/* NIBObee C project */
 
#include <nibobee/iodefs.h>
#include <nibobee/motpwm.h>
#include <nibobee/led.h>
#include <nibobee/delay.h>
int const LED_ON = 1;
int const LED_OFF = 0; 
void gerade(int zeit);
void links(int zeit);
void rechts(int zeit);
int main() {
  led_init();
  motpwm_init();
  while (1==1)
  {
    gerade (3000);
    links (2000);
  }
  return 0;
 
}
 
void gerade(int zeit)  
  {
    //Rote LEDs in Fahrtrichtung: 
    led_set(LED_L_RD,LED_ON);
	led_set(LED_R_RD,LED_ON);
 	int16_t speed_r=500;
	int16_t speed_l=500;
    motpwm_setLeft(speed_l);
    motpwm_setRight(speed_r);
  	delay(zeit);
    //return;
  }
void links(int zeit)
  {
    //erst Links blinken:
    for(int i=1; i<=10; i++) 
    {
   	   led_set(LED_L_YE,LED_ON);
       delay(100);
       led_set(LED_L_YE,LED_OFF);
       delay(100);
    }
    //dann fahren:
    led_set(LED_R_RD,LED_OFF);
    int16_t speed_r=500;
    int16_t speed_l=250;
    motpwm_setLeft(speed_l);
    motpwm_setRight(speed_r);
    delay(zeit);
    led_set(LED_L_RD,LED_OFF);
    //return;
   }