/*reads IR beacon and returns 1 for 100Hz or 2 for 125Hz*/
int irread()
{
int final=0, ir_now, high_ir=0;
float delay_time=.5;
while (final==0)
{
printf("IR Testing 100\n");
set_ir_receive_frequency(100); /*Search for 100Hz Beacon*/
ir_receive_on();
sleep(delay_time);
ir_now = ir_counts(5);
if (ir_now>high_ir) /*If any counts set to 100Hz*/
{
high_ir=ir_now;
final=100;
}

ir_receive_off(); /*Search for 125Hz Beacon*/
set_ir_receive_frequency(125);
printf("IR Testing 125\n");

ir_receive_on();
sleep(delay_time);
ir_now = ir_counts(5);
if (ir_now>high_ir) /*If more counts than 100Hz set to 125Hz*/
{
high_ir=ir_now;
final=125;
}
}
printf("IR Set to %d, Counts %d\n",final,high_ir);
return final;
}