Colony

#include <dragonfly_lib.h>

#include <encoders.h>

#include <buzzer.h>

/*Colony Lab 0

 *Dance Competition

 *Robotics Club Colony Project 2010

 *

 *PUT YOUR NAME HERE

 */

#define T 100

#define SPD 190

int main(void)

{

  {

	/* Initialize dragonfly board */

	dragonfly_init(ALL_ON);

	buzzer_init();

	bom_init(BOM15);

	orb1_set_color(YELLOW);

	a6(T/2);

	orb2_set_color(YELLOW);

	e7(T*3);

	delay_ms(T*3);

	bom_on();

  }

	while(1){

	  {	//i==1

				motor_l_set(FORWARD, SPD);

				motor_r_set(BACKWARD, SPD+10);

			orb1_set_color(GREEN);

		e6(T*2);

		b5(T);

		c6(T);

			orb2_set_color(GREEN);

		d6(T*2);

			orb2_set_color(CYAN);

		c6(T);

				motor_l_set(FORWARD, SPD-10);

				motor_r_set(FORWARD, SPD-10);;

		b5(T);

			orb1_set_color(CYAN);

		a5(T*2);

		a5(T);

		c6(T);

			orb1_set_color(ORANGE);

			orb2_set_color(ORANGE);

		e6(T*2);

			orb1_set_color(RED);

			orb2_set_color(RED);

		d6(T);

		c6(T);

			orb1_set_color(LIME);

			orb2_set_color(LIME);

		b5(T*3);

		c6(T);

		d6(T*2);

			orb1_set_color(BLUE);

	  }

	{	//i==2

				motor_l_set(FORWARD, SPD);

				motor_r_set(BACKWARD, SPD);

		e6(T*2);

			orb2_set_color(BLUE);

		c6(T*2);

			orb2_set_color(ORB_OFF);

		a5(T*2);

			orb1_set_color(ORB_OFF);

		a5(T);

		bom_off();

	{			motors_off();

		a5(T*1);

		delay_ms(T*2);

	}	

				motor_l_set(FORWARD, SPD-10);

				motor_r_set(FORWARD, SPD-10);

		delay_ms(T);

			orb2_set_color(WHITE);

		d6(T);

		delay_ms(T);

			orb1_set_color(WHITE);

		f6(T);

			orb1_set_color(PINK);

			orb2_set_color(PINK);

		a6(T);

		c6(T/2);

		c6(T/2);

		g6(T);

		f6(T);

			orb1_set_color(GREEN);

			orb2_set_color(GREEN);

		e6(T*2);

		delay_ms(T);

			orb2_set_color(RED);

			orb1_set_color(RED);	

		c6(T);

		e6(T);

		a5(T/2);

		g5(T/2);

		d6(T);

	}				

	{	//i==3

				motor_l_set(FORWARD, SPD);

				motor_r_set(BACKWARD, SPD);

		c6(T);		

		b5(T*2);

		delay_ms(T);

			orb2_set_color(PURPLE);

			orb1_set_color(PURPLE);

		c6(T);

		d6(T*2);

			orb2_set_color(RED);		

				motor_r_set(FORWARD, SPD);

		e6(T*2);

			orb1_set_color(RED);

		c6(T*2);

			orb1_set_color(ORB_OFF);

		a5(T);

		a4(T);

			orb2_set_color(ORB_OFF);

		a5(T);

		a4(T);

	{

			motors_off();

		delay_ms(T*2);

			orb2_set_color(ORANGE);

			orb1_set_color(ORANGE);

		e6(T);

	}

				motor_l_set(FORWARD, SPD);

				motor_r_set(FORWARD, SPD);

		e6(T*3);

			orb2_set_color(RED);

			orb1_set_color(RED);

		c6(T*3);	

	}	

	{	//i==4

				motor_l_set(FORWARD, SPD);

				motor_r_set(BACKWARD, SPD);

		c6(T);

			orb2_set_color(MAGENTA);

			orb1_set_color(MAGENTA);

		d6(T*4);

			orb2_set_color(CYAN);

			orb1_set_color(CYAN);

		b5(T*2);	

				motor_r_set(FORWARD, SPD);

		b5(T*2);

			orb2_set_color(PURPLE);

			orb1_set_color(PURPLE);

		c6(T*4);

			orb2_set_color(PINK);

			orb1_set_color(PINK);

		a5(T*4);

			orb2_set_color(BLUE);

			orb1_set_color(GREEN);

		ab5(T*4);

			orb1_set_color(BLUE);

			orb2_set_color(GREEN);

		b5(T);

	}	

	{	//i==5

				motor_l_set(FORWARD, SPD);

				motor_r_set(BACKWARD, SPD);

		b5(T*2);

		delay_ms(T);

			orb2_set_color(ORANGE);

			orb1_set_color(ORANGE);

		e6(T*4);

			orb2_set_color(RED);

			orb1_set_color(RED);

				motor_r_set(FORWARD, SPD);

		c6(T*4);

			orb2_set_color(MAGENTA);

			orb1_set_color(MAGENTA);

		d6(T*4);

			orb2_set_color(CYAN);

			orb1_set_color(CYAN);

		b5(T*4);

		c6(T*2);

			orb1_set_color(WHITE);

		e6(T);

	}

				motors_off();

	{	//CIRCLE

			motor_l_set(FORWARD, SPD);

			motor_r_set(BACKWARD, SPD);

		e6(T);

			orb2_set_color(WHITE);

		a6(T*4);

	}

	{	//RESET

			motor_l_set(FORWARD, SPD+50);

			motor_r_set(FORWARD, SPD);

			orb1_set_color(LIME);

			orb2_set_color(LIME);

		ab6(T);

			orb1_set_color(ORB_OFF);

			orb2_set_color(ORB_OFF);

			delay_ms(T*13);

			motor_l_set(BACKWARD, SPD);

			motor_r_set(FORWARD, SPD);

			delay_ms(T*3+50);

	}

	motors_off();

	delay_ms(T*5);

	bom_on();

	}

	return 0;

}

/*********

 * Music Library!

