//**************************************************************************
//   SakuraMotor.cpp = run the Digilent Robot in a square several times
//   by James Conrad, Nov. 13, 2012
//   for ENGR1202
//**************************************************************************
#include <rxduino.h>

#define directionA    0   //Port 0 - motor A direction
#define enableA       1   //Port 1 - motor A on/off
#define directionB    2   //Port 2 - motor B direction
#define enableB       3   //Port 3 - motor B on/off
#define Aforward      1
#define Abackward     0
#define Bforward      0 
#define Bbackward     1
#define PAUSE         5   //Pulse width modulation - not full on
#define FORWARDLOOP 200   //Timing of how many times to 
			  //loop to go forward 
#define TURNLOOP     60   //Timing of how many times to 
			  //loop to turn
#define ON            1
#define OFF           0

int i, j;                 //counter variables

//**************************************************************************
//   setup input/output pins
//
//**************************************************************************
void setup(){
    	pinMode(directionA,OUTPUT);
    	pinMode(enableA,OUTPUT);
    	pinMode(directionB,OUTPUT);
    	pinMode(enableB,OUTPUT);
	pinMode(PIN_SW,INPUT);
	}


//**************************************************************************
//   main loop - run the motors
//
//
//**************************************************************************
void loop() {

//Start with getting ready to move forward, but disables
digitalWrite(enableA, OFF);
digitalWrite(enableB, OFF);
digitalWrite(directionA, Aforward);
digitalWrite(directionB, Bforward);

// spin waiting until the button is pressed
while (digitalRead(PIN_SW) == HIGH);

// do a square 5 times, which means 20 straights and 20 turns
for (i=0; i<20; i++) {
	
	// Start by moving forward
 

	// then turn counter clockwise


	} //end loop i=0 to 19 - do square 5 times

} //end loop()