//*!!Code automatically generated by 'ROBOTC' configuration wizard               !!*//

#include "XbeeTools.h"

// Robot B (follower robot with gripper arm)

task main()
{
  InitRS485();

  // wait for string message to be received
  string messageReceived;
  ReceiveString(messageReceived);

  // display received message on screen
  nxtDisplayString(1, "A Said:%s", messageReceived);

  // convert received string to an integer
  int count = atoi(messageReceived);

  nMotorEncoder[motorB] = 0;

  while ( nMotorEncoder[motorB] < count)  // move fwd based on received count value
  {
    motor[motorB] = 50;
    motor[motorC] = 50;
  }

  motor[motorB] = 0;  // stop robot
  motor[motorC] = 0;

  motor[motorA] = -100;  // close gripper
  wait1Msec(5000);

  motor[motorB] = -50;  // reverse robot for 1 sec
  motor[motorC] = -50;
  wait1Msec(1000);

  motor[motorB] = 0;  // stop robot
  motor[motorC] = 0;


}