/*
//  Example code for operating Compass and Sonar in tandem
//
//  Make sure that you include the compass code and the sonar
//  code in the same directory. Remove the "main" methods from
//  them so there are no discrepencies.
*/

#use "alc_cmps03.ic" // comment out the main function
#use "srf04-3.ic"    // comment out the main function 

// RELAY connection:
// the Sonar is connected to the Normally Closed (NC) pin 
// while the compass is connected to the Normally Open (NO) pin


void main()
{
    int  i;
    while(1)
      {
        // read compass
        motor(3,100); // make sure the NO pin goes through to the Timer
        sleep(.1);
        
        for(i = 0; i < 10; i++) // calls compass 10 times
          {
            printf("[%d]compass: %d\n",i, compass());
            sleep(.3);        
        }
        
        
        // read sonar
        motor(3,0); //make sure the NC pin goes through to the Timer
        sleep(.1);
        sonar_init(); //needs to be called **each** time so that the timer is reset.
        sleep(.1);
        
        for(i = 0; i < 10; i++)
          {
            int result;
            float distance;
            result= sonar_sample();
            distance=(float)result*1.1/4000.0; //turns the timer value into distance
            if (result != -1) 
              printf("[%d]sonar: %d -> %f\n",i, result, distance);
            else 
              printf("@@@@@@@\n"); //printout if error
            tone((float)(result/8),0.2);
            sleep(.3);        
        }
        
        
        
    }
    
}