Colony

#include <dragonfly_lib.h>

#include <wireless.h>

#include <xbee.h>

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

#include "global.h"

#include "station_hardware.h"

#include "tests.h"

void interactive_main (void)

{

        while (1)

        {

                // Set the orbs to green/green

                orbs_set (0,255,0, 0,255,0);

                usb_puts (NL);

                usb_puts ("# Diagnostic station interactive mode" NL);

                usb_puts ("# Test (s)elf, (a)ll, (c)omm, (b)om, (r)angefinders, (m)otors, (e)ncoders" NL);

                char choice = usb_getc ();

                switch (choice) {

                        case 'c': case 'C': test_comm ();                               break;

                        case 'a': case 'A': test_all ();                                break; // test_all will test comm itself

                        case 'b': case 'B': if (require_comm ()) test_bom (true, true); break;

                        case 'r': case 'R': if (require_comm ()) test_rangefinders ();  break;

                        case 'm': case 'M': if (require_comm ()) test_motors ();        break;

                        case 'e': case 'E': if (require_comm ()) test_encoders ();      break;

                        case 's': case 'S': self_test ();                               break;

                        default: break; // ignore it

                }

        }

}

void server_main (void)

{

        // Set the orbs to green/yellow

        orbs_set (0,255,0, 255,127,0);

        while (1);

}

int main (void)

{

#include <dragonfly_lib.h>

#include <wireless.h>

    dragonfly_init(0);

    usb_init ();

        usb_puts(NL NL NL);

        usb_puts("# Diagnostic station version " version_string " starting" NL);

    orb_init_pwm ();

        hardware_init ();

        server_comm_init ();

        orb1_set (255, 0, 0); usb_puts("# Initializing wireless" NL);

        xbee_init ();

        wl_init();

        orb2_set (255, 0, 0); usb_puts("# Done" NL);

        if (button1_read ())

                        test_all ();

        if (button2_read ())

                server_main ();

        else

                interactive_main ();

        while (1);

}