 * Now with twice the fiber!

 * 

 *  Jeff Cooper, Fall 2010

 ***************/

#ifndef MUSIC_FUNCTIONS

#define MUSIC_FUNCTIONS

void c0(int dur){buzzer_chirp(dur, 16);} 

void db0(int dur){buzzer_chirp(dur, 17);} 

void d0(int dur){buzzer_chirp(dur, 18);} 

void eb0(int dur){buzzer_chirp(dur, 19);} 

void e0(int dur){buzzer_chirp(dur, 20);} 

void f0(int dur){buzzer_chirp(dur, 21);} 

void gb0(int dur){buzzer_chirp(dur, 23);} 

void g0(int dur){buzzer_chirp(dur, 24);} 

void ab0(int dur){buzzer_chirp(dur, 25);} 

void a0(int dur){buzzer_chirp(dur, 27);} 

void bb0(int dur){buzzer_chirp(dur, 29);} 

void b0(int dur){buzzer_chirp(dur, 30);} 

void c1(int dur){buzzer_chirp(dur, 32);} 

void db1(int dur){buzzer_chirp(dur, 34);} 

void d1(int dur){buzzer_chirp(dur, 36);} 

void eb1(int dur){buzzer_chirp(dur, 38);} 

void e1(int dur){buzzer_chirp(dur, 41);} 

void f1(int dur){buzzer_chirp(dur, 43);} 

void gb1(int dur){buzzer_chirp(dur, 46);} 

void g1(int dur){buzzer_chirp(dur, 49);} 

void ab1(int dur){buzzer_chirp(dur, 51);} 

void a1(int dur){buzzer_chirp(dur, 55);} 

void bb1(int dur){buzzer_chirp(dur, 58);} 

void b1(int dur){buzzer_chirp(dur, 61);} 

void c2(int dur){buzzer_chirp(dur, 65);} 

void db2(int dur){buzzer_chirp(dur, 69);} 

void d2(int dur){buzzer_chirp(dur, 73);} 

void eb2(int dur){buzzer_chirp(dur, 77);} 

void e2(int dur){buzzer_chirp(dur, 82);} 

void f2(int dur){buzzer_chirp(dur, 87);} 

void gb2(int dur){buzzer_chirp(dur, 92);} 

void g2(int dur){buzzer_chirp(dur, 98);} 

void ab2(int dur){buzzer_chirp(dur, 103);} 

void a2(int dur){buzzer_chirp(dur, 110);} 

void bb2(int dur){buzzer_chirp(dur, 116);} 

void b2(int dur){buzzer_chirp(dur, 123);} 

void c3(int dur){buzzer_chirp(dur, 130);} 

void db3(int dur){buzzer_chirp(dur, 138);} 

void d3(int dur){buzzer_chirp(dur, 146);} 

void eb3(int dur){buzzer_chirp(dur, 155);} 

void e3(int dur){buzzer_chirp(dur, 164);} 

void f3(int dur){buzzer_chirp(dur, 174);} 

void gb3(int dur){buzzer_chirp(dur, 185);} 

void g3(int dur){buzzer_chirp(dur, 196);} 

void ab3(int dur){buzzer_chirp(dur, 207);} 

void a3(int dur){buzzer_chirp(dur, 220);} 

void bb3(int dur){buzzer_chirp(dur, 233);} 

void b3(int dur){buzzer_chirp(dur, 246);} 

void c4(int dur){buzzer_chirp(dur, 261);} 

void db4(int dur){buzzer_chirp(dur, 277);} 

void d4(int dur){buzzer_chirp(dur, 293);} 

void eb4(int dur){buzzer_chirp(dur, 311);} 

void e4(int dur){buzzer_chirp(dur, 329);} 

void f4(int dur){buzzer_chirp(dur, 349);} 

void gb4(int dur){buzzer_chirp(dur, 369);} 

void g4(int dur){buzzer_chirp(dur, 392);} 

void ab4(int dur){buzzer_chirp(dur, 415);} 

void a4(int dur){buzzer_chirp(dur, 440);} 

void bb4(int dur){buzzer_chirp(dur, 466);} 

void b4(int dur){buzzer_chirp(dur, 493);} 

void c5(int dur){buzzer_chirp(dur, 523);} 

void db5(int dur){buzzer_chirp(dur, 554);} 

void d5(int dur){buzzer_chirp(dur, 587);} 

void eb5(int dur){buzzer_chirp(dur, 622);} 

void e5(int dur){buzzer_chirp(dur, 659);} 

void f5(int dur){buzzer_chirp(dur, 698);} 

void gb5(int dur){buzzer_chirp(dur, 739);} 

void g5(int dur){buzzer_chirp(dur, 783);} 

void ab5(int dur){buzzer_chirp(dur, 830);} 

void a5(int dur){buzzer_chirp(dur, 880);} 

void bb5(int dur){buzzer_chirp(dur, 932);} 

void b5(int dur){buzzer_chirp(dur, 987);} 

void c6(int dur){buzzer_chirp(dur, 1046);} 

void db6(int dur){buzzer_chirp(dur, 1108);} 

