/ - Diff - Colony - Robotics Club

     int main(void)
+    {
     	/* initialize components, set wireless channel */
     	if (dragonfly_init(ANALOG|ORB|BOM) != 0) {
       /* initialize components, set wireless channel */
       if (dragonfly_init(/* ANALOG|ORB|BOM */ ALL_ON) != 0) {
         orbs_set_color(YELLOW, YELLOW);
         while(1) { ; }
+      }
     	if (bom_on() != 0) {
       if (bom_on() != 0) {
         orbs_set_color(RED, RED);
         while(1) { ; }
+      }
     	while (1) {
       while (1) {
     		orbs_set_color(GREEN, BLUE);
         orbs_set_color(GREEN, BLUE);
     		delay_ms(1000);
         delay_ms(1000);
     		orbs_set_color(BLUE, GREEN);
         orbs_set_color(BLUE, GREEN);
     		delay_ms(1000);
         delay_ms(1000);
+    	}
+      }
     	return 0;
       return 0;
+    }

     //uncomment this line for debug information
     //#define WL_DEBUG
     //return value definitions
     /** @brief Error code for init failure **/
     #define WL_ERROR_INIT_FAILED 1
     /** @brief Error code for duplicate init calls **/
     #define WL_ERROR_INIT_ALREADY_INITD 2
     /** @brief Error code for not calling init **/
     #define WL_ERROR_LIBRARY_NOT_INITD 3
     // Packet Groups and Types
     // Error group

      **/
     /** @brief Initialize the board **/
     void dragonfly_init(int config);
     int dragonfly_init(int config);
     /** @} **/ //end addtogroup

     #define RELEASE_LOCK(LOCK) do { LOCK=0; } while (0)
     #endif
     #ifdef DRAGONFLY_DEBUG
     #define DRAGONFLY_DEBUG_PRINT(s) usb_puts(s)
     #define DRAGONFLY_DEBUG_PRINTLN(s) usb_puts(__FILE__ ":" __LINE__ ">>" s "\r\n")
     #define DRAGONFLY_DEBUG_PRINT_INT(i) usb_puti(i)
     #else
     #define DRAGONFLY_DEBUG_PRINT(s)
     #define DRAGONFLY_DEBUG_PRINTLN(s)
     #define DRAGONFLY_DEBUG_PRINT_INT(i)
     #endif
     #endif

     int dragonfly_init(int config)
+    {
       int ret = 0;
         sei();
         // Set directionality of various IO pins
         DDRG &= ~(_BV(PING0)|_BV(PING1));
         PORTG |= _BV(PING0)|_BV(PING1);
         if(config & ANALOG)
             analog_init(ADC_START);
         if(config & ANALOG) {
           analog_init(ADC_START);
+        }
         if(config & COMM)
+        {
-...
                 return ERROR_INIT_FAILED;
+        }
     	if (config & ENCODERS)
+    	{
     		encoders_init();
+    	}
         if (config & ENCODERS)
+        {
             encoders_init();
+        }
         // delay a bit for stability
         _delay_ms(1);

     # Combine all necessary flags and optional flags.
     # Add target processor to flags.
     ALL_CFLAGS = -mmcu=$(MCU) -I. $(CFLAGS) $(GENDEPFLAGS)
     ALL_CFLAGS = -mmcu=$(MCU) -I. $(CFLAGS) $(GENDEPFLAGS) $(GLOBAL_CFLAGS)
     ALL_ASFLAGS = rcs
     # Default target.
-...
     dist: all publish
     debug_dist: ALL_CFLAGS += -DDRAGONFLY_DEBUG
     debug_dist: test all publish
     test:
     	echo "~~~~~~~ $(ALL_CFLAGS)"
     publish:
     	$(COPY) $(TARGET).a $(COLONYROOT)/code/lib/bin
     	$(COPY) *.h $(COLONYROOT)/code/lib/include/$(TARGET)

