Colony

#include <dragonfly_lib.h>

//#include "smart_run_around_fsm.h"

// Martin "deffi" Herrmann Test

uint8_t motors_on=0;

static void color_circle ()

{

   while(1)

   {

                for (uint8_t part=0; part<6; ++part)

                {

                        for (uint8_t up=0; up<255; ++up)

                        {

                                uint8_t dn=255-up;

                                uint8_t on=255;

                                uint8_t of=0;

                                if (1)

                                {

                                        // Maximum brightness mode

                                        switch (part)

                                        {

                                                case 0: orb_set (on, up, of); break;

                                                case 1: orb_set (dn, on, of); break;

                                                case 2: orb_set (of, on, up); break;

                                                case 3: orb_set (of, dn, on); break;

                                                case 4: orb_set (up, of, on); break;

                                                case 5: orb_set (on, of, dn); break;

                                        }

                                }

                                else

                                {

                                        // Constant brightness mode (not very constant though)

                                        switch (part%3)

                                        {

                                                case 0: orb_set (dn, up, of); break;

                                                case 1: orb_set (of, dn, up); break;

                                                case 2: orb_set (up, of, dn); break;

                                        }

                                }

                                delay_ms (2);

                        }

                }

        }

}

static void acl()

{

        #define redval 255

        #define greenval 150

        #define interval 1300

        #define flash 20

        #define pause 200

        #define def do { orb1_set(redval,0,0); orb2_set(0,greenval,0); } while (0)

        #define wht do { orb_set(255,255,255); } while (0)

        while (1)

        {

                wht; delay_ms (flash);

                def; delay_ms (pause-flash);

                wht; delay_ms (flash);

                def; delay_ms (pause-flash);

                def; delay_ms (interval-2*pause-2*flash);

        }

}

static uint8_t hex_digit(uint8_t x)

{

        if (x>15) return '?';

        return "0123456789ABCDEF"[x];

}

static void usb_puth(int i)

{

        usb_putc(hex_digit((i>>12)&0xF));

        usb_putc(hex_digit((i>>8)&0xF));

        usb_putc(hex_digit((i>>4)&0xF));

        usb_putc(hex_digit(i&0xF));

}

static void usb_puth8(uint8_t i)

{

        usb_putc(hex_digit((i>>4)&0xF));

        usb_putc(hex_digit(i&0xF));

}

int main(void) {

//        dragonfly_init(ALL_ON);

        dragonfly_init(0);

        //encoders_init ();

    //analog_init(ADC_START);

        //analog_init(0);

    //range_init();

        orb_init ();

        orb_enable ();

        orb_set(0,0,0); delay_ms (1000);

        usb_puts ("Startup\r\n");

        // Do some lighting and wheel controlled motors on BTN1

        if (!button2_read ())

                acl ();

        else

                color_circle ();

}