Colony

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_all (true, true); break;

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

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

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

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

			default: break; // ignore it

		}

	}

int main_default (void)

{

    dragonfly_init(0);

	// Initialize before using USB

	comm_server_init ();

	usb_puts(NL NL NL);

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

    orb_init_pwm ();

	hardware_init ();

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

	comm_robot_init ();

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

	// If button 1 is pressed after initialization of the wireless (which takes about 1s), run all tests.

	if (button1_read ())

			test_all ();

	// If button 2 is pressed, go to interactive mode (green/green). If not, go to server mode (green/yellow).

	if (button2_read ())

		interactive_main ();

	else

	{

		// Set the orbs to green/yellow

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

		server_main ();

	}

	while (1);

	return 0;

}