void d6(int dur){buzzer_chirp(dur, 1174);} 

void eb6(int dur){buzzer_chirp(dur, 1244);} 

void e6(int dur){buzzer_chirp(dur, 1318);} 

void f6(int dur){buzzer_chirp(dur, 1396);} 

void gb6(int dur){buzzer_chirp(dur, 1479);} 

void g6(int dur){buzzer_chirp(dur, 1567);} 

void ab6(int dur){buzzer_chirp(dur, 1661);} 

void a6(int dur){buzzer_chirp(dur, 1760);} 

void bb6(int dur){buzzer_chirp(dur, 1864);} 

void b6(int dur){buzzer_chirp(dur, 1975);} 

void c7(int dur){buzzer_chirp(dur, 2093);} 

void db7(int dur){buzzer_chirp(dur, 2217);} 

void d7(int dur){buzzer_chirp(dur, 2349);} 

void eb7(int dur){buzzer_chirp(dur, 2489);} 

void e7(int dur){buzzer_chirp(dur, 2637);} 

void f7(int dur){buzzer_chirp(dur, 2793);} 

void gb7(int dur){buzzer_chirp(dur, 2959);} 

void g7(int dur){buzzer_chirp(dur, 3135);} 

void ab7(int dur){buzzer_chirp(dur, 3322);} 

void a7(int dur){buzzer_chirp(dur, 3520);} 

void bb7(int dur){buzzer_chirp(dur, 3729);} 

void b7(int dur){buzzer_chirp(dur, 3951);} 

void c8(int dur){buzzer_chirp(dur, 4186);} 

void db8(int dur){buzzer_chirp(dur, 4434);} 

void d8(int dur){buzzer_chirp(dur, 4698);} 

void eb8(int dur){buzzer_chirp(dur, 4978);} 

#endif

#include <dragonfly_lib.h>

#include <encoders.h>

#include <buzzer.h>

#include <math.h>

#include <serial.h>

/*Colony Lab 0

 *Dance Competition

 *Robotics Club Colony Project 2010

 *

 * Jeff Cooper

 *    and

 * Priya Deo

 */

#define T 100

int main(void)

{

	/************

	 *

	 * HIVECODE

	 *

	 ***********/

	char k;

	/* Initialize dragonfly board */

	dragonfly_init(ALL_ON);

	buzzer_init();

	bom_init(BOM15);

	/* ****** YOUR CODE BEGINS HERE ******* */

		orb1_set_color(YELLOW);

	a6(T/2);

		orb2_set_color(YELLOW);

	e7(T*3);

	delay_ms(T*3);

	bom_refresh(BOM_ALL);

	while(bom_get_max() == -1 && !button1_read() ){bom_refresh(BOM_ALL);}

	while(1)

	{

	{

		bom_on();

			orb1_set_color(GREEN);

		e6(T*2);

		b5(T);

		c6(T);

			orb2_set_color(GREEN);

		d6(T*2);

			orb2_set_color(CYAN);

		c6(T);

		b5(T);

			orb1_set_color(CYAN);

		a5(T*2);

		a5(T);

		c6(T);

			orb1_set_color(ORANGE);

			orb2_set_color(ORANGE);

		e6(T*2);

			orb1_set_color(RED);

			orb2_set_color(RED);

		d6(T);

		c6(T);

			orb1_set_color(LIME);

			orb2_set_color(LIME);

		b5(T*3);

		c6(T);

		d6(T*2);

			orb1_set_color(BLUE);

		bom_off();

	  }

	{	//i==2

		e6(T*2);

			orb2_set_color(BLUE);

		c6(T*2);

			orb2_set_color(ORB_OFF);

		a5(T*2);

			orb1_set_color(ORB_OFF);

		a5(T);

		a5(T*1);

		delay_ms(T*2);

	}	

	{

		delay_ms(T);

			orb2_set_color(WHITE);

		d6(T);

		delay_ms(T);

			orb1_set_color(WHITE);

		f6(T);

			orb1_set_color(PINK);

			orb2_set_color(PINK);

		a6(T);

		c6(T/2);

		c6(T/2);

		g6(T);

		f6(T);

			orb1_set_color(GREEN);

			orb2_set_color(GREEN);

		e6(T*2);

		delay_ms(T);

			orb2_set_color(RED);

			orb1_set_color(RED);	

		c6(T);

		e6(T);

		a5(T/2);

		g5(T/2);

		d6(T);

	}				

	{	//i==3

		c6(T);		

		b5(T*2);

		delay_ms(T);

			orb2_set_color(PURPLE);

			orb1_set_color(PURPLE);

		c6(T);

		d6(T*2);

			orb2_set_color(RED);		

		e6(T*2);

			orb1_set_color(RED);

		c6(T*2);

			orb1_set_color(ORB_OFF);

		a5(T);

		a4(T);

			orb2_set_color(ORB_OFF);

		a5(T);

		a4(T);

	{

		delay_ms(T*2);

			orb2_set_color(ORANGE);

			orb1_set_color(ORANGE);

		e6(T);

	}

		e6(T*3);

			orb2_set_color(RED);

			orb1_set_color(RED);

		c6(T*3);	

