/ - Diff - Colony - Robotics Club

     /**
      * Copyright (c) 2007 Colony Project
+     *
      * Permission is hereby granted, free of charge, to any person
      * obtaining a copy of this software and associated documentation
      * files (the "Software"), to deal in the Software without
      * restriction, including without limitation the rights to use,
      * copy, modify, merge, publish, distribute, sublicense, and/or sell
      * copies of the Software, and to permit persons to whom the
      * Software is furnished to do so, subject to the following
      * conditions:
+     *
      * The above copyright notice and this permission notice shall be
      * included in all copies or substantial portions of the Software.
+     *
      * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
      * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES
      * OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
      * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT
      * HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY,
      * WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
      * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR
      * OTHER DEALINGS IN THE SOFTWARE.
      **/
     /**
      * @file lights.h
      * @brief Contains declarations for managing the orbs.
+     *

     /*
     	motor.c - Contains functions necessary for activating and driving the
     	H-bridge
     	author: Robotics Club, Colony project
     	much of this is taken from FWR's library, author: Tom Lauwers
     */
     /**
      * Copyright (c) 2007 Colony Project
+     *
      * Permission is hereby granted, free of charge, to any person
      * obtaining a copy of this software and associated documentation
      * files (the "Software"), to deal in the Software without
      * restriction, including without limitation the rights to use,
      * copy, modify, merge, publish, distribute, sublicense, and/or sell
      * copies of the Software, and to permit persons to whom the
      * Software is furnished to do so, subject to the following
      * conditions:
+     *
      * The above copyright notice and this permission notice shall be
      * included in all copies or substantial portions of the Software.
+     *
      * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
      * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES
      * OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
      * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT
      * HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY,
      * WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
      * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR
      * OTHER DEALINGS IN THE SOFTWARE.
      **/
     /**
      * @file motor.c
      * @brief Motors
+     *
      * Implementation of functions for controlling the motors.
+     *
      * @author Colony Project, CMU Robotics Club
      * Much of this is taken from FWR's library, author: Tom Lauwers
      **/
     #include "motor.h"
     /**

     /**
      * Copyright (c) 2007 Colony Project
+     *
      * Permission is hereby granted, free of charge, to any person
      * obtaining a copy of this software and associated documentation
      * files (the "Software"), to deal in the Software without
      * restriction, including without limitation the rights to use,
      * copy, modify, merge, publish, distribute, sublicense, and/or sell
      * copies of the Software, and to permit persons to whom the
      * Software is furnished to do so, subject to the following
      * conditions:
+     *
      * The above copyright notice and this permission notice shall be
      * included in all copies or substantial portions of the Software.
+     *
      * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
      * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES
      * OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
      * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT
      * HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY,
      * WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
      * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR
      * OTHER DEALINGS IN THE SOFTWARE.
      **/
     /**
      * @file motor.h
      * @brief Contains definitions for controlling the motors
+     *

