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root / trunk / code / behaviors / formation_control / circle_spacing / circle_spacing.c @ 1558

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#include <dragonfly_lib.h>
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#include <wl_basic.h>
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#include<encoders.h>
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int main(void)
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{
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    /* Initialize dragonfly board */
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    dragonfly_init(ALL_ON);
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        xbee_init();
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        wl_basic_init_default();
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        wl_set_channel(12);
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    int data_length;
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        unsigned char *packet_data=wl_basic_do_default(&data_length);
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        int distance=24;//packet_data[0];
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        encoder_rst_dx(RIGHT);
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        while(encoder_get_x(RIGHT)<=distance){
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                bom_refresh(BOM_ALL);
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                orb1_set_color(BLUE);
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           if(bom_get_max()+1==8){        
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                orb1_set_color(RED);
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                motor_r_set(FORWARD,180);
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                motor_l_set(FORWARD,180);
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           }
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           else {
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                motor_l_set(FORWARD,0);
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                motor_r_set(FORWARD,180);
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           }
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    } 
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        motor_r_set(FORWARD,0);
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        motor_l_set(FORWARD,0);
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        while(1);
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  return 0;
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}
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