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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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}