Colony

#include <dragonfly_lib.h>

//#include "smart_run_around_fsm.h"

// Martin "deffi" Herrmann Test

static void oset(uint8_t r,uint8_t g,uint8_t b)

{

    orbs_set(r,g,b,255-r,255-g,255-b);

}

static void color_circle (void)

{

    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: oset (on, up, of); break;

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

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

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

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

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

                    }

                }

                else

                {

                    // Constant brightness mode (not very constant though)

                    switch (part%3)

                    {

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

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

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

                    }

                }

                delay_ms (2);

            }

        }

    }

}

static void acl(void)

{

#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);

    }

}

int main(void) {

    //  dragonfly_init(ALL_ON);

    dragonfly_init(0);

    usb_init ();

    usb_puts ("Startup\r\n");

    //encoders_init ();

    //analog_init(ADC_START);

    //analog_init(0);

    //range_init();

    //DDRF=2;

    //motors_init ();

    //motor2_set (FORWARD, 64);

    //orb_init_binary ();

    orb_init_pwm ();

    if (false)

    {

        orbs_set (255, 0, 0, 0, 0, 0); delay_ms (500);

        orbs_set (0, 255, 0, 0, 0, 0); delay_ms (500);

        orbs_set (0, 0, 255, 0, 0, 0); delay_ms (500);

        orbs_set (0, 0, 0, 255, 0, 0); delay_ms (500);

        orbs_set (0, 0, 0, 0, 255, 0); delay_ms (500);

        orbs_set (0, 0, 0, 0, 0, 255); delay_ms (500);

    }

    if (false)

    {

        orb_set (1,1,1);

        while (1)

        {

            SYNC

            {

                for (uint8_t m=0; m<100; ++m)

                {

                    _delay_us(10);

                }

            }

        }

    }

    if (false)

    {

        while (1)

        {

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

            {

                orbs_set (x, 1, 2, 3, 4, 5);

                for (uint8_t n=0; n<80; ++n)

                {

                    SYNC

                    { for (uint8_t m=0; m<1; ++m) _delay_us(50); }

                }

            }

            for (uint8_t x=255; x>0; --x)

            {

                orbs_set (x, 1, 1, 1, 1, 1);

                delay_ms (4);

            }

        }

    }

    if (false)

    {

        //orbs_set (2,4,6,8,10,12);

        //orbs_set (32, 64, 96, 128, 160, 192);

        orbs_set (128,128,128,128,128,128);

        while (1);

    }

    if (false)

    {

        if (!button2_read ())

        {

            orb_set_mode (orb_mode_pwm);

            orb_disable_timer ();

            while (1)

            {

                // Continuously call the sorting routine for timing test

                for (uint8_t i=0; i<200; ++i)

                {

                    orbs_set (10,20,30,40,50,60);

                    delay_ms (10);

                }

                for (uint8_t i=0; i<200; ++i)

                {

                    orbs_set (60,50,40,30,20,10);

                    delay_ms (10);

                }

            }

        }

        else

        {

            while (button2_read ());

            if (button1_read ())

            {

                color_circle ();

            }

            else

            {

                acl ();

            }

        }

    }

    // Do some lighting

    if (!button2_read ())

        color_circle ();

    else

        acl ();

}