/****************************************************************
 *	Communiceer met Matlab (of terminal) via UART (com poort)	*
 *	Versie: 1.0		Datum: 15/06/2008							*
 *	Auteur: Karel Braeckman										*
 ****************************************************************/

#include "pcLink.h"
#include <stdlib.h>
#include <stdio.h>

void sendLightSensors() {
	unsigned char i;
	int LichtSensorWaarden[2];
	for(i=0;i<AantalLichtSensors;i++)
		LichtSensorWaarden[i]=readLightSensor(i);
	fprintf (_H_USART, "L,%i,%i\n",LichtSensorWaarden[0],LichtSensorWaarden[1]);
}
void sendDistanceSensors() {
	unsigned char i;
	int distL = readLightSensor(DIST_0);	//rood
	int distFL = readLightSensor(DIST_1);	//groen
	int distFR = readLightSensor(DIST_2);	//geel
	int distR = readLightSensor(DIST_3);	//blauw
	fprintf (_H_USART, "P,%i,%i,%i,%i\n",distL,distR,distFL,distFR);
}
void interpretCommand(char commando) {
    switch( commando )
     {
        case 'U' : 
        case 'D' : 
        case 'S' : 
        case 'L' :
        case 'R' : move(commando);break;
        case 'l' : sendLightSensors();break;
        case 'd' : sendDistanceSensors();break;
     }	
}