Colony

#include <dragonfly_lib.h>

#include <xbee.h>

#define ROBOT

#define WL_DEBUG

#define WL_DEBUG_PRINT( s ) usb_puts( S )

extern int xbee_send_read_at_command(char* command);

extern int xbee_get_packet(unsigned char* dest);

extern void xbee_terminate(void);

/*

 * This function tests the xbee, returning the results to teraterm

 *

 * 

 */

int testxbee(void) {

  unsigned char buf[100];

  int i=0;

        usb_init();

        usb_puts("usb turned on, test starting:\r\n");

  if (xbee_lib_init() != 0) {

    usb_puts("xbee_lib_init() failed\r\n");

    return -1;

  } else {

    usb_puts("xbee_lib__init successful\r\n");

  }

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

        delay_ms(1000);

  // check registers

        // try getting xbee address

  xbee_send_read_at_command("MY");

  while(i++ < 10000) {

    if(xbee_get_packet(buf) == 3) {

      usb_puts("got response from xbee\r\n");

      //usb_puts("packet:");

      //usb_puts(buf);

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

      break; // got a response

    }

  }

  // try setting channel

  /*xbee_set_channel(0x0F);

  while(i++ < 10000) {

    if(xbee_get_packet(buf) == 3) {

      usb_puts("got response from xbee\r\n");

      break; // got a response

    }

  }

  xbee_send_read_at_command("CH");

  while(i++ < 10000) {

    if(xbee_get_packet(buf) == 3) {

      usb_puts("got response from xbee\r\n");

      break; // got a response

    }

  }

  usb_puts("\r\nxbee set channel works\r\n\r\n");

  wl_set_channel(0x16);

  while(i++ < 10000) {

    if(xbee_get_packet(buf) == 3) {

      usb_puts("got response from xbee\r\n");

      break; // got a response

    }

  }

  xbee_send_read_at_command("CH");

  while(i++ < 10000) {

    if(xbee_get_packet(buf) == 3) {

      usb_puts("got response from xbee\r\n");

      break; // got a response

    }

  }  

  usb_puts("\r\nwireless set channel works\r\n");*/

  // scan all xbees in network

  xbee_send_read_at_command("ND");

  i=0;

  while(i < 1000) {

    if(xbee_get_packet(buf) == 3) {

      usb_puts("got response from xbee\r\n");

      i++;

    }

  }

  // end of tests

  xbee_terminate();

  usb_puts("testxbee done\r\n\r\n");

        return 0;

}