Colony

#include <dragonfly_lib.h>

#include <wireless.h>

#include <xbee.h>

// GROUP must be between 0 and 15

#define GROUP 1

#define TYPE_RED 'r'

#define TYPE_GREEN 'g'

void receive_handler(char type, int source, unsigned char* packet, int length)

{

        orb_set (0,0,0);

        switch (type)

        {

                case TYPE_RED:   orb2_set (255, 0, 0); break;

                case TYPE_GREEN: orb2_set (0, 255, 0); break;

        }

}

int main(void) {

    //dragonfly_init(ALL_ON);

    dragonfly_init(0);

        xbee_init ();

    usb_init ();

    usb_puts ("Startup\r\n");

    orb_init_pwm ();

        if (button2_read ())

        {

                // Transmitter

                usb_puts ("Transmitter\r\n");

                orb1_set (255, 0, 0);

                wl_init();

                orb2_set (255, 0, 0);

                while (1)

                {

                        wl_send_global_packet (GROUP, TYPE_RED, "Test\r", 5, 0);

                        wl_do();

                        delay_ms (100);

                        wl_send_global_packet (GROUP, TYPE_GREEN, "Test\r", 5, 0);

                        wl_do();

                        delay_ms (100);

                }

        }

        else

        {

                // Receiver

                usb_puts ("Receiver\r\n");

                orb1_set (0, 255, 0);

                wl_init();

                orb2_set (0, 255, 0);

                usb_puts ("PAN ID: ");  usb_puti (xbee_get_pan_id ());  usb_puts ("\r\n");        // -1

                usb_puts ("Channel: "); usb_puti (xbee_get_channel ()); usb_puts ("\r\n");        // 0

                usb_puts ("Address: "); usb_puti (xbee_get_address ()); usb_puts ("\r\n");        // 4/8

                PacketGroupHandler handler = {GROUP, NULL, NULL, &receive_handler, NULL};

                wl_register_packet_group(&handler);

                while (1)

                {

                        delay_ms (10);

                        wl_do();

                }

        }

        // +++ => ok

        // ATVR: Version

        // ATMY: ID

        // ATCH: Channel (default C)

        // ATWR: Write

        // ATID: PAN ID

        // ATCN: continue (?)

        // Channel PAN ID // GROUP MESSAGETYPE

        //Send a packet to a specific robot in any PAN. 

        //void wl_send_robot_to_robot_global_packet (char group, char type, char *data, int len, int dest, char frame)

        //Send a packet to a specific robot in our PAN. 

        //void wl_send_robot_to_robot_packet (char group, char type, char *data, int len, int dest, char frame)

        //Send a packet to all robots. 

        //void wl_send_global_packet (char group, char type, char *data, int len, char frame)

        //Send a packet to all robots in our PAN. 

        //void?wl_send_pan_packet (char group, char type, char *data, int len, char frame)

}