     /**
      * Copyright (c) 2007 Colony Project
+     *
      * Permission is hereby granted, free of charge, to any person
      * obtaining a copy of this software and associated documentation
      * files (the "Software"), to deal in the Software without
      * restriction, including without limitation the rights to use,
      * copy, modify, merge, publish, distribute, sublicense, and/or sell
      * copies of the Software, and to permit persons to whom the
      * Software is furnished to do so, subject to the following
      * conditions:
+     *
      * The above copyright notice and this permission notice shall be
      * included in all copies or substantial portions of the Software.
+     *
      * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
      * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES
      * OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
      * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT
      * HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY,
      * WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
      * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR
      * OTHER DEALINGS IN THE SOFTWARE.
      **/
     /**
      * @file dragonfly_lib.c
      * @brief Dragonfly initialization
+     *
      * Contains implementation of dragonfly_init.
+     *
      * @author Colony Project, CMU Robotics Club
      **/
     #include <dragonfly_lib.h>
     /* init_dragonfly - Initializes functions based on configuration parameters
-...
      **/
     void dragonfly_init(int config)
+    {
     	sei();
     	// Set directionality of various IO pins
     	DDRG &= ~(_BV(PING0)|_BV(PING1));
     	PORTG |= _BV(PING0)|_BV(PING1);
     	if(config & ANALOG) {
     		analog_init();
+    	}
     	if(config & ANALOG)
     		analog_init(ADC_START);
     	if(config & COMM) {
         //Defaults to 115200. Check serial.h for more information.
         sei();
         usb_init();
         xbee_init();
     	if(config & COMM)
+    	{
     		//Defaults to 115200. Check serial.h for more information.
     		usb_init();
     		xbee_init();
+    	}
     	if(config & BUZZER) {
         sei();
     	if(config & BUZZER)
+    	{
     		sei();
     		buzzer_init();
+    	}
     	if(config & ORB) {
         sei();
     	if(config & ORB)
+    	{
     		sei();
     		orb_init();
+    	}
     	if(config & MOTORS) {
     	if(config & MOTORS)
     		motors_init();
+    	}
     	if(config & SERVOS) {
     		sei();
         //Servos not yet implemented
         //servo_init();
+    	}
     	if(config & LCD) {
     	if(config & LCD)
     		lcd_init();
+    	}
     	if(config & (SERVOS | ORB)) {
         sei();
         orb_init();
         //Servos not yet implemented
     	if(config & ORB)
+    	{
     		sei();
     		orb_init();
+    	}
     	// delay a bit for stability

     /* @file i2c.c
      * @brief
     /**
      * Copyright (c) 2007 Colony Project
+     *
      * Permission is hereby granted, free of charge, to any person
      * obtaining a copy of this software and associated documentation
      * files (the "Software"), to deal in the Software without
      * restriction, including without limitation the rights to use,
      * copy, modify, merge, publish, distribute, sublicense, and/or sell
      * copies of the Software, and to permit persons to whom the
      * Software is furnished to do so, subject to the following
      * conditions:
+     *
      * The above copyright notice and this permission notice shall be
      * included in all copies or substantial portions of the Software.
+     *
      * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
      * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES
      * OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
      * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT
      * HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY,
      * WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
      * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR
      * OTHER DEALINGS IN THE SOFTWARE.
      **/
     /**
      * @file i2c.c
      * @brief Implemenation of I2C communications protocol
+     *
      * In the case where you have master sends and then a master request to the same
      * address, you will not give up control of the line because the send and
      * request addresses are seen as different addresses. In between it will send a
-...
      *								from the master
      * @param slave_send		The address of the function to call when you are a slave and the master
      *								requests data from you.
+     *
      * @return 0 for success, nonzero for failure
      **/
     int i2c_init(char addr, fun_mrecv_t master_recv, fun_srecv_t slave_recv, fun_send_t slave_send) {
         master_recv_function = master_recv;
-...
      * @param data 	The pointer to the byte array of data
      * @param bytes	The amount of bytes long that the byte array is. This is how
      *						many bytes from the array that the function will send.
+     *
      * @return zero for success, nonzero for failure
      **/
     int i2c_send(char dest, char *data, size_t bytes) {
         int i;
-...
      * to send it.
+     *
      * @param dest		The destination that we want to receive information from.
+     *
      * @return 0 for success, nonzero for failure
      **/
     int i2c_request(char dest) {
         if(RING_BUFFER_FULL(i2c_write_buff))
-...
         return 0;
+    }
     /** @} **/
     /**
      * @brief Interrupt to handle I2C interrupts from the I2C hardware.
-...
+     *
      * Errors are handled here as well.
      **/
      /* @} */
     ISR(TWI_vect) {
     	static char data_to_send;
     	static char addr_to_send = -1;
-...
       /* Toggle TWINT so that it resets and executes the commands */
       TWCR |= _BV(TWINT);
+    }

