#include "lego.hxx"

int main()
{
  class Lego::LegoRobo robo;
  robo.checkalive();
  int count=0;
  while(count!=10)
  {
    robo.setdirection(LEGO_SELECT_MOTOR_A|LEGO_SELECT_MOTOR_C,PASSVALUE,LEGO_DIR_FORWARD);
    robo.setdirection(LEGO_SELECT_MOTOR_C,LEGO_FLIP_DIR,PASSVALUE);
    //robo.setpower(LEGO_SELECT_MOTOR_A|LEGO_SELECT_MOTOR_C,LEGO_POWER_HIGH,0);
    usleep(1000000);
    robo.setonoff(LEGO_SELECT_MOTOR_A|LEGO_SELECT_MOTOR_C,LEGO_MOTOR_ON);
    usleep(500000);
    robo.setonoff(LEGO_SELECT_MOTOR_A|LEGO_SELECT_MOTOR_C,LEGO_MOTOR_OFF);
    robo.setdirection(LEGO_SELECT_MOTOR_A|LEGO_SELECT_MOTOR_C,PASSVALUE,LEGO_DIR_FORWARD);
    robo.setonoff(LEGO_SELECT_MOTOR_A|LEGO_SELECT_MOTOR_C,LEGO_MOTOR_ON);
    usleep(700000);
    robo.setonoff(LEGO_SELECT_MOTOR_A|LEGO_SELECT_MOTOR_C,LEGO_MOTOR_OFF);

    count++;
  }
}