Colony

# this is a local makefile

# Relative path to the root directory (containing lib directory)

#ifndef COLONYROOT

COLONYROOT = ..

# Target file name (without extension).

TARGET = main

# Uncomment this to use the wireless library

#USE_WIRELESS = 1

# com1 = serial port. Use lpt1 to connect to parallel port.

AVRDUDE_PORT = $(shell if uname -s |grep -i w32 >/dev/null; then echo 'COM4:'; else echo '/dev/ttyUSB0'; fi)

#else

COLONYROOT := ../$(COLONYROOT)

#endif

include $(COLONYROOT)/Makefile

#include <dragonfly_lib.h>

#include <eeprom.h>

int main()

{

  char str[5];

  int i=0,id;

  char c;

  dragonfly_init(ALL_ON);

  usb_puts("Here is the current setup:\r\n  ID: ");

  itoa(get_robotid(), str, 10);

  usb_puts(str);

  usb_puts("\r\n  BOM type: ");

  itoa(get_bom_type(), str, 10);

  usb_puts(str);

  usb_puts("\r\n\r\nEnter new ID:");

  while((c = usb_getc()) != '\n' && c != '\r')

    {

      usb_putc(c);

      if(i>=4)

	{

	  usb_puts("ERROR: filled buffer\n");

	  while(1);

	}

      str[i++] = c;

    }

  while(i<5)

    str[i++] = 0;

  id = atoi(str);

  usb_puts("\r\nsetting new id to: ");

  usb_puti(id);

  eeprom_put_byte(EEPROM_ROBOT_ID_ADDR, 'I');

  eeprom_put_byte(EEPROM_ROBOT_ID_ADDR+1, 'D');

  eeprom_put_byte(EEPROM_ROBOT_ID_ADDR+2, id);

  usb_puts("\r\nEnter BOM type:\r\b"

	   "1 for BOM 1.0\r\n"

	   "5 for BOM 1.5\r\n"

	   "r for RBOM\r\n>");

  c = usb_getc();

  usb_putc(c);

  switch(c)

    {

    case '1': id = BOM10; break;

    case '5': id = BOM15; break;

    case 'r': id = RBOM; break;

    default:

      usb_puts("ERROR: invalid input");

      while(1);

    }

  eeprom_put_byte(EEPROM_BOM_TYPE_ADDR, 'B');

  eeprom_put_byte(EEPROM_BOM_TYPE_ADDR+1, 'O');

  eeprom_put_byte(EEPROM_BOM_TYPE_ADDR+2, 'M');

  eeprom_put_byte(EEPROM_BOM_TYPE_ADDR+3, id);

  usb_puts("\r\ndone! have a nice day\r\n");

  while(1);

  return 0;

}

# this is a local makefile

# Relative path to the root directory (containing lib directory)

ifndef COLONYROOT

COLONYROOT := ..

# Target file name (without extension).

TARGET = 

# Uncomment this to use the wireless library

USE_WIRELESS = 1

# com1 = serial port. Use lpt1 to connect to parallel port.

AVRDUDE_PORT = $(shell if uname -s |grep -i w32 >/dev/null; then echo 'COM4:'; else echo '/dev/ttyUSB0'; fi)

else

COLONYROOT := ../$(COLONYROOT)

endif

include $(COLONYROOT)/Makefile

#include <dragonfly_lib.h>

int main(void)

{

	/* initialize components, set wireless channel */

	dragonfly_init(ALL_ON);

  //Replace the next two lines with your own code

  //You can add as many lines as you want

  uint8_t rangeNumber[] = {IR1,IR2,IR3,IR4,IR5}; //0 indexed

  uint8_t cIndex;

  //initial setup (IR1)

  cIndex=0;

  orb1_set_color(BLUE);

  orb2_set_color(GREEN);

	while(1) {

		usb_puti(range_read_distance(rangeNumber[cIndex]));

		usb_putc('\r');

		if (button1_click()) {

			switch (cIndex){ //button1 chooses a color channel

				case 0: //IR1

					orb1_set_color(RED);

					orb2_set_color(RED);

					cIndex=1;

					break;

				case 1: //IR2

					orb1_set_color(GREEN);

					orb2_set_color(GREEN);

					cIndex=2;

					break;

				case 2: //IR3

					orb1_set_color(BLUE);

					orb2_set_color(BLUE);

					cIndex=3;

					break;

				case 3: //IR4

					orb1_set_color(YELLOW);

					orb2_set_color(YELLOW);

					cIndex=4;

					break;	

				case 4: //IR5

					orb1_set_color(BLUE);

					orb2_set_color(GREEN);

					cIndex=0;

					break;

				default: //undefined

					return 0;

					break;

			}

			delay_ms(50); //allows button press to release

		}

		delay_ms(50); //refresh frequency: 1000/(50ms) refresh rate

	}

  //this tell the robot to just chill out forever. don't put anything after this

  while(1);

	return 0;

}

# this is a local makefile

# Relative path to the root directory (containing lib directory)

ifndef COLONYROOT

COLONYROOT := ..

# Target file name (without extension).

TARGET = testIRcycle

# Uncomment this to use the wireless library

USE_WIRELESS = 1

# com1 = serial port. Use lpt1 to connect to parallel port.

AVRDUDE_PORT = $(shell if uname -s |grep -i w32 >/dev/null; then echo 'COM4:'; else echo '/dev/ttyUSB0'; fi)

else

COLONYROOT := ../$(COLONYROOT)

endif

include $(COLONYROOT)/Makefile

# this is a local makefile

# Relative path to the root directory (containing lib directory)

ifndef COLONYROOT

COLONYROOT := ..

# Target file name (without extension).

TARGET = main

# Uncomment this to use the wireless library

USE_WIRELESS = 1

# com1 = serial port. Use lpt1 to connect to parallel port.

AVRDUDE_PORT = $(shell if uname -s |grep -i w32 >/dev/null; then echo 'COM4:'; else echo '/dev/ttyUSB0'; fi)

else

COLONYROOT := ../$(COLONYROOT)

endif

include $(COLONYROOT)/Makefile