#include <stdio.h>

#include <access.h>
#include <raw.h>
#include <oneway_cmds.h>

int main()
{
  int i;
  khep_cmd_ret_t ret;

  khep_hand_t hand = khep_open("/dev/rfcomm0", KHEP_B38400);

  khep_cmd_raw(hand, "D,10,10");
  
  khep_cmd_setled(hand, LED_FRONTAL, LED_ON);
  ret = khep_cmd_setspeed(hand, 10, 10);
  printf("ret = %d\n", ret.result);

  sleep(2);

  khep_cmd_setled(hand, LED_LATERAL, LED_ON);
  ret = khep_cmd_setspeed(hand, -10, -10);
  printf("ret = %d\n", ret.result);

  sleep(2);

  khep_cmd_setled(hand, LED_LATERAL, LED_TOGGLE);
  khep_cmd_setled(hand, LED_FRONTAL, LED_OFF);
  ret = khep_cmd_setspeed(hand, 0, 0);
  printf("ret = %d\n", ret.result);
  

/*   khep_cmd_raw(hand, "D,20,20"); */

/*   sleep(2); */

/*   khep_cmd_raw(hand, "D,0,0"); */

/*   for(i=0;i<100;i++) */
/*     { */
/*       if ( i % 2 ) */
/* 	khep_cmd_raw(hand, "L,1,2"); */
/*       else */
/* 	khep_cmd_raw(hand, "L,0,2"); */
/*     } */

  khep_close(hand);

  return 0;
}