Colony

#include <dragonfly_lib.h>

#include <wireless.h>

#include <wl_token_ring.h>

#include <rangefinder.h>

#include "smart_run_around_fsm.h"

#include "recharge.h"

void do_nothing2(void) {}

int get_nothing2(void) {return 0;}

int main(void)

{

        dragonfly_init(ALL_ON);

        usb_puts("Initializing wireless.\n");

        range_init();

        orb_enable();

        wl_init();

        wl_set_channel(0xA);

        //orb_set_color(YELLOW);

        wl_token_ring_register();

        wl_token_ring_set_bom_functions(do_nothing2, do_nothing2, get_nothing2); 

        wl_token_ring_join();

        usb_puts("Wireless initialized.\n");

        recharge_init();

        usb_puts("Recharging initialized.\n");

        //run_around_init();

        while (1)

        {

                wl_do();

                int charging = recharge_do();

                if (!charging)

                {

                        analog8(IR5);

                        //run_around_FSM();

                }

        }

        return 0;

}