Colony

#include <dragonfly_lib.h>

#include <wireless.h>

#include <wl_defs.h>

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

#include <serial.h>

#include <stdio.h>

#include <xbee.h>

#define YCENTER 90

#define XCENTER 90

int joystick_pos (void);

int main (void) {

  int cur_pos = 0;

  int x_pos, y_pos;

  int vx, vy;

  char buf[100];

  /* init stuff */

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

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

        xbee_init();

  orb_set_color(BLUE);

  while (1) {

    cur_pos = joystick_pos();

    x_pos = cur_pos & 0xFF;

    y_pos = (cur_pos >> 8) & 0xFF;

    vx = (x_pos - XCENTER) * 10;

    vy = (y_pos - YCENTER) * 10;

    sprintf(buf, "%d,%d\0", vx, vy);

    usb_puts(buf);

    usb_puts("\n");

    delay_ms(200);

  }

}

/**

 * Get the current X and Y axis readings.

 */

int joystick_pos (void) {

        char x_pos, y_pos;

        char buf[100];

  x_pos = (char) analog_get8(AN4);

  y_pos = (char) analog_get8(AN5);

  return x_pos | (y_pos << 8);

}