root / trunk / code / behaviors / james / main.c @ 1519
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/*
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* template.c - A starting point for developing behaviors using the Colony
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* robots. To create a new behavior, you should copy this "template"
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* folder to another folder and rename the "template.c" file
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* appropriately.
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*
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* This template will have the robot drive in circles and flash the orbs.
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*
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* Author: John Sexton, Colony Project, CMU Robotics Club
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*/
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#include <dragonfly_lib.h> |
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#include <wl_basic.h> |
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/* Time delay which determines how long the robot circles before it
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* changes direction. */
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#define TIME_DELAY 5000 |
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int main (void) { |
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/* Initialize the dragonfly boards, the xbee, and the encoders */
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dragonfly_init(ALL_ON); |
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xbee_init(); |
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encoders_init(); |
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while (1) { |
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/* Drive left, set orbs, and wait */
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orbs_set_color(RED, GREEN); |
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motor_l_set(FORWARD, 160);
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motor_r_set(FORWARD, 255);
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delay_ms(TIME_DELAY); |
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/* Drive right, change orb colors, and wait */
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orbs_set_color(PURPLE, BLUE); |
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motor_l_set(FORWARD, 255);
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motor_r_set(FORWARD, 160);
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delay_ms(TIME_DELAY); |
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} |
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} |