#include "kilolib.h"

message_t msg;
uint32_t receive_time;
uint8_t color1, color2;

void setup()
{
  receive_time = 0;
  color1 = rand_hard();
  color2 = rand_hard();
  // initialize message
  msg.type = NORMAL;
  msg.crc = message_crc(&msg);
}

void loop()
{
  if (kilo_ticks % 30 < 15)
    set_color(color1);
  else
    set_color(color2);

  if (kilo_ticks - receive_time < 30)
      set_motors(100,100);
  else
      set_motors(0,0);
}

message_t *transmit_message()
{
  return &msg;
}

void receive_message(message_t *m, distance_measurement_t *d)
{
  receive_time = kilo_ticks;
}

int main()
{
    kilo_init();
    kilo_message_tx = transmit_message;
    kilo_message_rx = receive_message;
    kilo_start(setup, loop);

    return 0;
}