     /*
     	serial.c - Functions for using the RS232 serial port
     	authors: Robotics Club, Colony Project, pkv
     	much code taken from FWR's library, author: Tom Lauwers
     */
     /**
      * Copyright (c) 2007 Colony Project
+     *
      * Permission is hereby granted, free of charge, to any person
      * obtaining a copy of this software and associated documentation
      * files (the "Software"), to deal in the Software without
      * restriction, including without limitation the rights to use,
      * copy, modify, merge, publish, distribute, sublicense, and/or sell
      * copies of the Software, and to permit persons to whom the
      * Software is furnished to do so, subject to the following
      * conditions:
+     *
      * The above copyright notice and this permission notice shall be
      * included in all copies or substantial portions of the Software.
+     *
      * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
      * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES
      * OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
      * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT
      * HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY,
      * WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
      * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR
      * OTHER DEALINGS IN THE SOFTWARE.
      **/
     /**
      * @file serial.c
      * @brief Serial Input and Output
+     *
      * Implementation of functions for serial input and output.
+     *
      * @author Colony Project, CMU Robotics Club
      **/
     #include <avr/io.h>
     #include <stdio.h>
     #include "serial.h"
-...
      **/
     int usb_getc(void)
+    {
       // Wait for the receive buffer to be filled
       loop_until_bit_is_set(UCSR0A, RXC0);
     	// Wait for the receive buffer to be filled
     	loop_until_bit_is_set(UCSR0A, RXC0);
     	// Read the receive buffer
     	return UDR0;

     /**
      * @file dragonfly_lib.h
      * @brief Contains other include files
+     *
      * Include this file for all the functionality of libdragonfly.
+     *
      * @author Colony Project, CMU Robotics Club
      **/
     #ifndef _DRAGONFLY_LIB_H_
     #define _DRAGONFLY_LIB_H_
     /**
      * @addtogroup dragonfly
      * @{
      **/
     // Configuration definitions
     /** @brief Initialize analog **/
     #define ANALOG 0x01
     /** @brief Initialize serial communications **/
     #define SERIAL 0x02
     /** @brief Initialize USB communications **/
     #define USB    0x02
     /** @brief Initialize communications **/
     #define COMM   0x02
     /** @brief Initialize the orb **/
     #define ORB    0x04
     /** @brief Initialize the motors **/
     #define MOTORS 0x08
     /** @brief Initialize the servos **/
     #define SERVOS 0x10
     /** @brief Initialize I2C **/
     #define I2C    0x20
     /** @brief Initialize the buzzer **/
     #define BUZZER 0x40
     /** @brief Initialize the LCD screen **/
     #define LCD    0x80
     /** @brief Initialize everything **/
     #define ALL_ON 0xFF
     /** @brief Initialize the board **/
     void dragonfly_init(int config);
     /** @} **/ //end addtogroup
     #include <inttypes.h>
     #include <stdio.h>
     #include <stdlib.h>
     #include <avr/io.h>
     #include <avr/interrupt.h>
     #include <util/delay.h>
     #include <util/twi.h>
     #include <analog.h>
     #include <dio.h>
     #include <time.h>
     #include <lcd.h>
     #include <lights.h>
     #include <motor.h>
     #include <serial.h>
     #include <buzzer.h>
     #include <rangefinder.h>
     #include <bom.h>
     #include <move.h>
     #include <reset.h>
     /**
      * Copyright (c) 2007 Colony Project
+     *
      * Permission is hereby granted, free of charge, to any person
      * obtaining a copy of this software and associated documentation
      * files (the "Software"), to deal in the Software without
      * restriction, including without limitation the rights to use,
      * copy, modify, merge, publish, distribute, sublicense, and/or sell
      * copies of the Software, and to permit persons to whom the
      * Software is furnished to do so, subject to the following
      * conditions:
+     *
      * The above copyright notice and this permission notice shall be
      * included in all copies or substantial portions of the Software.
+     *
      * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
      * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES
      * OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
      * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT
      * HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY,
      * WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
      * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR
      * OTHER DEALINGS IN THE SOFTWARE.
      **/
     /**
      * @file dragonfly_lib.h
      * @brief Contains other include files
+     *
      * Include this file for all the functionality of libdragonfly.
+     *
      * @author Colony Project, CMU Robotics Club
      **/
     #ifndef _DRAGONFLY_LIB_H_
     #define _DRAGONFLY_LIB_H_
     /**
      * @addtogroup dragonfly
      * @{
      **/
     // Configuration definitions
     /** @brief Initialize analog **/
     #define ANALOG 0x01
     /** @brief Initialize serial communications **/
     #define SERIAL 0x02
     /** @brief Initialize USB communications **/
     #define USB    0x02
     /** @brief Initialize communications **/
     #define COMM   0x02
     /** @brief Initialize the orb **/
     #define ORB    0x04
     /** @brief Initialize the motors **/
     #define MOTORS 0x08
     /** @brief Initialize I2C **/
     #define I2C    0x20
     /** @brief Initialize the buzzer **/
     #define BUZZER 0x40
     /** @brief Initialize the LCD screen **/
     #define LCD    0x80
     /** @brief Initialize everything **/
     #define ALL_ON 0xFF
     /** @brief Initialize the board **/
     void dragonfly_init(int config);
     /** @} **/ //end addtogroup
     #include <inttypes.h>
     #include <stdio.h>
     #include <stdlib.h>
     #include <avr/io.h>
     #include <avr/interrupt.h>
     #include <util/delay.h>
     #include <util/twi.h>
     #include <analog.h>
     #include <dio.h>
     #include <time.h>
     #include <lcd.h>
     #include <lights.h>
     #include <motor.h>
     #include <serial.h>
     #include <buzzer.h>
     #include <rangefinder.h>
     #include <bom.h>
     #include <move.h>
     #include <reset.h>
     #include <math.h>
     #endif
     #endif

