Colony

#include <dragonfly_lib.h>

#include <wireless.h>

#include "../../../common/colonet_defs.h"

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

PacketGroupHandler packetHandler = {4, NULL, NULL, &packet_receive, NULL};

int main (void) {

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

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

        //xbee_init();

    wl_init();

    wl_register_packet_group(&packetHandler);

        orb_set_color(PURPLE);

  /*char buf[100];

  char c;*/

  while (1) {

    //usb_puts("entering while loop\n");

    wl_do();

//    c = xbee_getc();

//    orb_set_color(GREEN);

//    sprintf(buf, "got char: %c\n", c);

//    usb_puts(buf);

    /*if (c == 'f') {

      orb_set_color(GREEN);

      motor1_set(1, 250);

      motor2_set(1, 250);

    }

    if (c == 'b') {

      orb_set_color(BLUE);

      motor1_set(0, 250);

      motor2_set(0, 250);

    }

    if (c == 'l') {

      orb_set_color(ORANGE);

      motor1_set(0, 250);

      motor2_set(1, 250);

    }

    if (c == 'r') {

      orb_set_color(YELLOW);

      motor1_set(1, 250);

      motor2_set(0, 250);

    }

    if (c == 's') {

      orb_set_color(RED);

      motor1_set(0, 0);

      motor2_set(0, 0);

    }

    if (c == 't') {

      orb_set_color(PURPLE);

      buzzer_chirp(1000, C5);

    }

    if (c == 'u') {

      orb_set_color(YELLOW);

      buzzer_chirp(1000, A4);

    }

    delay_ms(100);*/

  }

}

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

    switch (type) {

        case 'f':

            orb_set_color(GREEN);

            motor1_set(1, 250);

            motor2_set(1, 250);

            break;

        case 's':

            orb_set_color(RED);

            motor1_set(0, 0);

            motor2_set(0, 0);

            break;

        case 'b':

            orb_set_color(BLUE);

            motor1_set(0, 250);

            motor2_set(0, 250);

            break;

        case 'l':

            orb_set_color(ORANGE);

            motor1_set(0, 250);

            motor2_set(1, 250);

            break;

        case 'r':

            orb_set_color(YELLOW);

            motor1_set(1, 250);

            motor2_set(0, 250);

            break;

        case 't':

            orb_set_color(PURPLE);

            buzzer_chirp(1000, C5);

            break;

        case 'u':

            orb_set_color(YELLOW);

            buzzer_chirp(1000, A4);

            break;

        default:

            orb_set_color(RED);

            motor1_set(0, 0);

            motor2_set(0, 0);

            break;

    }

}