#include <stdio.h>
#include <typeinfo.h> 
#include <windows.h>  
#include <fstream.h>
#include <string>
#include <time.h>
#include "serial.h" 

void main() {

	// variables used with the com port	
	__time64_t time1;

	//Setup for penetrometer motor
	Serial motor(1); //uses com1 by default
	motor.Setup();



	char buff[1024];
	char* str = (char*)malloc( 1024*sizeof( char ) );
	int bufsize = 1024;
	int strlen = 1024;
	for(int i=1; i<=10; i++) {
		printf("motor initialized\n");
		bufsize = 1024;
		motor.WaitForChar(buff, bufsize);
	}
/*
	motor.WriteBuffer("4", 1);
	bufsize = 1024;
	printf( "Motor ready\n" );
	motor.WaitForChar(buff, bufsize, '-');

//main for loop
   for(int j=1;j<=2;j++)  {
   									   
	 //motor controller reads input one character at a time, hence the for loops below.
	 str = "v=721:@2=1:home:w=20:init\r";//initialize motor
	strlen = 26;
	for(int i=0; i<strlen; i++) {
		motor.WriteBuffer(str + i, 1);
		motor.WaitForChar(buff, bufsize, str[i] );
	}
	bufsize = 1024;
	motor.WaitForChar(buff, bufsize, '-');

	str = "a=@%d120:print(@%d028)\r";//initialize motor
	strlen = 23;
	for(int i=0; i<strlen; i++) {
		motor.WriteBuffer(str + i, 1);
		motor.WaitForChar(buff, bufsize, str[i] );
	}
	bufsize = 1024;
	motor.WaitForChar(buff, bufsize, '-');

	str = "@2=1:v=721\r";//initialize motor
	strlen = 11;
	for(int i=0; i<strlen; i++) {
		motor.WriteBuffer(str + i, 1);
		motor.WaitForChar(buff, bufsize, str[i] );
	}
	bufsize = 1024;
	motor.WaitForChar(buff, bufsize, '-');

	str = "@%d13c=0:@%d126=3:@%d100=13:@%d105=3\r";//initialize motor (for motor 1)
	strlen = 37;
	for(int i=0; i<strlen; i++) {
		motor.WriteBuffer(str + i, 1);
		motor.WaitForChar(buff, bufsize, str[i] );
	}
	bufsize = 1024;
	motor.WaitForChar(buff, bufsize, '-');
    
	//set motor speed to 50 turns/sec
	//negative means the penetrometer goes down, max speed is 100 turns/sec
	//if you change velocities, make sure delta v is <= 100 turns/sec
	str = "@%d13c=-50\r";//motor 1
    //str = "@%d33c=-50\r";//motor 2
	//str = "@%d43c=-50\r";//assumed for both motors
	strlen = 11;
	for(int i=0; i<strlen; i++) {
		motor.WriteBuffer(str + i, 1);
		motor.WaitForChar(buff, bufsize, str[i] );
	}
	bufsize = 1024;
	motor.WaitForChar(buff, bufsize, '-');


	time1 = _time64( NULL );
	//run motor for 19.5 seconds (insert penetrometer a total of 1 mm)
	//in this particular setup, the gearhead ratio is 1:975, 1 turn=1mm
	printf( "Motor is running for 19.5 seconds\n" );	
	while( _time64( NULL ) < time1 + 19.5 ){
		continue;
	}

	//set motor speed to 0
	str = "@%d13c=0\r";
	strlen = 9;
	for(int i=0; i<strlen; i++) {
		motor.WriteBuffer(str + i, 1);
		motor.WaitForChar(buff, bufsize, str[i] );
	}
	bufsize = 1024;
	motor.WaitForChar(buff, bufsize, '-');

	printf( "Lowering of penetrometer complete\n" );

  	}//end main for loop


//Once loop is done output to screen
	printf("Program finished.\n");
   */
}