     /*
       buzzer.c - Contains the functions necessary for running the buzzer
       author: Robotics Club, Colony Project
       much taken from FWR's firefly library (author: Tom Lauwers)
     */
     /**
      * Copyright (c) 2007 Colony Project
+     *
      * Permission is hereby granted, free of charge, to any person
      * obtaining a copy of this software and associated documentation
      * files (the "Software"), to deal in the Software without
      * restriction, including without limitation the rights to use,
      * copy, modify, merge, publish, distribute, sublicense, and/or sell
      * copies of the Software, and to permit persons to whom the
      * Software is furnished to do so, subject to the following
      * conditions:
+     *
      * The above copyright notice and this permission notice shall be
      * included in all copies or substantial portions of the Software.
+     *
      * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
      * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES
      * OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
      * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT
      * HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY,
      * WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
      * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR
      * OTHER DEALINGS IN THE SOFTWARE.
      **/
     /**
      * @file buzzer
      * @brief Functions for using the buzzer
+     *
      * Contains functions for using the buzzer.
+     *
      * @author Colony Project, CMU Robotics Club
+     *
      * much taken from FWR's firefly library (author: Tom Lauwers)
      **/
     #include <avr/io.h>
     #include <buzzer.h>
     #include <time.h>

     /**
      * Copyright (c) 2007 Colony Project
+     *
      * Permission is hereby granted, free of charge, to any person
      * obtaining a copy of this software and associated documentation
      * files (the "Software"), to deal in the Software without
      * restriction, including without limitation the rights to use,
      * copy, modify, merge, publish, distribute, sublicense, and/or sell
      * copies of the Software, and to permit persons to whom the
      * Software is furnished to do so, subject to the following
      * conditions:
+     *
      * The above copyright notice and this permission notice shall be
      * included in all copies or substantial portions of the Software.
+     *
      * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
      * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES
      * OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
      * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT
      * HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY,
      * WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
      * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR
      * OTHER DEALINGS IN THE SOFTWARE.
      **/
     /** @file i2c.h
      *  @brief Header file for I2C
+     *
      *  @author CMU Robotics Club, Kevin Woo, Suresh Nidhiry
      */
      *  Contains functions for I2C.
+     *
      *  @author Kevin Woo and Suresh Nidhiry, Colony Project, CMU Robotics Club
      **/
     #ifndef _I2C_H_
-...
     #include <stddef.h>
     /** @brief Address of slave receive handler function */
     /** @brief Address of slave receive handler function **/
     typedef void (*fun_srecv_t)(char);
     /** @brief Address of master receive handler function*/
     /** @brief Address of master receive handler function**/
     typedef int (*fun_mrecv_t)(char);
     /** @brief Address of slave send handler function*/
     /** @brief Address of slave send handler function**/
     typedef char (*fun_send_t)(void);
     int i2c_init(char addr, fun_mrecv_t master_recv, fun_srecv_t slave_recv, fun_send_t slave_send);
-...
     void i2c_packet_rec (char i2c_byte);
     void i2c_packet_sniff(char data);
     #endif

