void test_motor1(void)
 {
	
	byte motors[1];	

        inline "arrinit test_motor1_motors, 0, 1";

	motors[0]=MOTOR_A;
 	COP_DrawText(1,1,"Test1 : Motor A");
	COP_RotateMotor(motors,30, 720);
	COP_Wait(5000);

	motors[0]=MOTOR_B;
	COP_DrawText(1,1,"Test1 : Motor B");
	COP_RotateMotor(motors,30, 720);
	COP_Wait(5000);
	
	motors[0]=MOTOR_C;
	COP_DrawText(1,1,"Test1 : Motor C");
	COP_RotateMotor(motors,30, 720);
	COP_Wait(5000);
	
	motors[0]=MOTOR_C;
	COP_DrawText(1,1,"Test1 : Motor C neg");
	COP_RotateMotor(motors,30, -720);
	COP_Wait(5000);
	
 }

void test_motor2(void)
 {
	byte motors[3];	

	inline "arrinit test_motor2_motors, 0, 3";
	motors[0]=MOTOR_A;
	motors[1]=MOTOR_B;
	motors[2]=MOTOR_C;

	COP_DrawText(1,1,"Test2 : Motor fwd A,B,C");
	COP_RotateMotorOnFwd(motors,30);
	COP_Wait(5000);

	COP_DrawText(1,1,"Test2 : Stop A,B,C");
	COP_RotateMotorStop(motors);
	COP_Wait(2000);

	COP_DrawText(1,1,"Test2 : Motor rev A,B,C");
	COP_RotateMotorOnRev(motors,30);
	COP_Wait(5000);

	COP_DrawText(1,1,"Test2 : Coast A,B,C");
	COP_RotateMotorCoast(motors);
	COP_Wait(2000);

 }	

void test_motor3(void)
 {
	byte motors[2];	
	char boucle[20];
	char boucle1[20];
	sint i;

	inline "arrinit test_motor3_motors, 0, 2";
	motors[0]=MOTOR_A;
	motors[1]=MOTOR_B;
	/*motors[2]=0x02;*/

	
	for(i=-20;i<30;i=i+10)
	 {
		COP_NumtoString(i,boucle);
		COP_Strcat(boucle1,"turnpct=",boucle);
		COP_DrawText(1,30,boucle1);
		COP_DrawText(1,20,boucle1);
		COP_DrawText(1,10,boucle1);
		COP_DrawText(10,1,boucle1);
		COP_DrawText(20,1,boucle1);
		COP_DrawText(30,1,boucle1);
		COP_Wait(5000);

		COP_DrawText(1,1,"Test3 : Motor Sync fwd A,B");
		COP_RotateMotorOnFwdSync(motors,30,i);
		COP_Wait(5000);

		COP_DrawText(1,1,"Test3 : Stop A,B");
		COP_RotateMotorStop(motors);
		COP_Wait(2000);

		COP_DrawText(1,1,"Test3 : Motor Sync fwd A,B");
		COP_RotateMotorOnRevSync(motors,30,i);
		COP_Wait(5000);

		COP_DrawText(1,1,"Test3 : Coast A,B,C");
		COP_RotateMotorCoast(motors);
		COP_Wait(2000);
	}
 }	

void test_sensor(void)
 {
	int i;
	int value;
	char boucle[20];
	char boucle1[20];

	COP_InitSensors();

	COP_ResetTouchDetector();
	/* touch */
	for(i=0;i<2000;i++)
	 {
		value=COP_ReadTouchDetector();
		COP_NumtoString(value,boucle);
		COP_Strcat(boucle1,"Touch=",boucle);
		COP_DrawText(1,1,boucle1);
	 }

	/* light */
	COP_SetSensorModeLight_pct();
	COP_ResetLightDetector();
	for(i=0;i<2000;i++)
	 {
		if(i==1000) COP_SetSensorModeLight_raw();

		value=COP_ReadLightDetector();

		COP_NumtoString(value,boucle);

		if(i<1000) COP_Strcat(boucle1,"% Light=",boucle);
		else COP_Strcat(boucle1,"R Light=",boucle);

		COP_DrawText(1,1,boucle1);
	 }

	/* ultrasonic */
	COP_SetSensorModeUltraSonic_pct(); 
	COP_ResetUltraSonicDetector();
	for(i=0;i<2000;i++)
	 {
		if(i==1000) COP_SetSensorModeUltraSonic_raw();

		value=COP_ReadUltraSonicDetector();

		COP_NumtoString(value,boucle);

		if(i<1000) COP_Strcat(boucle1,"% UltraSonic=",boucle);
		else COP_Strcat(boucle1,"R UltraSonic=",boucle);

		COP_DrawText(1,1,boucle1);
	 }

	
	/* Sound */
	COP_SetSensorModeSound_pct();
	COP_ResetSoundDetector();
	for(i=0;i<2000;i++)
	 {
		if(i==1000) COP_SetSensorModeSound_raw();

		value=COP_ReadSoundDetector();

		COP_NumtoString(value,boucle);
		if(i<1000) COP_Strcat(boucle1,"% Sound=",boucle);

		else COP_Strcat(boucle1,"R Sound=",boucle);
		COP_DrawText(1,1,boucle1);
	 }
 }


task main()
 {
	int i,j;
	int lg;
	char boucle[10];
	char concat[100];
	char concat1[100];
	char concat2[100];

	COP_Malloc(concat,100);
	COP_Malloc(concat1,100);
	COP_Malloc(concat2,100);

	COP_SetScreenMode();

	COP_DrawText(1,1,"Debut test");

	COP_Wait(2000);

/*goto test1;*/

	lg=COP_Strlen("ABC");
	COP_NumtoString(lg,boucle);
	COP_DrawText(1,1,boucle);

	COP_Wait(2000);
	
	for(j=0;j<2;j++)
	 {
		COP_NumtoString(j,boucle);
		COP_DrawText(1,1,boucle);

		for(i=0;i<1000;i++)
		 {
			COP_SoundPlayTone(i,500,10,3);
		 }
		
		for(i=1000;i>0;i--)
		 {
			COP_SoundPlayTone(i,500,10,3);
		 }
	 }
	
	COP_Strcpy(concat,"ALPHA");
	COP_DrawText(1,1,concat);
	COP_Wait(2000);
	COP_Strcpy(concat1,"BET");
	COP_DrawText(1,1,concat1);
	COP_Wait(2000);
	COP_Strcat(concat2,concat,concat1);
	COP_DrawText(1,1,concat2);
	COP_Wait(2000);
	COP_DrawText(1,1,"--------------");
	COP_Wait(2000);
	COP_Strcat(concat2,"TOUTAN","KAMON");
	COP_DrawText(1,1,concat2);
	COP_Wait(2000);
test1:	
	test_motor1();
/*goto fin;*/

	test_motor2();

	test_motor3();

	test_sensor();
fin:

 }