// TeleCam NQC code - Accepts simple numeric messages and twitches
// the camera in the appropriate direction.
// http://fastolfe.net/features/telecam/
//
// Copyright (c) 1999 David Nesting
//
// This program is free software; you can redistribute it and/or modify
// it under the terms of the GNU General Public License as published
// by the Free Software Foundation; either version 2 of the License, or
// (at your option) any later version.
//
// This program is distributed in the hope that it will be useful,
// but WITHOUT ANY WARRANTY; without even the implied warranty of
// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
// General Public License for more details.
//
// You should have received a copy of the GNU General Public License
// along with this program; if not, write to the Free Software Foundation,
// Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA


// Commands transmitted from the IR tower -- We're using 1/2 for tilt and
// 3/4 for pan.
#define STAT	0
#define UP	1
#define DOWN	2
#define LEFT	3
#define RIGHT	4

// Motor timings -- The motor stays on for this many hundredths of a
// second and then stops.  Your gearing may be different and require
// these values to be adjusted.
#define PAN_TIMING	20
#define TILT_TIMING	2

// The message received from the tower
int msg;

task main() {

	// Let the user know we're up and running.
	repeat (2) {
		PlaySound(1);
		Wait(100);
	}

	SetPower(OUT_A + OUT_C, OUT_FULL);

	while (true) {
		ClearMessage();
		until (Message() > 0);
		msg = Message();
		if (msg == STAT) {
			SendMessage(1);
		} else if (msg == LEFT) {
			Rev(OUT_A);
			OnFor(OUT_A, 20);
			Off(OUT_A);
		} else if (msg == RIGHT) {
			Fwd(OUT_A);
			OnFor(OUT_A, 20);
			Off(OUT_A);
		} else if (msg == UP) {
			Fwd(OUT_C);
			OnFor(OUT_C, 2);
			Off(OUT_C);
		} else if (msg == DOWN) {
			Rev(OUT_C);
			OnFor(OUT_C, 2);
			Off(OUT_C);

		// The rest of these messages are just for sound effects.
		} else if (msg == 5) {
			PlaySound(2);
		} else if (msg == 6) {
			PlaySound(3);
		} else if (msg == 7) {
			PlaySound(4);
		} else if (msg == 8) {
			PlaySound(5);
		} else if (msg == 9) {
			PlaySound(6);
		} else if (msg == 10) {
			PlaySound(7);
		}
	}
}