	}	

	{	//i==4

		c6(T);

			orb2_set_color(MAGENTA);

			orb1_set_color(MAGENTA);

		d6(T*4);

			orb2_set_color(CYAN);

			orb1_set_color(CYAN);

		b5(T*2);	

		b5(T*2);

			orb2_set_color(PURPLE);

			orb1_set_color(PURPLE);

		c6(T*4);

			orb2_set_color(PINK);

			orb1_set_color(PINK);

		a5(T*4);

			orb2_set_color(BLUE);

			orb1_set_color(GREEN);

		ab5(T*4);

			orb1_set_color(BLUE);

			orb2_set_color(GREEN);

		b5(T);

	}	

	{	//i==5

		b5(T*2);

		delay_ms(T);

			orb2_set_color(ORANGE);

			orb1_set_color(ORANGE);

		e6(T*4);

			orb2_set_color(RED);

			orb1_set_color(RED);

		c6(T*4);

			orb2_set_color(MAGENTA);

			orb1_set_color(MAGENTA);

		d6(T*4);

			orb2_set_color(CYAN);

			orb1_set_color(CYAN);

		b5(T*4);

		c6(T*2);

			orb1_set_color(WHITE);

		e6(T);

	}

	{	//CIRCLE

		e6(T);

			orb2_set_color(WHITE);

		a6(T*4);

	}

	{	//RESET

			orb1_set_color(LIME);

			orb2_set_color(LIME);

		ab6(T);

			orb1_set_color(ORB_OFF);

			orb2_set_color(ORB_OFF);

			delay_ms(T*13);

			delay_ms(T*3);

	}

	bom_refresh(BOM_ALL);

	while(bom_get_max() == -1){bom_refresh(BOM_ALL);}

	}	

	/* ****** YOUR CODE ENDS HERE ******* */

	return 0;

}

/*********

 * Music Library!

 * Now with twice the fiber!

