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/*
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/*
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 * Ping
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 * Ping
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 * ====
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 * ====
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 * Adapted from a program by Dave Chen and Simen Svale Skogsrud
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 * Adapted from a program by Dave Chen and Simen Svale Skogsrud
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 *
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 *
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 * This program assumes that the light sensor is on IN_2 and
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 * This program assumes that the light sensor is on IN_2 and
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 * that it points in the same direction as the infrared connection
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 * that it points in the same direction as the infrared connection
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 * on the robot. It beeps when the robot gets close to an obstacle.
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 * on the robot. It beeps when the robot gets close to an obstacle.
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 * This is done by repeatedly sending IR messages. These cause a
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 * This is done by repeatedly sending IR messages. These cause a
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 * large fluctuation in light intensity.
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 * large fluctuation in light intensity.
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 *
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 *
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 * This is a nice mechanism to find a close by wall without bumping
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 * This is a nice mechanism to find a close by wall without bumping
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 * in to it.
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 * in to it.
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 */
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 */
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#define THRESHOLD 200    // Making this larger decreases the distance
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#define THRESHOLD 200    // Making this larger decreases the distance
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int lastlevel;
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int lastlevel;
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task Ping()
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task Ping()
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// Constantly test whether there is a high fluctuation
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// Constantly test whether there is a high fluctuation
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{
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{
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  SetSensor(SENSOR_2,_SENSOR_CFG(SENSOR_TYPE_LIGHT, SENSOR_MODE_RAW));
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  SetSensor(SENSOR_2,_SENSOR_CFG(SENSOR_TYPE_LIGHT, SENSOR_MODE_RAW));
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  lastlevel = 0;
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  lastlevel = 0;
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  while(true)
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  while(true)
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  {
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  {
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    SendMessage(0);
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    SendMessage(0);
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    if(lastlevel > SENSOR_2)
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    if(lastlevel > SENSOR_2)
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    {
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    {
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      // Close to something
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      // Close to something
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      PlaySound(1);
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      PlaySound(1);
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      Wait(30);
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      Wait(30);
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    }
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    }
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    lastlevel = SENSOR_2;
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    lastlevel = SENSOR_2;
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    lastlevel -= THRESHOLD;
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    lastlevel -= THRESHOLD;
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  }
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  }
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}
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}
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task main()
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task main()
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{
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{
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  start Ping;
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  start Ping;
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}
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}
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