/* *********************************************************************
   *     NAME:   Gary E. Shay, Jr.                   *
   *     CLASS:  CS-498 Robotics Honors: Dr. Roger Webster             *
   ********************************************************************* */
#include <math.h>
#include <stdio.h>
#include </work/users/stuff/directions.h>
/* --------------------------------------------------------------------- */
/* -    Global variables and structures...                             - */
/* --------------------------------------------------------------------- */
#define S5 326.505
#define S6 384.548
#define DEG_PER_RAD 57.2958
#define fabs(x) ((x < 0) ? (-x) : (x))
#define VIEW_MIN_Y 132.25 /* Inches to bottom of View Window */
#define VIEW_HEIGHT 66.25 /* View is VIEW_HEIGHT inches top-to-bottom */
#define STR_CONST 3.0     /* Difference in 'speeds' needed to hit the */
			  /*   ball to the bottom of the view and the */
			  /*   top of the view.                       */
#define BASE_STREN 245.0  /* The base speed to hit the bottom of view */
#define BASE_BACK   25.0

main()
{ 
   char buffer[80];
   float angle,
	 dist;
   int speed, pitch;

   ROBOT$INIT(); /* Begin the Golfer.  */

   ROBOT$HIT_BALL ( angle, speed, pitch );
}

ROBOT$HIT_BALL ( angle, speed, pitch )
   float angle; int speed, pitch;
   {

   float  
	  ang2,
	  swing_back,
	  inches_in_view,
	  fract_part;
   int    swing_forth,
	  s_back1,
	  s_back2,
	  ang_step,
          dec_speed,
	  slow_speed=220;
   char   buffer1[80];
   char   buffer2[80];

   ROBOT$MOVE(248.0, 8.0, 0.0, 1.45, -90.0, -90.0);
   
 /* printf("Please input an angle < -45 to 45 >\n");
   scanf("%f",&angle);
   */
   printf("Please input a speed.........:\n");
   scanf("%d",&speed);
   printf("Please input a pitch.........:\n");
   scanf("%d",&pitch);
   getchar();

   ang_step = floor ((angle/DEG_PER_RAD) * S5);
   swing_forth = (-2 * pitch);
   s_back1 = pitch - ang_step;
   s_back2 = pitch + ang_step;
   
   sprintf(buffer1, "@STEP %d,0,0,0,%d,%d",slow_speed,s_back1,s_back2);
   ROBOT$SEND(buffer1);
   printf("@STEP is %s\n", buffer1);
   sleep(1); 
   sprintf(buffer2, "@STEP %d,0,0,0,%d,%d", speed,swing_forth,swing_forth);
   ROBOT$SEND(buffer2);
   printf("@STEP is %s\n", buffer2);
   ROBOT$READ(); 
   ROBOT$MOVE(245.0, 8.0, 0.0, 4.65, -90.0, -90.0);

   } /* end of program */