 * 

 *  Jeff Cooper, Fall 2010

 ***************/

#ifndef MUSIC_FUNCTIONS

#define MUSIC_FUNCTIONS

void c0(int dur){buzzer_chirp(dur, 16);} 

void db0(int dur){buzzer_chirp(dur, 17);} 

void d0(int dur){buzzer_chirp(dur, 18);} 

void eb0(int dur){buzzer_chirp(dur, 19);} 

void e0(int dur){buzzer_chirp(dur, 20);} 

void f0(int dur){buzzer_chirp(dur, 21);} 

void gb0(int dur){buzzer_chirp(dur, 23);} 

void g0(int dur){buzzer_chirp(dur, 24);} 

void ab0(int dur){buzzer_chirp(dur, 25);} 

void a0(int dur){buzzer_chirp(dur, 27);} 

void bb0(int dur){buzzer_chirp(dur, 29);} 

void b0(int dur){buzzer_chirp(dur, 30);} 

void c1(int dur){buzzer_chirp(dur, 32);} 

void db1(int dur){buzzer_chirp(dur, 34);} 

void d1(int dur){buzzer_chirp(dur, 36);} 

void eb1(int dur){buzzer_chirp(dur, 38);} 

void e1(int dur){buzzer_chirp(dur, 41);} 

void f1(int dur){buzzer_chirp(dur, 43);} 

void gb1(int dur){buzzer_chirp(dur, 46);} 

void g1(int dur){buzzer_chirp(dur, 49);} 

void ab1(int dur){buzzer_chirp(dur, 51);} 

void a1(int dur){buzzer_chirp(dur, 55);} 

void bb1(int dur){buzzer_chirp(dur, 58);} 

void b1(int dur){buzzer_chirp(dur, 61);} 

void c2(int dur){buzzer_chirp(dur, 65);} 

void db2(int dur){buzzer_chirp(dur, 69);} 

void d2(int dur){buzzer_chirp(dur, 73);} 

void eb2(int dur){buzzer_chirp(dur, 77);} 

void e2(int dur){buzzer_chirp(dur, 82);} 

void f2(int dur){buzzer_chirp(dur, 87);} 

void gb2(int dur){buzzer_chirp(dur, 92);} 

void g2(int dur){buzzer_chirp(dur, 98);} 

void ab2(int dur){buzzer_chirp(dur, 103);} 

void a2(int dur){buzzer_chirp(dur, 110);} 

void bb2(int dur){buzzer_chirp(dur, 116);} 

void b2(int dur){buzzer_chirp(dur, 123);} 

void c3(int dur){buzzer_chirp(dur, 130);} 

void db3(int dur){buzzer_chirp(dur, 138);} 

void d3(int dur){buzzer_chirp(dur, 146);} 

void eb3(int dur){buzzer_chirp(dur, 155);} 

void e3(int dur){buzzer_chirp(dur, 164);} 

void f3(int dur){buzzer_chirp(dur, 174);} 

void gb3(int dur){buzzer_chirp(dur, 185);} 

void g3(int dur){buzzer_chirp(dur, 196);} 

void ab3(int dur){buzzer_chirp(dur, 207);} 

void a3(int dur){buzzer_chirp(dur, 220);} 

void bb3(int dur){buzzer_chirp(dur, 233);} 

void b3(int dur){buzzer_chirp(dur, 246);} 

void c4(int dur){buzzer_chirp(dur, 261);} 

void db4(int dur){buzzer_chirp(dur, 277);} 

void d4(int dur){buzzer_chirp(dur, 293);} 

void eb4(int dur){buzzer_chirp(dur, 311);} 

void e4(int dur){buzzer_chirp(dur, 329);} 

void f4(int dur){buzzer_chirp(dur, 349);} 

void gb4(int dur){buzzer_chirp(dur, 369);} 

void g4(int dur){buzzer_chirp(dur, 392);} 

void ab4(int dur){buzzer_chirp(dur, 415);} 

void a4(int dur){buzzer_chirp(dur, 440);} 

void bb4(int dur){buzzer_chirp(dur, 466);} 

void b4(int dur){buzzer_chirp(dur, 493);} 

void c5(int dur){buzzer_chirp(dur, 523);} 

void db5(int dur){buzzer_chirp(dur, 554);} 

void d5(int dur){buzzer_chirp(dur, 587);} 

void eb5(int dur){buzzer_chirp(dur, 622);} 

void e5(int dur){buzzer_chirp(dur, 659);} 

void f5(int dur){buzzer_chirp(dur, 698);} 

void gb5(int dur){buzzer_chirp(dur, 739);} 

void g5(int dur){buzzer_chirp(dur, 783);} 

void ab5(int dur){buzzer_chirp(dur, 830);} 

void a5(int dur){buzzer_chirp(dur, 880);} 

void bb5(int dur){buzzer_chirp(dur, 932);} 

void b5(int dur){buzzer_chirp(dur, 987);} 

void c6(int dur){buzzer_chirp(dur, 1046);} 

void db6(int dur){buzzer_chirp(dur, 1108);} 

void d6(int dur){buzzer_chirp(dur, 1174);} 

void eb6(int dur){buzzer_chirp(dur, 1244);} 

void e6(int dur){buzzer_chirp(dur, 1318);} 

void f6(int dur){buzzer_chirp(dur, 1396);} 

void gb6(int dur){buzzer_chirp(dur, 1479);} 

void g6(int dur){buzzer_chirp(dur, 1567);} 

void ab6(int dur){buzzer_chirp(dur, 1661);} 

void a6(int dur){buzzer_chirp(dur, 1760);} 

void bb6(int dur){buzzer_chirp(dur, 1864);} 

void b6(int dur){buzzer_chirp(dur, 1975);} 

void c7(int dur){buzzer_chirp(dur, 2093);} 

void db7(int dur){buzzer_chirp(dur, 2217);} 

void d7(int dur){buzzer_chirp(dur, 2349);} 

void eb7(int dur){buzzer_chirp(dur, 2489);} 

void e7(int dur){buzzer_chirp(dur, 2637);} 

void f7(int dur){buzzer_chirp(dur, 2793);} 

void gb7(int dur){buzzer_chirp(dur, 2959);} 

void g7(int dur){buzzer_chirp(dur, 3135);} 

void ab7(int dur){buzzer_chirp(dur, 3322);} 

void a7(int dur){buzzer_chirp(dur, 3520);} 

void bb7(int dur){buzzer_chirp(dur, 3729);} 

void b7(int dur){buzzer_chirp(dur, 3951);} 

void c8(int dur){buzzer_chirp(dur, 4186);} 

void db8(int dur){buzzer_chirp(dur, 4434);} 

void d8(int dur){buzzer_chirp(dur, 4698);} 

void eb8(int dur){buzzer_chirp(dur, 4978);} 

#endif

########Update This Section########

#

#

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

ifndef COLONYROOT

COLONYROOT = .

endif

# Target file name (without extension).

TARGET = lab0

# Uncomment this to use the wireless library

#USE_WIRELESS = 1

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

AVRDUDE_PORT = /dev/ttyUSB0

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

#

###################################

# Hey Emacs, this is a -*- makefile -*-

#----------------------------------------------------------------------------

# WinAVR Makefile Template written by Eric B. Weddington, J?rg Wunsch, et al.

#

# Released to the Public Domain

#

# Additional material for this makefile was written by:

# Peter Fleury

# Tim Henigan

# Colin O'Flynn

# Reiner Patommel

# Markus Pfaff

# Sander Pool

# Frederik Rouleau

#

#----------------------------------------------------------------------------

# On command line:

#

# make all = Make software.

#

# make clean = Clean out built project files.

#

# make coff = Convert ELF to AVR COFF.

#

# make extcoff = Convert ELF to AVR Extended COFF.

#

# make program = Download the hex file to the device, using avrdude.

#                Please customize the avrdude settings below first!

#

# make debug = Start either simulavr or avarice as specified for debugging,

#              with avr-gdb or avr-insight as the front end for debugging.

#

# make filename.s = Just compile filename.c into the assembler code only.

#

# make filename.i = Create a preprocessed source file for use in submitting

#                   bug reports to the GCC project.

#

# To rebuild project do "make clean" then "make all".

#----------------------------------------------------------------------------

#if you want your code to work on the Firefly++ and not Firefly+

#then add the -DFFPP line to CDEFS

CDEFS =

#-DFFPP

# MCU name

MCU = atmega128

# Processor frequency.

#     This will define a symbol, F_CPU, in all source code files equal to the

#     processor frequency. You can then use this symbol in your source code to

#     calculate timings. Do NOT tack on a 'UL' at the end, this will be done

#     automatically to create a 32-bit value in your source code.

F_CPU = 8000000

# Output format. (can be srec, ihex, binary)

FORMAT = ihex

# List C source files here. (C dependencies are automatically generated.)

SRC = $(wildcard *.c)

