Colony

#include <dragonfly_lib.h>

#include <wireless.h>

#include "../../common/colonet_defs.h"

/* Command Types */

#define CNTL_FORWARD 'f'

#define CNTL_STOP    's'

#define CNTL_BACK    'b'

#define CNTL_LEFT    'l'

#define CNTL_RIGHT   'r'

#define CNTL_BUZZ0   't'

#define CNTL_BUZZ1   'u'

#define WL_CNTL_GROUP 4

void packet_receive (char type, int source, unsigned char* packet, int length);

PacketGroupHandler packetHandler = {WL_CNTL_GROUP, NULL, NULL, &packet_receive, NULL};

int main (void) {

        dragonfly_init(SERIAL | USB | COMM | ORB | ANALOG | MOTORS | BUZZER);

        ADCSRA = _BV(ADEN) | _BV(ADPS2) | _BV(ADPS1) | _BV(ADPS0);

    wl_init();

    wl_register_packet_group(&packetHandler);

        orb_set_color(PURPLE);

          while (1) {

            wl_do();

            delay_ms(100);

          }

}

void packet_receive (char type, int source, unsigned char* packet, int length) {

    switch (type) {

        case CNTL_FORWARD:

            orb_set_color(GREEN);

            motor1_set(1, 250);

            motor2_set(1, 250);

            break;

        case CNTL_STOP:

            orb_set_color(RED);

            motor1_set(0, 0);

            motor2_set(0, 0);

            break;

        case CNTL_BACK:

            orb_set_color(BLUE);

            motor1_set(0, 250);

            motor2_set(0, 250);

            break;

        case CNTL_LEFT:

            orb_set_color(ORANGE);

            motor1_set(0, 250);

            motor2_set(1, 250);

            break;

        case CNTL_RIGHT:

            orb_set_color(YELLOW);

            motor1_set(1, 250);

            motor2_set(0, 250);

            break;

        case CNTL_BUZZ0:

            orb_set_color(PURPLE);

            buzzer_chirp(1000, C5);

            break;

        case CNTL_BUZZ1:

            orb_set_color(YELLOW);

            buzzer_chirp(1000, A4);

            break;

        default:

            orb_set_color(RED);

            motor1_set(0, 0);

            motor2_set(0, 0);

            break;

    }

}