     /**
      * Copyright (c) 2007 Colony Project
+     *
      * Permission is hereby granted, free of charge, to any person
      * obtaining a copy of this software and associated documentation
      * files (the "Software"), to deal in the Software without
      * restriction, including without limitation the rights to use,
      * copy, modify, merge, publish, distribute, sublicense, and/or sell
      * copies of the Software, and to permit persons to whom the
      * Software is furnished to do so, subject to the following
      * conditions:
+     *
      * The above copyright notice and this permission notice shall be
      * included in all copies or substantial portions of the Software.
+     *
      * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
      * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES
      * OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
      * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT
      * HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY,
      * WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
      * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR
      * OTHER DEALINGS IN THE SOFTWARE.
      **/
     /**
      * @file serial.h
      * @brief Contains declarations for serial input and output
+     *

     /**
      * Copyright (c) 2007 Colony Project
+     *
      * Permission is hereby granted, free of charge, to any person
      * obtaining a copy of this software and associated documentation
      * files (the "Software"), to deal in the Software without
      * restriction, including without limitation the rights to use,
      * copy, modify, merge, publish, distribute, sublicense, and/or sell
      * copies of the Software, and to permit persons to whom the
      * Software is furnished to do so, subject to the following
      * conditions:
+     *
      * The above copyright notice and this permission notice shall be
      * included in all copies or substantial portions of the Software.
+     *
      * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
      * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES
      * OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
      * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT
      * HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY,
      * WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
      * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR
      * OTHER DEALINGS IN THE SOFTWARE.
      **/
     /**
      * @file buzzer.h
      * @brief Contains definitions for using the buzzer.
+     *

     /**
      * Copyright (c) 2007 Colony Project
+     *
      * Permission is hereby granted, free of charge, to any person
      * obtaining a copy of this software and associated documentation
      * files (the "Software"), to deal in the Software without
      * restriction, including without limitation the rights to use,
      * copy, modify, merge, publish, distribute, sublicense, and/or sell
      * copies of the Software, and to permit persons to whom the
      * Software is furnished to do so, subject to the following
      * conditions:
+     *
      * The above copyright notice and this permission notice shall be
      * included in all copies or substantial portions of the Software.
+     *
      * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
      * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES
      * OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
      * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT
      * HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY,
      * WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
      * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR
      * OTHER DEALINGS IN THE SOFTWARE.
      **/
     /**
      * @file math.c
      * @brief Math Functions
+     *
      * Useful math functions.
+     *
      * @author Colony Project, CMU Robotics Club
      **/
     #include "math.h"
     /**
-...
+    }
     /**@}**/ //end defgroup

     /**
      * Copyright (c) 2007 Colony Project
+     *
      * Permission is hereby granted, free of charge, to any person
      * obtaining a copy of this software and associated documentation
      * files (the "Software"), to deal in the Software without
      * restriction, including without limitation the rights to use,
      * copy, modify, merge, publish, distribute, sublicense, and/or sell
      * copies of the Software, and to permit persons to whom the
      * Software is furnished to do so, subject to the following
      * conditions:
+     *
      * The above copyright notice and this permission notice shall be
      * included in all copies or substantial portions of the Software.
+     *
      * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
      * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES
      * OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
      * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT
      * HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY,
      * WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
      * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR
      * OTHER DEALINGS IN THE SOFTWARE.
      **/
     /**
+     *
      * @file math.h
      * @brief Contains math function(s)
+     *
-...
     /**@}**/ //end group
     #endif

