// Control robot movements by an IR remote controller
// Notice the arrangement of keys on the numeric pad
// Speed control by PWM method

#include "motor.h"

#define SPD 1  // 1..10, 1=slowest

int cmd=100;   // command, initialized to a dummy value


main()
{
   int   ch;
   
   writes("rc2", 500);
   loop {
      ch = ircode();
      if(1 <= ch && ch <= 9) cmd = ch; 
   }
}

speed() timer ITV
{
   switch(cmd) {
     case 2: drive( 1,  1, SPD); break;                        // forward
     case 8: drive(-1, -1, SPD); break;                        // backward
     case 1: drive(-1,  1, SPD); break;                        // spin left
     case 3: drive( 1, -1, SPD); break;                        // spin right
     case 4: drive( 0,  1, SPD); drive(1, 1, SPD); break;      // turn left;
     case 6: drive( 1,  0, SPD); drive(1, 1, SPD); break;      // turn right
     case 5: stop_all(); break;                                // standstill
   }
}