//************************************************************************************************************
// The following code uses a modified version of Nathan Labott's code from his senior capstone of Spring 2019.
// This includes functions, comments, and their respective implementation.
// To see the original version of this implementation, use the following URL link:
// http://compsci02.snc.edu/cs460/2019/labonw/uploads/1/2/4/1/124126046/maincsspring2019.zip
//************************************************************************************************************

// auto.c

#include "abdrive.h"
#include "ping.h"
#include "servo.h"
#include "simpletools.h"
#include "wifi.h"

void auto();

char cmd, direction;
int * cog;
int event, id, handler, navId;

char grid[ROWS][COLUMNS];

int main() {  
  wifi_start(31, 30, 115200, WX_ALL_COM); // communication to bot is through WX Wi-Fi Module
  navId = wifi_listen(HTTP, "/path");     // bot will listen on the same path created by the webpage
  
  cog = cog_run(auto, 128);
}


void auto() {
	while (1) {
		wifi_poll(&event, &id, &handler);     // grab data from path
    
		if (event == 'P') { // POST request
	
			if (id == navId) {
				print("Incoming POST request\r");
				wifi_scan(POST, handler, "go%c", &cmd);
				print("go=%c\n", cmd);
			}
	  
		}
	
		switch (cmd) {
			case 'F':
			drive_goto(61, 61);		// move forward (currently set at ~20 cm -- change to fit the distance between the center of your cells of your grid)
			break;
			
			case 'L':
			drive_goto(-25, 26);	// make a zero-radius turn to the left (no overall distance made)
			break;
			
			case 'R':
			drive_goto(26, -25);	// make a zero-radius turn to the right (no overall distance made)
			break;
		
			default:
			break;
			
		}
	}	
}