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#include <nibobee/robomain.h>

// in diesem Bereich können globale Variablen definiert werden
// ...

void setup() {
  led_init();
  motpwm_init();
  feeler_init();
  
  //SELF Test
   led_set(0, 1);
   led_set(1, 1);
   led_set(2, 1);
   led_set(3, 1);
   led_set(4, 1);
    delay(1000);
   led_set(0, 0);
   led_set(1, 0);
   led_set(2, 0);
   led_set(3, 0);
   led_set(4, 0);
    delay(1000);
}

void loop() {
  
  int statusR;
  int statusL;

statusL = feeler_getLeft();
  statusR = feeler_getRight();
  
  motpwm_setRight(800);
  motpwm_setLeft(800);

//Links
  switch (statusL) {
    
    case -1:

led_set(1, 1);
    
    motpwm_setRight(0);
    motpwm_setLeft(0); 
    
    delay(250);

motpwm_setRight(-1000);
    motpwm_setLeft(-1000);
    
    
    delay(1500);
    
        motpwm_setRight(0);
    motpwm_setLeft(0); 
    
    led_set(0, 1);
    led_set(2, 1);
    led_set(3, 1);
    delay(150);
    led_set(0, 0);
    led_set(1, 0);
    led_set(2, 0);
    led_set(3, 0);
    delay(150);
    led_set(0, 1);
    led_set(1, 1);
    led_set(2, 1);
    led_set(3, 1);
    delay(150);
    led_set(0, 0);
    led_set(1, 0);
    led_set(2, 0);
    led_set(3, 0);
    delay(500);

motpwm_setRight(300);
    motpwm_setLeft(600);

delay(950);
    
    
    motpwm_setRight(500);
    motpwm_setLeft(500);
    
   
    
       
    break;
    
    
    case +1:
    
	led_set(1, 1);
    
    motpwm_setRight(0);
    motpwm_setLeft(0);
    
    delay(250);
    
    motpwm_setRight(-1000);
    motpwm_setLeft(-1000);
    
    
    delay(1500);
        motpwm_setRight(0);
    motpwm_setLeft(0); 
    led_set(0, 1);
    led_set(2, 1);
    led_set(3, 1);
    delay(150);
    led_set(0, 0);
    led_set(1, 0);
    led_set(2, 0);
    led_set(3, 0);
    delay(150);
    led_set(0, 1);
    led_set(1, 1);
    led_set(2, 1);
    led_set(3, 1);
    delay(150);
    led_set(0, 0);
    led_set(1, 0);
    led_set(2, 0);
    led_set(3, 0);
    delay(500);

motpwm_setRight(300);
    motpwm_setLeft(600);

delay(950);
    
    
    motpwm_setRight(500);
    motpwm_setLeft(500);
    
   
    
      break;
    
    
  }
  
  //Rechts
  
    switch (statusR) {
    
    case -1:
      
   led_set(2, 1);
      
    motpwm_setRight(0);
    motpwm_setLeft(0);
    
    delay(250);
    
    motpwm_setRight(-1000);
    motpwm_setLeft(-1000);
    
    
    delay(1500);
        motpwm_setRight(0);
    motpwm_setLeft(0); 
    led_set(0, 1);
    led_set(2, 1);
    led_set(3, 1);
    delay(150);
    led_set(0, 0);
    led_set(1, 0);
    led_set(2, 0);
    led_set(3, 0);
    delay(150);
    led_set(0, 1);
    led_set(1, 1);
    led_set(2, 1);
    led_set(3, 1);
    delay(150);
    led_set(0, 0);
    led_set(1, 0);
    led_set(2, 0);
    led_set(3, 0);
    delay(500);

motpwm_setRight(600);
    motpwm_setLeft(300);

delay(950);
    
    
    motpwm_setRight(500);
    motpwm_setLeft(500);
    
   
       break;
    
    case +1:
    
   led_set(2, 1);
      
    motpwm_setRight(0);
    motpwm_setLeft(0);
    
    delay(250);
    
       motpwm_setRight(-1000);
    motpwm_setLeft(-1000);
    
    
    delay(1500);
        motpwm_setRight(0);
    motpwm_setLeft(0); 
    led_set(0, 1);
    led_set(2, 1);
    led_set(3, 1);
    delay(150);
    led_set(0, 0);
    led_set(1, 0);
    led_set(2, 0);
    led_set(3, 0);
    delay(150);
    led_set(0, 1);
    led_set(1, 1);
    led_set(2, 1);
    led_set(3, 1);
    delay(150);
    led_set(0, 0);
    led_set(1, 0);
    led_set(2, 0);
    led_set(3, 0);
    delay(500);

motpwm_setRight(600);
    motpwm_setLeft(300);

delay(950);
    
    motpwm_setRight(500);
    motpwm_setLeft(500);
      
      break;
    
  }
  
}

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