# List Assembler source files here.

#     Make them always end in a capital .S.  Files ending in a lowercase .s

#     will not be considered source files but generated files (assembler

#     output from the compiler), and will be deleted upon "make clean"!

#     Even though the DOS/Win* filesystem matches both .s and .S the same,

#     it will preserve the spelling of the filenames, and gcc itself does

#     care about how the name is spelled on its command-line.

ASRC =

# Optimization level, can be [0, 1, 2, 3, s].

#     0 = turn off optimization. s = optimize for size.

#     (Note: 3 is not always the best optimization level. See avr-libc FAQ.)

OPT = s

# Debugging format.

#     Native formats for AVR-GCC's -g are dwarf-2 [default] or stabs.

#     AVR Studio 4.10 requires dwarf-2.

#     AVR [Extended] COFF format requires stabs, plus an avr-objcopy run.

DEBUG =

# Compiler flag to set the C Standard level.

#     c89   = "ANSI" C

#     gnu89 = c89 plus GCC extensions

#     c99   = ISO C99 standard (not yet fully implemented)

#     gnu99 = c99 plus GCC extensions

CSTANDARD = -std=gnu99

# Place -D or -U options here

CDEFS += -DF_CPU=$(F_CPU)UL

CDEFS += -DFFP

# for wireless library

ifdef USE_WIRELESS

	CDEFS += -DROBOT

endif

# Place -I, -L options here

CINCS = -I$(COLONYROOT)/Library

CINCS += -L$(COLONYROOT)/Library

ifdef USE_WIRELESS

	CINCS += -I$(COLONYROOT)/code/lib/include/libwireless

endif

#---------------- Compiler Options ----------------

#  -g*:          generate debugging information

#  -O*:          optimization level

#  -f...:        tuning, see GCC manual and avr-libc documentation

#  -Wall...:     warning level

#  -Wa,...:      tell GCC to pass this to the assembler.

#    -adhlns...: create assembler listing

CFLAGS =

# CFLAGS = -g$(DEBUG)

CFLAGS += $(CDEFS) $(CINCS)

CFLAGS += -O$(OPT)

CFLAGS += -funsigned-char -funsigned-bitfields -fpack-struct -fshort-enums

CFLAGS += -Wall -Wstrict-prototypes

CFLAGS += -Wa,-adhlns=$(<:.c=.lst)

CFLAGS += $(CSTANDARD)

#---------------- Assembler Options ----------------

#  -Wa,...:   tell GCC to pass this to the assembler.

#  -ahlms:    create listing

#  -gstabs:   have the assembler create line number information; note that

#             for use in COFF files, additional information about filenames

#             and function names needs to be present in the assembler source

#             files -- see avr-libc docs [FIXME: not yet described there]

ASFLAGS = -Wa,-adhlns=$(<:.S=.lst),-gstabs

#---------------- Library Options ----------------

# Minimalistic printf version

PRINTF_LIB_MIN = -Wl,-u,vfprintf -lprintf_min

# Floating point printf version (requires MATH_LIB = -lm below)

PRINTF_LIB_FLOAT = -Wl,-u,vfprintf -lprintf_flt

# If this is left blank, then it will use the Standard printf version.

#PRINTF_LIB =

#PRINTF_LIB = $(PRINTF_LIB_MIN)

PRINTF_LIB = $(PRINTF_LIB_FLOAT)

# Minimalistic scanf version

SCANF_LIB_MIN = -Wl,-u,vfscanf -lscanf_min

# Floating point + %[ scanf version (requires MATH_LIB = -lm below)

SCANF_LIB_FLOAT = -Wl,-u,vfscanf -lscanf_flt

# If this is left blank, then it will use the Standard scanf version.

SCANF_LIB =

#SCANF_LIB = $(SCANF_LIB_MIN)

#SCANF_LIB = $(SCANF_LIB_FLOAT)

MATH_LIB = -lm

#---------------- External Memory Options ----------------

# 64 KB of external RAM, starting after internal RAM (ATmega128!),

# used for variables (.data/.bss) and heap (malloc()).

#EXTMEMOPTS = -Wl,-Tdata=0x801100,--defsym=__heap_end=0x80ffff

# 64 KB of external RAM, starting after internal RAM (ATmega128!),

# only used for heap (malloc()).

#EXTMEMOPTS = -Wl,--defsym=__heap_start=0x801100,--defsym=__heap_end=0x80ffff

EXTMEMOPTS =

#---------------- Linker Options ----------------

#  -Wl,...:     tell GCC to pass this to linker.

#    -Map:      create map file

#    --cref:    add cross reference to  map file

LDFLAGS = -Wl,-Map=$(TARGET).map,--cref

LDFLAGS += $(EXTMEMOPTS)

LDFLAGS += $(PRINTF_LIB) $(SCANF_LIB) $(MATH_LIB)

ifdef USE_WIRELESS

	LDFLAGS += -lwireless

endif

LDFLAGS += -ldragonfly

#---------------- Programming Options (avrdude) ----------------

# Programming hardware: alf avr910 avrisp bascom bsd

# dt006 pavr picoweb pony-stk200 sp12 stk200 stk500

#

# Type: avrdude -c ?

# to get a full listing.

#

AVRDUDE_PROGRAMMER = avrisp

# programmer connected to serial device

AVRDUDE_WRITE_FLASH = -b 57600 -U flash:w:$(TARGET).hex

#AVRDUDE_WRITE_EEPROM = -U eeprom:w:$(TARGET).eep

# Uncomment the following if you want avrdude's erase cycle counter.

# Note that this counter needs to be initialized first using -Yn,

# see avrdude manual.

#AVRDUDE_ERASE_COUNTER = -y

# Uncomment the following if you do /not/ wish a verification to be

# performed after programming the device.

#AVRDUDE_NO_VERIFY = -V

# Increase verbosity level.  Please use this when submitting bug

# reports about avrdude. See <http://savannah.nongnu.org/projects/avrdude>

# to submit bug reports.

#AVRDUDE_VERBOSE = -v -v

AVRDUDE_FLAGS = -p $(MCU) -P $(AVRDUDE_PORT) -c $(AVRDUDE_PROGRAMMER)

