Colony

#include <dragonfly_lib.h>

#include <wireless.h>

#include "robot_comm.h"

#include "../common/comm_station_robot.h"

static void send_packet (char type, char *data, int len)

{

        wl_send_global_packet (station_robot_group, type, data, len, 0);

        // TODO: is it guaranteed that the package will be sent on the next call to wl_do, or

        // do we have to call wl_do in a loop?

        wl_do ();

}

void robot_set_orbs (uint8_t red1, uint8_t green1, uint8_t blue1, uint8_t red2, uint8_t green2, uint8_t blue2)

{

        char data[6];

        data[0]=red1;

        data[1]=green1;

        data[2]=blue1;

        data[3]=red2;

        data[4]=green2;

        data[5]=blue2;

        send_packet (station_robot_set_orbs, data, 6);

}

void robot_set_motors (uint8_t direction1, uint8_t speed1, uint8_t direction2, uint8_t speed2)

{

        char data[4];

        data[0]=direction1;

        data[1]=speed1;

        data[2]=direction2;

        data[3]=speed2;

        send_packet (station_robot_set_motors, data, 4);

}

void robot_set_bom (uint16_t bitmask)

{

        char data[2];

        data[0]=WORD_BYTE_0(bitmask);

        data[1]=WORD_BYTE_1(bitmask);

        send_packet (station_robot_set_bom, data, 2);

}