Colony

#include <dragonfly_lib.h>

#include <encoders.h>

int main(void)

{

        int maxBOM, rangeVal;

        dragonfly_init(ALL_ON);

        encoders_init();

        orbs_set_color(GREEN, RED);

        delay_ms(500);

        orbs_set_color(RED, GREEN);

        delay_ms(500);

        orbs_set_color(GREEN, GREEN);

        while (1) {

                bom_refresh(BOM_ALL);

                delay_ms(100);

                maxBOM = bom_get_max();

                usb_puti(maxBOM);

                usb_putc('\n');

                if (maxBOM == 4) {

                        motors_off();

                        break;

                }

                motor_l_set(BACKWARD, 175);

                motor_r_set(FORWARD, 175);

        }

        while (1) {

                rangeVal = range_read_distance(IR2);

                usb_puti(rangeVal);

                usb_putc('\n');

                if (rangeVal < 500 && rangeVal > 20) {

                        motors_off();

                        orbs_set_color(RED, RED);

                        break;

                }

                motor_l_set(FORWARD, 175);

                motor_r_set(FORWARD, 175);

        }

        button2_wait();

        motor_l_set(FORWARD, 175);

        motor_r_set(FORWARD, 175);

        while (1) {

                if (encoder_get_x(LEFT) > 500) {

                        motors_off();

                        break;

                }

        }

        while (1) {

                orbs_set_color(BLUE, GREEN);

                delay_ms(500);

                orbs_set_color(GREEN, BLUE);

                delay_ms(500);

        }

        while (1); /* END HERE */

        return 0;

}