AVRDUDE_FLAGS += $(AVRDUDE_NO_VERIFY)

AVRDUDE_FLAGS += $(AVRDUDE_VERBOSE)

AVRDUDE_FLAGS += $(AVRDUDE_ERASE_COUNTER)

#don't check for device signature

AVRDUDE_FLAGS += -F

#---------------- Debugging Options ----------------

# For simulavr only - target MCU frequency.

DEBUG_MFREQ = $(F_CPU)

# Set the DEBUG_UI to either gdb or insight.

# DEBUG_UI = gdb

DEBUG_UI = insight

# Set the debugging back-end to either avarice, simulavr.

DEBUG_BACKEND = avarice

#DEBUG_BACKEND = simulavr

# GDB Init Filename.

GDBINIT_FILE = __avr_gdbinit

# When using avarice settings for the JTAG

JTAG_DEV = /dev/com1

# Debugging port used to communicate between GDB / avarice / simulavr.

DEBUG_PORT = 4242

# Debugging host used to communicate between GDB / avarice / simulavr, normally

#     just set to localhost unless doing some sort of crazy debugging when

#     avarice is running on a different computer.

DEBUG_HOST = localhost

#============================================================================

# Define programs and commands.

SHELL = sh

CC = avr-gcc

OBJCOPY = avr-objcopy

OBJDUMP = avr-objdump

SIZE = avr-size

NM = avr-nm

AVRDUDE = avrdude

REMOVE = rm -f

REMOVEDIR = rm -rf

COPY = cp

WINSHELL = cmd

# Define Messages

# English

MSG_ERRORS_NONE = Errors: none

MSG_BEGIN = -------- begin --------

MSG_END = --------  end  --------

MSG_SIZE_BEFORE = Size before:

MSG_SIZE_AFTER = Size after:

MSG_COFF = Converting to AVR COFF:

MSG_EXTENDED_COFF = Converting to AVR Extended COFF:

MSG_FLASH = Creating load file for Flash:

MSG_EEPROM = Creating load file for EEPROM:

MSG_EXTENDED_LISTING = Creating Extended Listing:

MSG_SYMBOL_TABLE = Creating Symbol Table:

MSG_LINKING = Linking:

MSG_COMPILING = Compiling:

MSG_ASSEMBLING = Assembling:

MSG_CLEANING = Cleaning project:

# Define all object files.

OBJ = $(SRC:.c=.o) $(ASRC:.S=.o)

# Define all listing files.

LST = $(SRC:.c=.lst) $(ASRC:.S=.lst)

# Compiler flags to generate dependency files.

GENDEPFLAGS = -MD -MP -MF .dep/$(@F).d

# Combine all necessary flags and optional flags.

# Add target processor to flags.

ALL_CFLAGS = -mmcu=$(MCU) -I. $(CFLAGS) $(GENDEPFLAGS)

ALL_ASFLAGS = -mmcu=$(MCU) -I. -x assembler-with-cpp $(ASFLAGS)

# Default target.

all: begin gccversion sizebefore build sizeafter end

build: elf hex eep lss sym

elf: $(TARGET).elf

hex: $(TARGET).hex

eep: $(TARGET).eep

lss: $(TARGET).lss

sym: $(TARGET).sym

# Eye candy.

# AVR Studio 3.x does not check make's exit code but relies on

# the following magic strings to be generated by the compile job.

begin:

	@echo

	@echo $(MSG_BEGIN)

end:

	@echo $(MSG_END)

	@echo

# Display size of file.

HEXSIZE = $(SIZE) --target=$(FORMAT) $(TARGET).hex

ELFSIZE = $(SIZE) -A $(TARGET).elf

AVRMEM = avr-mem.sh $(TARGET).elf $(MCU)

sizebefore:

	@if test -f $(TARGET).elf; then echo; echo $(MSG_SIZE_BEFORE); $(ELFSIZE); \

	$(AVRMEM) 2>/dev/null; echo; fi

sizeafter:

	@if test -f $(TARGET).elf; then echo; echo $(MSG_SIZE_AFTER); $(ELFSIZE); \

	$(AVRMEM) 2>/dev/null; echo; fi

# Display compiler version information.

gccversion :

	@$(CC) --version

# Program the device.

program: $(TARGET).hex $(TARGET).eep

	$(AVRDUDE) $(AVRDUDE_FLAGS) $(AVRDUDE_WRITE_FLASH) $(AVRDUDE_WRITE_EEPROM)

# Generate avr-gdb config/init file which does the following:

#     define the reset signal, load the target file, connect to target, and set

#     a breakpoint at main().

gdb-config:

	@$(REMOVE) $(GDBINIT_FILE)

	@echo define reset >> $(GDBINIT_FILE)

	@echo SIGNAL SIGHUP >> $(GDBINIT_FILE)

	@echo end >> $(GDBINIT_FILE)

	@echo file $(TARGET).elf >> $(GDBINIT_FILE)

	@echo target remote $(DEBUG_HOST):$(DEBUG_PORT)  >> $(GDBINIT_FILE)

ifeq ($(DEBUG_BACKEND),simulavr)

	@echo load  >> $(GDBINIT_FILE)

endif

	@echo break main >> $(GDBINIT_FILE)

debug: gdb-config $(TARGET).elf

ifeq ($(DEBUG_BACKEND), avarice)

	@echo Starting AVaRICE - Press enter when "waiting to connect" message displays.

