Colony

/*

 * template.c - A starting point for developing behaviors using the Colony

 * 		robots. To create a new behavior, you should copy this "template"

 * 		folder to another folder and rename the "template.c" file

 * 		appropriately.

 *

 * This template will have the robot drive in circles and flash the orbs.

 *

 * Author: John Sexton, Colony Project, CMU Robotics Club

 */

#include <dragonfly_lib.h>

#include <wl_basic.h>

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

 * changes direction. */

#define TIME_DELAY 5000

int main (void) {

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

	dragonfly_init(ALL_ON);

	xbee_init();

	encoders_init();

	while (1) {

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

		orbs_set_color(RED, GREEN);

		motor_l_set(FORWARD, 160);

		motor_r_set(FORWARD, 255);

		delay_ms(TIME_DELAY);

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

		orbs_set_color(PURPLE, BLUE);

		motor_l_set(FORWARD, 255);

		motor_r_set(FORWARD, 160);

		delay_ms(TIME_DELAY);

	}

}