Colony

/**

 * Copyright (c) 2007 Colony Project

 * 

 * Permission is hereby granted, free of charge, to any person

 * obtaining a copy of this software and associated documentation

 * files (the "Software"), to deal in the Software without

 * restriction, including without limitation the rights to use,

 * copy, modify, merge, publish, distribute, sublicense, and/or sell

 * copies of the Software, and to permit persons to whom the

 * Software is furnished to do so, subject to the following

 * conditions:

 * 

 * The above copyright notice and this permission notice shall be

 * included in all copies or substantial portions of the Software.

 * 

 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,

 * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES

 * OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND

 * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT

 * HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY,

 * WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING

 * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR

 * OTHER DEALINGS IN THE SOFTWARE.

 **/

/**

 * @file bom.c

 * @brief Implementation for using the BOM

 *

 * Contains functions for using the Bearing and Orientation Module (BOM)

 *

 * @author Colony Project, CMU Robotics Club

 **/

#define BOM_VALUE_THRESHOLD 200

int get_max_bom(void)

{

	int a, i, j, h = 255;

	//Turn off the loop so that we can actually use analog8 correctly

	analog_stop_loop();

	//Iterate through through each LED

	for (j = 0; j < 16; j++)

	{

		i = lookup[j];

		if (i&8)

			output_high(MONK3);

		else

			output_low(MONK3);

		if (i&4)

			output_high(MONK2);

		else

			output_low(MONK2);

		if (i&2)

			output_high(MONK1);

		else

			output_low(MONK1);

		if (i&1)

			output_high(MONK0);

		else

			output_low(MONK0);

		a = analog_get8(MONKI);

		if (a < h)

		{

			h = a;

			max_bom_temp = j;

		}

	}

	//Restart loop now that we are done using analog8

	analog_start_loop();