#include 
#include 
#include 
#include 
#include 
#include 
//this code sends characters to the arduino and RoboKun listens..
int main() {
    int arduino = open("/dev/ttyACM0", O_RDWR | O_NOCTTY | O_NDELAY);
    if (arduino == -1) {
        perror("Is the Arduino Connected?");
        return 1;
    }

    struct termios options;
    tcgetattr(arduino, &options);
    cfsetispeed(&options, B9600);
    cfsetospeed(&options, B9600);
    options.c_cflag |= (CLOCAL | CREAD);
    tcsetattr(arduino, TCSANOW, &options);
     char w='w';
     char a='a';
     char s='s';
     char d='d';
     char b='b';
     int dtime=5;
    char keystrokes[] = "b"; 
 
       
    keystrokes[0]=w;
    printf("Forward\n");
    write(arduino, keystrokes, strlen(keystrokes));
    sleep(dtime);

    keystrokes[0] = d;
    printf("Right\n");
    write(arduino, keystrokes, strlen(keystrokes));
    sleep(dtime);
       
     keystrokes[0] = a;
    printf("LEft\n");
    write(arduino, keystrokes, strlen(keystrokes));
    sleep(dtime);
       
    keystrokes[0] = s;
    printf("Reverse\n");
    write(arduino, keystrokes, strlen(keystrokes));
    sleep(dtime);
    
    keystrokes[0] = b;
    printf("halt\n");
    write(arduino, keystrokes, strlen(keystrokes));
    sleep(1);
 
    close(arduino);
    return 0;
}