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

                server_main ();

        while (1);

        return 0;

}

int main_martin (void)

{

        dragonfly_init (0);

        orb_init ();

        if (!button2_read ())

        {

                // Initialize before using USB

                // Do something else

        }

        else

        {

                delay_ms (1000);

                main_default ();

        }

        while (1);

        return 0;

}

int main_john (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);

        while (1) {

                        ibom_set(true);

                        delay_ms(500);

                        ibom_set(false);

                        delay_ms(500);

        }

        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;

}

int main_kwoo (void)

{

    dragonfly_init(0);

    orb_init_pwm();

    usb_init ();

        usb_puts(NL NL NL);

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

    wall_init();

    wall_set_position(1); 

    wall_set_position(2); 

    wall_set_position(3); 

    wall_set_position(4); 

    wall_set_position(5); 

        while (1) {

        //usb_puti(wall_get_position());

        //usb_puts("\r\n");

        if (PINF & _BV(PINF0)) {

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

        }

    }

        return 0;

}

int main_brad(void)

{

  dragonfly_init (ALL_ON);

  if (!button2_read ()) {

    usb_puts("running Brad's tests" NL);

    turntable_init();

    turntable_rotate_to_position(0);

    delay_ms(1000);

    usb_puts("actually got to:");

    usb_puti(turntable_get_position());

    usb_puts(NL);

    turntable_rotate_to_position(512);

    delay_ms(1000);

    usb_puts("actually got to:");

    usb_puti(turntable_get_position());

    usb_puts(NL);

  }

  else {

    //could put a call to default_main here

    turntable_init();

    interactive_main();

  }

  while (1);

  return 0;

}