obstaclec.nc

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 * Authors:		Sarah Bergbreiter
 * Date last modified:  2/25/03
 *
 * This is an obstacle-avoidance program that utilizes the accelerometer on
 * the mica sensorboard to determine the presence of an obstacle.  When
 * an obstacle is detected, the robot will back up, turn, and go in a
 * new direction.
 *
 */

configuration ObstacleC { 
  provides {
    interface Obstacle;
    interface StdControl;
  }
}
implementation
{
  components ObstacleM, TimerC, Accel;

  StdControl = ObstacleM.StdControl;
  Obstacle = ObstacleM.Obstacle;

  ObstacleM.SampleTimer -> TimerC.Timer[unique("Timer")];
  ObstacleM.TimerControl -> TimerC;

  ObstacleM.SensorControl -> Accel;
  ObstacleM.AccelY -> Accel.AccelY;
  ObstacleM.AccelX -> Accel.AccelX;

}