/* *********************************************************************
   *                                                                   *
   *     NAME:   Gary E. Shay, Jr.           SSN:  576-74-2564         *
   *     CLASS:  CS-455  Robot Vision,  Dr. Roger Webster              *
   *                                                                   *
   *                                                                   *
   *     This program exercises the robot and shows interfacing to     *
   *     the speech synthesizer.                                       *
   *                                                                   *
   ********************************************************************* */
/* --------------------------------------------------------------------- */
/*                               catch.c                                 */
/* --------------------------------------------------------------------- */
/* --------------------------------------------------------------------- */
/* -    Some necessary includes...                                     - */
/* --------------------------------------------------------------------- */

#include <math.h>
#include </sys/h/types.h>
#include <stdio.h>
#include </sys/vaxuba/fgreg.h>
#include </usr/users/stuff/directions.h>
#include </sys/h/time.h> 

/* --------------------------------------------------------------------- */
/* -    Global variables and structures...                             - */
/* --------------------------------------------------------------------- */

#define DEG_PER_RAD 57.2958
#define fabs(x) ((x < 0) ? (-x) : (x))

main()
{ 
/*   

Initialize the Robot.

*/

   ROBOT$INIT();
   
/*

Initialize the Speech Synthesizer

*/

   ROBOT$SPEECH_INIT();

/*

Begin the exerciser.

*/
     
   ROBOT$SPEAK( "Welcome to Row bot arow bicks." );
   ROBOT$OPEN_GRIPPER( 3.3 );
   ROBOT$OPEN_GRIPPER( 1.0 );
   ROBOT$OPEN_GRIPPER( 3.3 );
   ROBOT$CLOSE_GRIPPER();
   ROBOT$SPEAK("Touch your tows. One.");
   sleep( 1 );
   ROBOT$MOVE(250.0, 0.0, 0.0, 26.0, 90.0, 0.0);
   ROBOT$SPEAK("And two.");
   sleep( 1 );
   ROBOT$MOVE(250.0, 0.5, 0.0, 1.0, -110.0, 0.0);
   ROBOT$SPEAK("Three.");
   sleep( 1 );
   ROBOT$MOVE(250.0, 0.0, 0.0, 26.0, 90.0, 0.0);
   ROBOT$SPEAK("And four.");
   sleep( 1 );
   ROBOT$MOVE(250.0, 0.5, 0.0, 1.0, -110.0, 0.0);

   ROBOT$MOVE(250.0, 8.0, 0.0, 13.0, 0.0, 0.0);
   ROBOT$SPEAK("Ecksirsize the hand.");
   ROBOT$MOVE(250.0, 15.0, 0.0, 13.0, 0.0, 0.0);
   ROBOT$MOVE(250.0, 10.0, 0.0, 11.0, -45.0, 180.0);
   ROBOT$MOVE(250.0, 10.0, 0.0, 15.0, 45.0, -180.0);
   ROBOT$MOVE(250.0, 10.0, 0.0, 11.0, -45.0, 180.0);
   ROBOT$MOVE(250.0, 10.0, 0.0, 15.0, 45.0, -180.0);
   ROBOT$SPEAK("Razzle dazzle right to left.");
   sleep( 1 );
   ROBOT$MOVE(250.0, 8.0, 3.0, 0.5, -90.0, -180.0);
   ROBOT$MOVE(250.0, 8.0, 2.0, 0.5, -90.0, 0.0);
   ROBOT$MOVE(250.0, 8.0, 2.0, 1.5, -90.0, 0.0);
   ROBOT$MOVE(250.0, 8.0, 0.0, 1.5, -90.0, 90.0);
   ROBOT$OPEN_GRIPPER( 2.0 );
   ROBOT$MOVE(250.0, 8.0, 0.0, 0.5, -90.0, -90.0);
   ROBOT$CLOSE_GRIPPER();
   ROBOT$MOVE(250.0, 8.0, 0.0, 1.5, -90.0, 0.0);
   ROBOT$MOVE(250.0, 8.0, -2.0, 1.5, -90.0, 0.0);
   ROBOT$MOVE(250.0, 8.0, -2.0, 0.5, -90.0, 0.0);
   ROBOT$MOVE(250.0, 8.0, -3.0, 0.5, -90.0, 0.0);
   ROBOT$SPEAK("Razzle dazzle front to back.");
   sleep( 1 );
   ROBOT$MOVE(250.0, 11.0, 0.0, 0.5, -90.0, -180.0);
   ROBOT$MOVE(250.0, 10.0, 0.0, 0.5, -90.0, 0.0);
   ROBOT$MOVE(250.0, 10.0, 0.0, 1.5, -90.0, 0.0);
   ROBOT$MOVE(250.0, 8.0, 0.0, 1.5, -90.0, 90.0);
   ROBOT$OPEN_GRIPPER( 2.0 );
   ROBOT$MOVE(250.0, 8.0, 0.0, 0.5, -90.0, -90.0);
   ROBOT$CLOSE_GRIPPER();
   ROBOT$MOVE(250.0, 8.0, 0.0, 1.5, -90.0, 0.0);
   ROBOT$MOVE(250.0, 6.0, 0.0, 1.5, -90.0, 0.0);
   ROBOT$MOVE(250.0, 6.0, 0.0, 0.5, -90.0, 0.0);
   ROBOT$MOVE(250.0, 5.0, 0.0, 0.5, -90.0, 0.0);
   ROBOT$SPEAK("Touch the corners and.");
   sleep( 1 );
   ROBOT$MOVE(250.0, 0.0, -10.0, 0.5, -90.0, 0.0);
   ROBOT$MOVE(250.0, 0.0, 10.0, 20.0, 90.0, 0.0);
   ROBOT$MOVE(250.0, 0.0, 10.0, 0.5, -90.0, 0.0);
   ROBOT$MOVE(250.0, 0.0, -10.0, 20.0, 90.0, 0.0);
   ROBOT$SPEAK("Now we are done.");
   sleep( 1 );
   ROBOT$MOVE(250.0, 15.0, 0.0, 13.0, 0.0, 0.0);
   ROBOT$HOME();
   ROBOT$SPEAK("Whew.  I need some Kool Aid.");

}