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/*
 * The contents of this file are subject to the Mozilla Public License
 * Version 1.1 (the "License"); you may not use this file except in
 * compliance with the License. You may obtain a copy of the License at
 * http://www.mozilla.org/MPL/
 *
 * Software distributed under the License is distributed on an "AS IS"
 * basis, WITHOUT WARRANTY OF ANY KIND, either express or implied. See the
 * License for the specific language governing rights and limitations
 * under the License.
 *
 * The Initial Developer of this code is John Hansen.
 * Portions created by John Hansen are Copyright (C) 2009-2013 John Hansen.
 * All Rights Reserved.
 *
 */

#include <stdio.h>
#include <unistd.h>

#include "ev3_output.h"

int main()
{

  int i;

  printf("start of out_test\n");
  Wait(SEC_1);

  // initialize
  if (!OutputInit())
    printf("output init returned false\n");

  ResetAllTachoCounts(OUT_ABCD);

  SetPower(OUT_A, 90);
  SetSpeed(OUT_B, 40);
  SetPower(OUT_C, 60);
  SetPower(OUT_D, -60);
  On(OUT_ALL);

  bool isBusy = false;
  for(i=0; i < 10; i++)
  {
    printf("OUT_A: %d %d %d\n", MotorRotationCount(OUT_A), MotorTachoCount(OUT_A), MotorActualSpeed(OUT_A));
    printf("OUT_B: %d %d %d\n", MotorRotationCount(OUT_B), MotorTachoCount(OUT_B), MotorActualSpeed(OUT_B));
    printf("OUT_C: %d %d %d\n", MotorRotationCount(OUT_C), MotorTachoCount(OUT_C), MotorActualSpeed(OUT_C));
    printf("OUT_D: %d %d %d\n", MotorRotationCount(OUT_D), MotorTachoCount(OUT_D), MotorActualSpeed(OUT_D));
    Wait(SEC_1);

    isBusy = MotorBusy(OUT_ALL);
    printf("Any output isBusy = %d\n", (byte)isBusy);
  }

  printf("Float(OUT_ALL)\n");
  Float(OUT_ALL);

  printf("Wait(SEC_2)\n");
  Wait(SEC_2);

  printf("ResetAllTachoCounts(OUT_ALL)\n");
  ResetAllTachoCounts(OUT_ALL);

  OutputClose();
  OutputExit();
  printf("end of out_test\n");

  return 0;
}