+     *
      * @author Colony Project, CMU Robotics Club
      **/
     //#include "dragonfly_defs.h"
     #include "dragonfly_defs.h"
     #include "bom.h"
     #include "dio.h"
     #include "serial.h"

     #define RELEASE_LOCK(LOCK) do { LOCK=0; } while (0)
     #endif
     #ifdef DRAGONFLY_DEBUG
     #define DRAGONFLY_DEBUG_PRINT(s) usb_puts(s)
     #define DRAGONFLY_DEBUG_PRINTLN(s) usb_puts(__FILE__ ":" __LINE__ ">>" s "\r\n")
     #define DRAGONFLY_DEBUG_PRINT_INT(i) usb_puti(i)
     #else
     #define DRAGONFLY_DEBUG_PRINT(s)
     #define DRAGONFLY_DEBUG_PRINTLN(s)
     #define DRAGONFLY_DEBUG_PRINT_INT(i)
     #endif
     #endif

     # make program = Download the hex file to the device, using avrdude.
     #                Please customize the avrdude settings below first!
+    #
     # make debug = Start either simulavr or avarice as specified for debugging,
     # make avrdebug = Start either simulavr or avarice as specified for debugging,
     #              with avr-gdb or avr-insight as the front end for debugging.
+    #
     # make debug = recompile the library with debug flags
+    #
     # make library = Build the library, then make software
+    #
     # make filename.s = Just compile filename.c into the assembler code only.
-...
     #     Native formats for AVR-GCC's -g are dwarf-2 [default] or stabs.
     #     AVR Studio 4.10 requires dwarf-2.
     #     AVR [Extended] COFF format requires stabs, plus an avr-objcopy run.
     DEBUG =
     AVRDEBUG =
     # Compiler flag to set the C Standard level.
     #     c89   = "ANSI" C
-...
     #  -Wa,...:      tell GCC to pass this to the assembler.
     #    -adhlns...: create assembler listing
     CFLAGS =
     # CFLAGS = -g$(DEBUG)
     # CFLAGS = -g$(AVRDEBUG)
     CFLAGS += $(CDEFS) $(CINCS)
     CFLAGS += -O$(OPT)
     CFLAGS += -funsigned-char -funsigned-bitfields -fpack-struct -fshort-enums
-...
     # Combine all necessary flags and optional flags.
     # Add target processor to flags.
     ALL_CFLAGS = -mmcu=$(MCU) -I. $(CFLAGS) $(GENDEPFLAGS)
     ALL_CFLAGS = -mmcu=$(MCU) -I. $(CFLAGS) $(GENDEPFLAGS) $(GLOBAL_CFLAGS)
     ALL_ASFLAGS = -mmcu=$(MCU) -I. -x assembler-with-cpp $(ASFLAGS)
-...
     	$(AVRMEM) 2>/dev/null; echo; fi
     # debug flags
     debug: ALL_CFLAGS += -DDRAGONFLY_DEBUG
     debug: test debug_library  build  checksize
     test:
     	echo "$(ALL_CFLAGS)"
     # Build the library
     debug_library:
     	@echo $(MSG_LIBRARY_BUILD)
     	make clean -C $(COLONYROOT)/code/projects/libdragonfly
     	make debug_dist -C $(COLONYROOT)/code/projects/libdragonfly
     	make clean -C $(COLONYROOT)/code/projects/libwireless/lib
     	make dist -C $(COLONYROOT)/code/projects/libwireless/lib
     # Display compiler version information.
     gccversion :
     	@$(CC) --version
     # Build the library
     library:
     	@echo $(MSG_LIBRARY_BUILD)
-...
     endif
     	@echo break main >> $(GDBINIT_FILE)
     debug: gdb-config $(TARGET).elf
     avrdebug: gdb-config $(TARGET).elf
     ifeq ($(DEBUG_BACKEND), avarice)
     	@echo Starting AVaRICE - Press enter when "waiting to connect" message displays.
     	@$(WINSHELL) /c start avarice --jtag $(JTAG_DEV) --erase --program --file \

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