require "rover"
require "rover_utils"
require "relay_board"

class Racktest
  include LogHelper

  def run
    puts "######  Beginning rover rack test  ######\n"
    @rover = Rover.instance
    testRack
    @rover.relay.allOff

    puts "all relays turned off"
    puts " testing completed"
  end

  def testRack

    while (1)
    # Port rack first
    #
    @rover.rack.reinit($PORT_RACK)
    #sleep(2)

      @rover.rack.move_home($PORT_RACK)

      @rover.rack.move_to_insert($PORT_RACK)

      @rover.rack.move_home($PORT_RACK)

    @rover.relay.p_rackOff    
    

    # Starboard rack next
    #
    @rover.rack.reinit($STBD_RACK)
    #sleep(2)

      @rover.rack.move_home($STBD_RACK)

      @rover.rack.move_to_insert($STBD_RACK)

      @rover.rack.move_home($STBD_RACK)

    @rover.relay.s_rackOff    
    

    end
  end

end

pre = Racktest.new()
pre.run()