Colony

#include <dragonfly_lib.h>

#include <wireless.h>

#include <xbee.h>

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

#include "global.h"

#include "hardware.h"

#include "tests.h"

#include "self_test.h"

#include "comm_server.h"

#include "comm_robot.h"

#include "comm_interactive.h"

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;

}

int main_martin (void)

{

        dragonfly_init (0);

        orb_init ();

        if (!button2_read ())

        {

                // Initialize before using USB

                comm_server_init ();

                orb1_set (0, 0, 255);

                comm_robot_init ();

                orb2_set (0, 0, 255);

                int16_t left=69, right=105;

                while (0)

                {

                        robot_set_motors (motor_direction_backward, 250, motor_direction_forward, 250);

                        delay_ms (200);

                }

                // Encoder test

                robot_reset_encoders ();

                while (1)

                {

                        bool result=robot_read_encoders (&left, &right);

                        usb_puti (result);

                        usb_puts (" ");

                        usb_puti (left);

                        usb_puts (" ");

                        usb_puti (right);

                        usb_puts (NL);

                        delay_ms (200);

                }

        }

        else

        {

                delay_ms (1000);

                main_default ();

        }

        while (1);

        return 0;

}

int main_john (void)

{

        dragonfly_init(0);

        orb_init();

        usb_init();

        analog_init(ADC_START);

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

        rbom_debug();

        return 0;

}

int main_evan (void)

{

    dragonfly_init(0);

    usb_init ();

        usb_puts(NL NL NL);

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

    orb_init_pwm ();

        hardware_init ();

        comm_server_init ();

        comm_robot_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 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;

}