#define TRANSMIT_FRQ 100
#define TRANSMIT_PRD 10000
#define RECEIVE_FRQ 100


void Ir()
{
	 int count;
	 int bump;
	 int ir;
	 printf("TRANSMIT at 100Hz\n");
	 ir_transmit_on();								/* part la transmission*/
	 set_ir_transmit_period(TRANSMIT_PRD);	   /* fréquence de transmission à 100hz*/
    sleep(0.1);
	 ir_receive_on();									/* part la reception*/
	 set_ir_receive_frequency(RECEIVE_FRQ);	/* fréquence de reception à 100 hz*/
	 sleep(.1);    									/* attend 100 milliseconde*/
	 bump = bumper();
	 while(bump == 0)
	 {
		count = ir_counts(6);
		ir = ir_detect();
		printf("Ir count: %d, irD: %d\n", count, ir );
		bump = bumper();
		sleep(.1);
	 }
	 printf("Stop emitting...\n");
	 ir_receive_off();
	 ir_transmit_off();
}

void start_ir()
{
	start_process(Ir());
}