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 1000

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);

        usb_puts("RO:Robot\n");

        delay_ms(TIME_DELAY);

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

                orbs_set_color(PURPLE, BLUE);

        usb_puts("RO:Marvin\n");

                delay_ms(TIME_DELAY);

        }

}