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#include "kernel/kern.h"

#include "drivers/keyb.h"

#include "servo.h"
#include "leg.h"

int main () {

  int res;
  char ch;
/*
  servo_open(SERVO_COM2);

  cprintf("servo_set_RS232_baudrate\n");
  res = servo_set_RS232_baudrate(9600);
  cprintf("Res = %d\n",res);

  cprintf("servo_get_RS232_baudrate\n");
  res = servo_get_RS232_baudrate();
  cprintf("Res = %d\n",res);

  cprintf("servo_store_RS232_baudrate\n");
  res = servo_store_RS232_baudrate();
  cprintf("Res = %d\n",res);

  cprintf("servo_set_period\n");
  res = servo_set_period(20000);
  cprintf("Res = %d\n",res);

  ch = keyb_getch(BLOCK);

  cprintf("servo_get_period\n");
  res = servo_get_period();
  cprintf("Res = %d\n",res);

  ch = keyb_getch(BLOCK);

  cprintf("servo_store_period\n");
  res = servo_store_period();
  cprintf("Res = %d\n",res);
 
  ch = keyb_getch(BLOCK);

  cprintf("servo_get_setup_switch\n");
  res = servo_get_setup_switch();
  cprintf("Res = %d\n",res);

  ch = keyb_getch(BLOCK);

  cprintf("servo_set_RC5_switch\n");
  res = servo_set_RC5_switch(1);
  cprintf("Res = %d\n",res);

  ch = keyb_getch(BLOCK);

  cprintf("servo_turn_off\n");
  res = servo_turn_off(1);
  cprintf("Res = %d\n",res);

  ch = keyb_getch(BLOCK);

  cprintf("servo_turn_on\n");
  res = servo_turn_on(1);
  cprintf("Res = %d\n",res);

  ch = keyb_getch(BLOCK);

  cprintf("servo_turn_off_all\n");
  res = servo_turn_off_all();
  cprintf("Res = %d\n",res);

  ch = keyb_getch(BLOCK);

  cprintf("servo_turn_on_all\n");
  res = servo_turn_on_all();
  cprintf("Res = %d\n",res);

  ch = keyb_getch(BLOCK);

  cprintf("servo_set_levels\n");
  res = servo_set_levels(0x00,0x01);
  cprintf("Res = %d\n",res);

  ch = keyb_getch(BLOCK);
 
  cprintf("servo_get_levels\n");
  res = servo_get_levels();
  cprintf("Res = %d\n",res);

  ch = keyb_getch(BLOCK);

  cprintf("servo_store_levels\n");
  res = servo_store_levels();
  cprintf("Res = %d\n",res);

  ch = keyb_getch(BLOCK);

  cprintf("servo_set_angle_sec\n");
  res = servo_set_angle_sec(0,ANGLE2SEC(45,0,0));
  cprintf("Res = %d\n",res);
 
  ch = keyb_getch(BLOCK);

  cprintf("servo_store_default_position\n");
  res = servo_store_default_position(0);
  cprintf("Res = %d\n",res);

  ch = keyb_getch(BLOCK);

  cprintf("servo_get_angle_sec\n");
  res = servo_get_angle_sec(0);
  cprintf("Res = %d\n",res);

  ch = keyb_getch(BLOCK);

  cprintf("servo_get_analog\n");
  res = servo_get_analog(0);
  cprintf("Res = %d\n",res);

  ch = keyb_getch(BLOCK);

  servo_close();
*/
  set_leg_position(8.0,-5.0,0.0);
  set_leg_position(8.0,0.0,0.0);

  return 0;

}