Colony

      **/
     static void wl_token_bom_on_receive(int source)
+    {
     	int max, dist;
     	WL_DEBUG_PRINT("Robot ");
     	WL_DEBUG_PRINT_INT(source);
     	WL_DEBUG_PRINT(" has flashed its bom.\r\n");
     	bom_on_count = 0;
     	max = get_max_bom_function();
     	sensor_matrix_set_reading(wl_get_xbee_id(),
     		source, get_max_bom_function());
     		source, max);
     	WL_DEBUG_PRINT("Max: ");
     	WL_DEBUG_PRINT_INT(max);
     	WL_DEBUG_PRINT("\tVar: ");
     	WL_DEBUG_PRINT_INT(dist);
     	WL_DEBUG_PRINT("\n\n");
+    }
     /**

     #include <serial.h>
     #include <avr/interrupt.h>
     #include <util/delay.h>
     #endif
-...
+    }
     /**
      * Resets the XBee Modem (including baud rate when on robot)
+     *
      * Used for launching bootloader
      **/
     int xbee_reset(void)
+    {
     #ifdef ROBOT
     	xbee_send_modify_at_command("BD", "3");
     #endif
     	xbee_send_read_at_command("FR");
         // delay 150 ms to wait for reset
     #ifndef ROBOT
     	usleep(150000);
     #else
     	_delay_ms(150);
     #endif
     	return 0;
+    }
     /**
      * Sends an AT command to read a parameter.
+     *
      * @param command the AT command to send. For exmaple,

     unsigned int xbee_get_address(void);
     /**@brief Set the com port on a computer, undefined on the robot**/
     void xbee_set_com_port(char* port);
     /**@brief Reset XBee **/
     int xbee_reset(void);
     /**@}**/ //end defgroup

     #include "xbee.h"
     #include <avr/interrupt.h>
     #define BOOTLOADER_ADDR     0x0001e756
     int (*bootloader)(int force) = (void*)BOOTLOADER_ADDR;
     int launch_bootloader(void)
+    {
         cli();
         xbee_reset();
         bootloader(1);
+    }

             return lowest_i;
         else
             return -1;
+    }
     /**
      * Computes the weighted average of all the bom readings to estimate the position (and distance) of another robot.
+     *
      * @pre must call bom refresh
      * @param dist  pointer to int in which to return the estimated distance to the other robot
      * @return estimated position of the max bom value element as a fixed point value analogous to 10 times the
      *        index of the max bom value.  -1 if no value is lower than BOM_VALUE_THRESHOLD.
      **/
     int bom_get_max10(int *dist) {
         int i, max;
         long long mean, sum;
         max = bom_get_max();
         if (max < 0)
+        {
             if (dist)
+            {
                 *dist = -1;
+            }
             return -1;
+        }
         /* Record values into an array */
         for (i = 0; i < NUM_BOM_LEDS; i++) {
             int idx = ((i + (NUM_BOM_LEDS/2 - max) + NUM_BOM_LEDS) % NUM_BOM_LEDS) - (NUM_BOM_LEDS/2 - max);
             int val = 255 - bom_val[i];
             mean += idx * val;
             sum += val;
+        }
         mean = (mean * 10) / sum;
         mean = (mean + NUM_BOM_LEDS*10) % (NUM_BOM_LEDS*10);
         if (dist)
+        {
             *dist = 50 - sum/48;
+        }
         return mean;
+    }
     /**

     /** @brief Compares all the values in bom_val[] and returns the index to the highest value element. **/
     int bom_get_max(void);
     /** @brief Computes the weighted average of all the bom readings to estimate the position and distance of another robot. **/
     int bom_get_max10(int *dist);
     /** @brief Enables the selected bom leds on a BOM1.5 **/
     void bom_set_leds(int bit_field);

Revision 1443