Colony

{

	WL_DEBUG_PRINT("Joining the token ring.\r\n");

	ringState = JOINING;

	wl_send_global_packet(WL_TOKEN_RING_GROUP, WL_TOKEN_JOIN,

		NULL, 0, 0);

}

	WL_DEBUG_PRINT_INT(source);

	WL_DEBUG_PRINT(" has flashed its bom.\r\n");

	sensor_matrix_set_reading(sensorMatrix, wl_get_xbee_id(), 

		source, get_max_bom_function());

}

			wl_get_xbee_id(), 1);

		WL_DEBUG_PRINT("Now a member of the token ring.\r\n");

		ringState = MEMBER;

	}

	if (ringState == LEAVING || ringState == NONMEMBER)

	WL_DEBUG_PRINT_INT(source);

	WL_DEBUG_PRINT(" into the token ring.\r\n");

	// the token ring has not started yet

	if (sensor_matrix_get_joined(sensorMatrix) == 1)

		wl_token_pass_token();

	WL_DEBUG_PRINT("Accepted into the token ring by robot ");

	WL_DEBUG_PRINT_INT(source);

	WL_DEBUG_PRINT(".\r\n");

	ringState = ACCEPTED;

	acceptor = source;