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Revision 1500

Added by John Sexton over 14 years ago

Commented the template file and my implementation of Hunter-Prey to make the code easier to follow.

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main.c
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/*
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 * template.c - A starting point for developing behaviors using the Colony
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 * 		robots. To create a new behavior, you should copy this "template"
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 * 		folder to another folder and rename the "template.c" file
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 * 		appropriately.
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 *
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 * This template will have the robot drive in circles and flash the orbs.
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 *
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 * Author: John Sexton, Colony Project, CMU Robotics Club
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 */
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#include <dragonfly_lib.h>


  		




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#include <wl_basic.h>


  		




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/* Time delay which determines how long the robot circles before it


  		




  
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 * changes direction. */


  		




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#define TIME_DELAY 5000


  		




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int main (void) {


  		




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	/* Initialize the dragonfly boards, the xbee, and the encoders */


  		




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	dragonfly_init(ALL_ON);


  		




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	xbee_init();


  		




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	encoders_init();


  		




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	while (1) {


  		




  
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		/* Drive left, set orbs, and wait */


  		




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		orbs_set_color(RED, GREEN);


  		




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		motor_l_set(FORWARD, 160);


  		




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		motor_r_set(FORWARD, 255);


  		




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		delay_ms(TIME_DELAY);


  		




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		/* Drive right, change orb colors, and wait */


  		




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		orbs_set_color(PURPLE, BLUE);


  		




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		motor_l_set(FORWARD, 255);


  		




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		motor_r_set(FORWARD, 160);


  		












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