Colony

#include <dragonfly_lib.h>

int main(void)

{

	/* initialize components, set wireless channel */

	dragonfly_init(ALL_ON);

  //Replace the next two lines with your own code

  //You can add as many lines as you want

  uint8_t rangeNumber[] = {IR1,IR2,IR3,IR4,IR5}; //0 indexed

  uint8_t cIndex;

  //initial setup (IR1)

  cIndex=0;

  orb1_set_color(BLUE);

  orb2_set_color(GREEN);

	while(1) {

		usb_puti(range_read_distance(rangeNumber[cIndex]));

		usb_putc('\r');

		if (button1_click()) {

			switch (cIndex){ //button1 chooses a color channel

				case 0: //IR1

					orb1_set_color(RED);

					orb2_set_color(RED);

					cIndex=1;

					break;

				case 1: //IR2

					orb1_set_color(GREEN);

					orb2_set_color(GREEN);

					cIndex=2;

					break;

				case 2: //IR3

					orb1_set_color(BLUE);

					orb2_set_color(BLUE);

					cIndex=3;

					break;

				case 3: //IR4

					orb1_set_color(YELLOW);

					orb2_set_color(YELLOW);

					cIndex=4;

					break;	

				case 4: //IR5

					orb1_set_color(BLUE);

					orb2_set_color(GREEN);

					cIndex=0;

					break;

				default: //undefined

					return 0;

					break;

			}

			delay_ms(50); //allows button press to release

		}

		delay_ms(50); //refresh frequency: 1000/(50ms) refresh rate

	}

  //this tell the robot to just chill out forever. don't put anything after this

  while(1);

	return 0;

}

# this is a local makefile

# Relative path to the root directory (containing lib directory)

ifndef COLONYROOT

COLONYROOT := ..

# Target file name (without extension).

TARGET = testIRcycle

# Uncomment this to use the wireless library

USE_WIRELESS = 1

# com1 = serial port. Use lpt1 to connect to parallel port.

AVRDUDE_PORT = $(shell if uname -s |grep -i w32 >/dev/null; then echo 'COM4:'; else echo '/dev/ttyUSB0'; fi)

else

COLONYROOT := ../$(COLONYROOT)

endif

include $(COLONYROOT)/Makefile

# this is a local makefile

# Relative path to the root directory (containing lib directory)

ifndef COLONYROOT

COLONYROOT := ..

# Target file name (without extension).

TARGET = 

# Uncomment this to use the wireless library

USE_WIRELESS = 1

# com1 = serial port. Use lpt1 to connect to parallel port.

AVRDUDE_PORT = $(shell if uname -s |grep -i w32 >/dev/null; then echo 'COM4:'; else echo '/dev/ttyUSB0'; fi)

else

COLONYROOT := ../$(COLONYROOT)

endif

include $(COLONYROOT)/Makefile