/* 
 * File:   wahbum.c
 * Author: arne
 *
 * Created on 31. Mai 2007, 15:58
 */

#include <stdio.h>
#include <stdlib.h>
#include <usb.h>

/*
 * 
 */
int main(int argc, char** argv) {
    struct usb_bus *busses;
    
    usb_init();
    
    usb_find_busses();
    usb_find_devices();
    
    busses = usb_get_busses();
    
    struct usb_bus *bus;
    
    int found = 0;
    struct usb_device *dev;
    for (bus = busses; bus; bus = bus->next) {
        for (dev = bus->devices; dev; dev = dev->next) {
            printf("Vendor: %x, Product: %x\n", dev->descriptor.idVendor, dev->descriptor.idProduct);
            if(dev->descriptor.idVendor == 0x694 && dev->descriptor.idProduct == 0x2){
                found = 1;
                printf("NXT found\n");
                break;
            }
    	}
        if(found) break;
    }
    
    if(!found){
        printf("unable to locate NXT\n");
        exit(1);
    }
    
    unsigned char *buffer = malloc(1024);
    buffer[0]  = 0x00;  // direct command  unsigned
    buffer[1]  = 0x04;  // set outputstate unsigned
    buffer[2]  = 0xFF;  // motor a         unsigned
    buffer[3]  = 100;    // power           signed
    buffer[4]  = 0x01;  // mode            unsigned
    buffer[5]  = 0x01;  // regulation      unsigned
    buffer[6]  = 0;     // turnratio       signed
    buffer[7]  = 0x20;  // runstate        unsigned
    buffer[8]  = 0;     // tacho limit     unsigned 32 bit long little endian
    buffer[9]  = 0;
    buffer[10] = 0;
    buffer[11] = 0;
    
    usb_dev_handle *dev_handle = usb_open(dev);
    
    usb_reset(dev_handle);
    usb_claim_interface(dev_handle, 0);
    
    usb_bulk_write(dev_handle, 0x01, buffer, 12, 1000);
    
    usb_close(dev_handle);
    
    printf("done!\n");
    return (EXIT_SUCCESS);
}