	@$(WINSHELL) /c start avarice --jtag $(JTAG_DEV) --erase --program --file \

	$(TARGET).elf $(DEBUG_HOST):$(DEBUG_PORT)

	@$(WINSHELL) /c pause

else

	@$(WINSHELL) /c start simulavr --gdbserver --device $(MCU) --clock-freq \

	$(DEBUG_MFREQ) --port $(DEBUG_PORT)

endif

	@$(WINSHELL) /c start avr-$(DEBUG_UI) --command=$(GDBINIT_FILE)

# Convert ELF to COFF for use in debugging / simulating in AVR Studio or VMLAB.

COFFCONVERT=$(OBJCOPY) --debugging \

--change-section-address .data-0x800000 \

--change-section-address .bss-0x800000 \

--change-section-address .noinit-0x800000 \

--change-section-address .eeprom-0x810000

coff: $(TARGET).elf

	@echo

	@echo $(MSG_COFF) $(TARGET).cof

	$(COFFCONVERT) -O coff-avr $< $(TARGET).cof

extcoff: $(TARGET).elf

	@echo

	@echo $(MSG_EXTENDED_COFF) $(TARGET).cof

	$(COFFCONVERT) -O coff-ext-avr $< $(TARGET).cof

# Create final output files (.hex, .eep) from ELF output file.

%.hex: %.elf

	@echo

	@echo $(MSG_FLASH) $@

	$(OBJCOPY) -O $(FORMAT) -R .eeprom $< $@

%.eep: %.elf

	@echo

	@echo $(MSG_EEPROM) $@

	-$(OBJCOPY) -j .eeprom --set-section-flags=.eeprom="alloc,load" \

	--change-section-lma .eeprom=0 -O $(FORMAT) $< $@

# Create extended listing file from ELF output file.

%.lss: %.elf

	@echo

	@echo $(MSG_EXTENDED_LISTING) $@

	$(OBJDUMP) -h -S $< > $@

# Create a symbol table from ELF output file.

%.sym: %.elf

	@echo

	@echo $(MSG_SYMBOL_TABLE) $@

	$(NM) -n $< > $@

# Link: create ELF output file from object files.

.SECONDARY : $(TARGET).elf

.PRECIOUS : $(OBJ)

%.elf: $(OBJ)

	@echo

	@echo $(MSG_LINKING) $@

	$(CC) $(ALL_CFLAGS) $^ --output $@ $(LDFLAGS)

# Compile: create object files from C source files.

%.o : %.c

	@echo

	@echo $(MSG_COMPILING) $<

	$(CC) -c $(ALL_CFLAGS) $< -o $@

# Compile: create assembler files from C source files.

%.s : %.c

	$(CC) -S $(ALL_CFLAGS) $< -o $@

# Assemble: create object files from assembler source files.

%.o : %.S

	@echo

	@echo $(MSG_ASSEMBLING) $<

	$(CC) -c $(ALL_ASFLAGS) $< -o $@

# Create preprocessed source for use in sending a bug report.

%.i : %.c

	$(CC) -E -mmcu=$(MCU) -I. $(CFLAGS) $< -o $@

# Target: clean project.

clean: begin clean_list end

clean_list :

	@echo

	@echo $(MSG_CLEANING)

	$(REMOVE) $(TARGET).hex

	$(REMOVE) $(TARGET).eep

	$(REMOVE) $(TARGET).cof

	$(REMOVE) $(TARGET).elf

	$(REMOVE) $(TARGET).map

	$(REMOVE) $(TARGET).sym

	$(REMOVE) $(TARGET).lss

	$(REMOVE) $(OBJ)

	$(REMOVE) $(LST)

	$(REMOVE) $(SRC:.c=.s)

	$(REMOVE) $(SRC:.c=.d)

	$(REMOVEDIR) .dep

# Include the dependency files.

-include $(shell mkdir .dep 2>/dev/null) $(wildcard .dep/*)

# Listing of phony targets.

.PHONY : all begin finish end sizebefore sizeafter gccversion \

build elf hex eep lss sym coff extcoff \

clean clean_list program debug gdb-config

 _____ _____ _____ ____  ___ ____  

|_   _| ____|_   _|  _ \|_ _/ ___| 

  | | |  _|   | | | |_) || |\___ \ 

  | | | |___  | | |  _ < | | ___) |

  |_| |_____| |_| |_| \_\___|____/ 

	An overly-silly lab0 by

	Jeff Cooper and Priya Deo,

		Fall 2010

======================================

You're reading the README, good for you!

Here's how this code breaks down:

mastercode/:

	lab0.c

	music.c

	Makefile

slavecode/:

	lab0.c

	music.c

	Makefile

music.c

You'll notice that music.c exists three times. 

It's the same file, don't worry.

Mastercode is the stand-alone version of the tetris dance,

and also the only one that dances.  It turns the BOM on and off

at various points during the song to synchronize with the bots

running slavecode.

Slavecode contains the song and lights but no dance.  It won't

play the song (or repeat it, when it ends) without a signal from a BOM,

and it turns on it's own BOM when it gets that signal so you can chain

them across a room (note: this is a good way to get tired and/or grouchy

people to step on "those little buggers making that gosh-darned racket.")

	->The slavecode can be started by pushing button1.  This will

		turn on the BOM and start other slaves.

DISCLAIMER:

------------

The music library is cool and relatively accurate, but it can also

be insanely annoying.  Use it at your own risk and with discretion.