#include <iostream>
#include <libplayerc++/playerc++.h>

using namespace std;
int main(int argc, char *argv[])

{
 using namespace PlayerCc;  
 PlayerClient    robot("localhost");  
 BumperProxy      bp(&robot,0);  
 Position2dProxy pp(&robot,0);
 pp.SetMotorEnable(true);


for(;;)
double turnrate, speed;
double error;
bool wall;

  motor_a_speed(0);
  motor_c_speed(0);

  while(1) {

front_bumper = SENSOR_2;
left_bumper = SENSOR_3;

if (front_bumper > 2) {

      if (left_bumper < 3) {

motor_a_speed(5);

        motor_c_speed(drive_speed);
        motor_a_dir(fwd);
        motor_c_dir(fwd);

      }

      else {

motor_a_speed(drive_speed);

        motor_c_speed(5);
        motor_a_dir(rev);
        motor_c_dir(rev);

      }

    }

    else {

motor_a_speed(drive_speed);

      motor_c_speed(drive_speed);
      motor_a_dir(brake);
      motor_c_dir(brake);
      mrest(100);

      cputs("bump");

      motor_a_dir(fwd);
      motor_c_dir(rev);
      msleep(450);


      cputs("right");

      motor_a_speed(10);
      motor_a_dir(fwd);
      motor_c_dir(fwd);
      mrest(1300);

    }

pp.SetSpeed(speed, turnrate);
  }
   }