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#ifndef FINCH_H
#define FINCH_H
/** Sets the API for use with Mac or Linux, comment out if using Windows */
#define _LINUX_
/** If using Linux/Mac, redefines sleep to match that OS call */
#ifdef _LINUX_
#define Sleep(mm) usleep(mm*1000)
#endif
/**
* Fin_init(void).
* Initializes the interface to the finch robot and
* launches a background thread to prevent the finch from timing out.
* MUST be called prior to all other finch functions
*
* @return -1 if failure
*/
int Fin_Init(void);
/**
* Fin_Exit(void).
* Sends Finch back to idle mode and
* closes the connection.
*
* @return -1 if failure
*/
int Fin_Exit(void);
/**
* Fin_Motor(tenth, left, right).
* Set the speed (and duration) of the wheels.
* Use 0,0,0 to stop. To set the wheels to spin continuously,
* set tenth to -1. This function does not block further program
* execution. Use Fin_Move for that.
*
* @param tenth motor on time (in tenths of a second)
* @param left speed of left wheel (-255 to 255)
* @param right speed of right wheel (-255 to 255)
*
* @return -1 if failure
*/
int Fin_Motor(int tenth, int left, int right);
/** Fin_Move(tenth, left, right).
* Set the speed (and duration) of the wheels, and block the program
* from further execution until time is up. Useful for dancing programs.
*
* @param tenth motor on time (in tenths of a second)
* @param left speed of left wheel (-255 to 255)
* @param right speed of right wheel (-255 to 255)
*
* @return -1 if failure
*/
int Fin_Move( int tenth, int left, int right );
/**
* Fin_Speed(*left, *right).
* Get the current speed of the wheels.
*
* @param *left pointer to return speed of left wheel
* @param *right pointer to return speed of right wheel
* @return -1 if failure
*/
int Fin_Speed(int *left, int *right);
/**
* Fin_LED(red, green, blue).
* Set the color and intensity of the beak LED
*
* @param red intensity of the red portion of the beak LED (0-255, 0 is off)
* @param green intensity of the green portion of the beak LED (0-255, 0 is off)
* @param blue intensity of the blue portion of the beak LED (0-255, 0 is off)
*
* @return -1 if failure
*/
int Fin_LED(int red, int green, int blue);
/**
* Fin_Buzzer(msec, freq).
* Turn on the buzzer.
* Use 0,0 to turn the buzzer off
*
* @param msec duration in msecs
* @param freq frequency in hz
*
* @return -1 if failure
*/
int Fin_Buzzer(int msec,int freq);
/**
* Fin_Lights(*left, *right).
* Get light sensor data. Returned values range from 255 to 0 (0=dark)
*
* @param *left pointer for left light sensor data
* @param *right pointer for right light sensor data
*
* @return -1 if failure
*/
int Fin_Lights(int *left, int *right);
/**
* Fin_Obstacle(*left, *right).
* Get obstacle sensor data. Returned value is 1 or 0 (0=no obstacle).
*
* @param *left pointer for left obstacle sensor data
* @param *right pointer for right obstacle sensor data
*
* @return -1 if failure
*/
int Fin_Obstacle(int *left, int *right);
/**
* Fin_Temp(*temp).
* Get temperature sensor data
*
* @param *temp pointer to return the temperature; returned value is in celsius (in 1/1000 units)
*
* @return -1 if failure
*/
int Fin_Temp(float *temp);
/**
* Fin_Accel(*x, *y, *z, *tap, *shake).
* Get acceleration values and tap/shaken flags. Returned acceleration values are in 'g' (in 1/1000 units) and range from +1.5 to -1.5g.
*
* @param *x pointer for the x-axis acceleration
* @param *z pointer for the y-axis acceleration
* @param *y pointer for the z-axis acceleration
* @param *tap pointer to return the tap flag (0 = not tap)
* @param *shaken pointer to return the shaken flag (0 = not shaken)
*
* @return -1 if failure
*/
int Fin_Accel(float *x, float *y, float *z,int *tap, int *shake);
#ifdef _LINUX_
int kbhit(void);
#endif
#endif /* FINCH_H */
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