int main()
{
// Connect to the Arduino
startSerial(PORT_NAME, BAUD_RATE, 8, 'N', 1, 5);
// Sleep for two seconds
printf("WAITING TWO SECONDS FOR ARDUINO TO REBOOT\n");
sleep(2);
printf("DONE\n");
// Spawn receiver thread
pthread_t recv;
pthread_create(&recv, NULL, receiveThread, NULL);
// Send a hello packet
TPacket helloPacket;
helloPacket.packetType = PACKET_TYPE_HELLO;
sendPacket(&helloPacket);
while(!exitFlag)
{
char ch;
printf("Command (w=forward, s=reverse, a=turn left, d=turn right x=stop, c=clear stats, g=get stats, m=adjust, y=store, z=backtrack, r=exit) q=Turn Left for 15 degrees at 55 power, e=Turn Right for 15 degrees at 55 power o=Copy stack, p=Pop Stack\n");
scanf("%c", &ch);
// Purge extraneous characters from input stream
flushInput();
sendCommand(ch);
}
printf("Closing connection to Arduino.\n");
endSerial();
}
void Serial::SerialBegin()
{
configureSerial();
startSerial();
}
