/* will listen for the w,a,s,d keys*/
/*NOTE: key mappings may be different for different computers*/
/*especially laptops.  Try sending different keys and seeing*/
/*they're output values to get the program to work*/


#define LEFT_MOTOR 0
#define RIGHT_MOTOR 3

void main()
{
  int a;
  printf("\nwaiting for start");
  start_press();

  /*no longer listen for IC*/
  disable_pcode_serial();	
  printf("started\n");

  /*loop until the stop button is held down AND a key is pressed*/
  while(!stop_button())
	{
	  /*block until a character arrives*/
	  a=serial_getchar();
	  printf("\n%d",a);

	  /*switch on that character and decide what to do*/
	  if (a == 119)
	    {
	      motor(LEFT_MOTOR,100);
	      motor(RIGHT_MOTOR,100);
	    }
	  if (a == 115)
	    {
	      motor(LEFT_MOTOR,-100);
	      motor(RIGHT_MOTOR,-100);
	    }
	  if (a == 97)
	    {
	      motor(LEFT_MOTOR,-100);
	      motor(RIGHT_MOTOR,100);
	    }
	  if (a == 100)
	    {
	      motor(LEFT_MOTOR,100);
	      motor(RIGHT_MOTOR,-100);
	    }

	  
	  sleep(0.05);
	  motor(LEFT_MOTOR,0);
	  motor(RIGHT_MOTOR,0);
	  
	}

  /*]listen to IC again.*/
  enable_pcode_serial(); 
  printf("\nback in pcode mode");
 
}