/**
 * @file    MegaMain.ino
 * @brief   Arduino Mega 2650 - This microcontroller is the master which co-ordinates the others
 *          via the I2C and serial bus.
 *
 *          Log commands are sent from the main microcontroller on the I2C bus
 *          to the OLED and SD logging arduino at address 10. Piezo tones are
 *          also controlled from this microcontroller.
 *
 *          The microcontroller at address 11 on the I2C bus controls the
 *          2 x 16 LCD and provides access to the temperature sensor.
 *
 *          Uses the MPL3115A2 library to display the current altitude and chip temperature.
 *          The MPL3115A2 is a low-cost, low power, highly accurate barometric pressure sensor.
 *          The sensor is very sensitive and capable of detecting a change of only 0.05kPa
 *          which equates to a 0.3m change in altitude. The MPL3115A2:
 *
 *          - Typical pressure accuracy of ±0.05kPa
 *          - Typical altitude accuracy of ±0.3m
 *          - Typical temperature accuracy of ±3C
 *          - 3.3V sensor - use inline logic level converters or 330 ohm resistors
 *            to limit 5V signals.
 *
 *          Test to Speech is provided by the EMIC 2 module.
 *
 *          Front top PIR is a SimplyTronics ST-00031/81 PIR Sensor/ Wide angle PIR Sensor
 *          Note: wait 40 seconds for the PIR Sensor to warm up.
 *
 *          Doxygen is used to self generate the supporting documentation.
 *
 * @author  David Such
 */

#include <Wire.h>
#include <Servo.h>
#include <NewPing.h>
#include <HMC5883L.h>
#include <DS3232RTC.h>
#include <SoftwareSerial.h>
#include <HB25MotorControl.h>

#include <Time.h>

#include "logging.h"
#include "constants.h"
#include "moving_average.h"
#include "pin_definitions.h"
#include "ping_distance_sensor.h"
#include "turret_servo.h"
#include "synthesizer.h"
#include "time_methods.h"
#include "real_time_clock.h"
#include "compass.h"
#include "robot.h"

Robot ava;

void setup()
{
  Serial.begin(9600);
  Serial.println("AVA Initialisation.");

  ava.begin();
}

void loop()
{
  ava.run();
}