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

 * 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

 * init_dragonfly (ALL_ON); - Turns on all basic subsystems. More complex ones that require

 * 		their own configuration parameters must still be called on their own.

 *

 * Initialize ADC, USB, XBee, and Buzzer

 * init_dragonfly (MOTORS | ORB);

 **/

	//Pin G1 is button 2

	DDRG &= ~(_BV(PING0)|_BV(PING1));

  PORTG |= _BV(PING0)|_BV(PING1);

  if(config & ANALOG)

    analog_init(ADC_START);

  if(config & COMM) {

    //Both default to 115200. Check serial.h for more information.

    usb_init();

    xbee_init();

  }

  if(config & BUZZER) {

    buzzer_init();

  }

  if(config & ORB) {

    orb_init();

  }

  if(config & MOTORS)

    motors_init();

  if(config & LCD)

    lcd_init();

  // delay a bit for stability

  _delay_ms(1);

}