/*
/0LOGBOOK
0

*/
program test {
	
	#include <RCX2.h>
	#include <RCX2MLT.h>
	#include <RCX2Sounds.h>
	#include <RCX2Def.h>
	var vHandFull = 0
	var vTemp = 0
	var vHand = 0
	var vHandClosed = 0
	var vArmReady = 0
	sensor light2 on 2
	light2 is light as percent
	event lDark_light2EventLow when light2 < (vHandFull / 10)
	
	event equal_messageEventEqual when message = 2
	
	event equal_messageEventEqual0 when message = 4
	
	event equal_messageEventEqual1 when message = 5
	
	event equal_messageEventEqual2 when message = 6
	
	event equal_messageEventEqual3 when message = 7
	
	event equal_messageEventEqual4 when message = 8
	
	event equal_messageEventEqual5 when message = 3
	
	sensor touch3 on 3
	touch3 is switch as boolean
	event tRelease_touch3EventRelease when touch3.released
	
	
	event tPress_touch3EventPress when touch3.pressed
	
	
	macro H02_CLOSEHAND {
		if vHandClosed = 0{
			vHandClosed = 10
			on [ B  ]  for 130
			clear Timer1
		}
		else
		{
		} 
	}
	macro H02_OPENHAND {
		reverse [ B  ] 
		on [ B  ]  for 220
		reverse [ B  ] 
		on [ B  ]  for 100
		vHandClosed = 0
	}
	
	main {
		ext InterfaceType "kFreestyle"
		rcx_ClearTimers
		bbs_GlobalReset([A B C])
		trigger tRelease_touch3EventRelease
		trigger tPress_touch3EventPress
		start LightWatcher0
		start IRWatcher1
		start IRWatcher2
		start IRWatcher3
		start IRWatcher4
		start IRWatcher5
		start IRWatcher6
		rcx_Priority( 8)
		trigger lDark_light2EventLow
		rcx_ClearIRMessage
		trigger equal_messageEventEqual
		rcx_ClearIRMessage
		trigger equal_messageEventEqual0
		rcx_ClearIRMessage
		trigger equal_messageEventEqual1
		rcx_ClearIRMessage
		trigger equal_messageEventEqual2
		rcx_ClearIRMessage
		trigger equal_messageEventEqual3
		rcx_ClearIRMessage
		trigger equal_messageEventEqual4
		vArmReady = 0
		display Light2
		direction [ A B C  ] [ ]
		vHandClosed = 0
		vHandFull = (light2*10)
		rcx_Multiply( vHandFull,9)
		vHandFull += 10
		repeat {
			if touch3 is closed {
				float [ C  ] 
				send 10
				wait until tRelease_touch3EventRelease
			}
			else
			{
				on [ C  ] 
				send 11
				wait until tPress_touch3EventPress
			} 
		} until equal_messageEventEqual5
		if vHandClosed = 10{
			reverse [ B  ] 
			on [ B  ]  for 220
			reverse [ B  ] 
			on [ B  ]  for 100
		}
		else
		{
		} 
		sound 1
		stop tasks
	}
	
	
	watcher LightWatcher0 monitor lDark_light2EventLow
	{
		rcx_Priority( 4 )
		if vArmReady = 10{
			if vHandClosed = 10{
			}
			else
			{
				H02_CLOSEHAND
				send 9
			} 
		}
		else
		{
		} 
	} restart on event
	watcher IRWatcher1 monitor equal_messageEventEqual
	{
		rcx_Priority( 6 )
		clear message
		if vHandClosed = 10{
			H02_OPENHAND
		}
		else
		{
			H02_CLOSEHAND
		} 
	} restart on event
	watcher IRWatcher2 monitor equal_messageEventEqual0
	{
		rcx_Priority( 6 )
		clear message
		vArmReady = 0
	} restart on event
	watcher IRWatcher3 monitor equal_messageEventEqual1
	{
		rcx_Priority( 6 )
		clear message
		vArmReady = 10
	} restart on event
	watcher IRWatcher4 monitor equal_messageEventEqual2
	{
		rcx_Priority( 6 )
		clear message
		if vHandClosed = 10{
			sound 5
		}
		else
		{
			vHandFull = (light2*10)
			rcx_Multiply( vHandFull,9)
			vHandFull += 10
			sound 4
		} 
		vArmReady = 10
	} restart on event
	watcher IRWatcher5 monitor equal_messageEventEqual3
	{
		rcx_Priority( 6 )
		clear message
		H02_CLOSEHAND
	} restart on event
	watcher IRWatcher6 monitor equal_messageEventEqual4
	{
		rcx_Priority( 6 )
		clear message
		H02_OPENHAND
	} restart on event
}