
        pc.printf("Right:%d\n",re);
    }
    if(le != left_encoder){
        le = left_encoder;
        pc.printf("Left:%d\n",le);
    }
    wait(0.3);
    */
}


// Code goes here to handle what should happen when the user switch is pressed
void handle_switch_event(char switch_state)
{
    // Switch_state = 1 if up is pressed, 2 if down is pressed, 4 if left is pressed, 8 if right is pressed and 16 if the center button is pressed   
}

// The main routine: it is recommended to leave this function alone and add user code to the above functions
int main() {
    //init() in psiswarm.cpp sets up the robot
    init();
    user_code_setup();
    user_code_running = 1;
    while(1) {
       if(user_code_running)user_code_loop();
       if(demo_on) demo_mode();
       wait_us(250);
    }
}