Colony

#include <dragonfly_lib.h>

#include <wireless.h>

#define GROUP 1

#define TYPE 0

void packet_receive (char type, int source, unsigned char* packet, int length);

PacketGroupHandler packetHandler = {GROUP, NULL, NULL, &packet_receive, NULL};

void packet_receive (char type, int source, unsigned char* packet, int length) {

        int lv, ls, rv, rs;

        char buf[32];

        sprintf(buf, "%d %d %d %d\n", packet[0], packet[1], packet[2], packet[3]);

        usb_puts(buf);

        lv = packet[0];

        ls = packet[1];

        rv = packet[2];

        rs = packet[3];

        motor1_set(ls,lv);

        motor2_set(rs,rv);

}

int main (void) {

  dragonfly_init(SERIAL | USB | COMM | ORB | ANALOG | MOTORS | BUZZER);

        ADCSRA = _BV(ADEN) | _BV(ADPS2) | _BV(ADPS1) | _BV(ADPS0);

        usb_puts("xbee id ");

        usb_putc(wl_get_xbee_id());

        wl_init();

        wl_register_packet_group(&packetHandler);

        orb_set_color(PURPLE);

  while (1) {

        wl_do();

  }

}