     /**
      * Copyright (c) 2007 Colony Project
+     *
      * Permission is hereby granted, free of charge, to any person
      * obtaining a copy of this software and associated documentation
      * files (the "Software"), to deal in the Software without
      * restriction, including without limitation the rights to use,
      * copy, modify, merge, publish, distribute, sublicense, and/or sell
      * copies of the Software, and to permit persons to whom the
      * Software is furnished to do so, subject to the following
      * conditions:
+     *
      * The above copyright notice and this permission notice shall be
      * included in all copies or substantial portions of the Software.
+     *
      * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
      * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES
      * OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
      * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT
      * HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY,
      * WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
      * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR
      * OTHER DEALINGS IN THE SOFTWARE.
      **/
     /**
      * @file time.c
      * @brief Timer code
+     *
      * Implementation of functions for timers.
+     *
      * @author Colony Project, CMU Robotics Club
      **/
     /*
     time.c
     anything that requires a delay

     /*
      * analog.c - Contains the function implementations for manipulating the ADC
      * on the firefly+ board
+     *
      * author:  CMU Robotics Club, Colony Project
      * code mostly taken from fwr analog file (author: Tom Lauwers)
      */
     #include <util/delay.h>
     #include <avr/interrupt.h>
     #include "analog.h"
     // Internal Function Prototypes
     void set_adc_mux(int which);
     /**
      * @defgroup analog Analog
      * Functions for manipulation the ADC on the dragonfly board.
      * All definitions may be found in analog.h.
+     *
      * @{
      **/
     /**
      * Initializes the ADC.
      * Call analog_init before reading from the analog ports.
+     *
      * @see analog8, analog10
      **/
     void analog_init(void)
+    {
     	// ADC Status Register A
     	// Bit 7 - ADEN is set (enables analog)
     	// Bit 6 - Start conversion bit is set (must be done once for free-running mode)
     	// Bit 5 - Enable Auto Trigger (for free running mode)
     	// Bit 4 - ADC interrupt flag, 0
     	// Bit 3 - Enable ADC Interrupt (required to run free-running mode)
     	// Bits 2-0 - Set to create a clock divisor of 128, to make ADC clock = 8,000,000/128
     	ADCSRA |= 0xEF;
     	// ADC Status Register B
     	// Bit 7, 5-3 - Must be cleared
     	// Bit 2:0 - Set mode, currently cleared for free running operation
     	// Bit 6 - Analog comparator mode - cleared
     //	ADCSRB = 0x00;
     	// ADMUX register
     	// Bit 7,6 - Set voltage reference to AVcc (0b01)
     	// Bit 5 - Set ADLAR bit for left adjust to do simple 8-bit reads
     	// Bit 4 - X
     	// Bit 3:0 - Sets the current channel, set to ADC7 (the external mux)
     	ADMUX = 0x67;
     	// Set external mux lines to outputs
     	DDRG |= 0x1C;
     	set_adc_mux(0x07);
+    }
     /**
      * Reads an eight bit number from an analog port.
      * analog_init must be called before using this function.
+     *
      * @param which the analog port to read from. One of
      * the constants AN0 - AN7.
+     *
      * @return the eight bit input to the specified port
+     *
      * @see analog_init, analog10
      **/
     unsigned int analog8(int which)
+    {
     	if(which < EXT_MUX)
     		ADMUX = 0x60 + which;
     	else if(which == EXT_MUX)
     		return 0;
     	else
+    	{
     		ADMUX = 0x60 + EXT_MUX;
     		set_adc_mux(which - 8);
     		_delay_ms(1);
+    	}
     	_delay_ms(1); // need at least 130 us between conversions
     	return ADCH;
+    }
     /**
      * Reads a ten bit number from the specified port.
      * analog_init must be called before using this function.
+     *
      * @param which the analog port to read from. Typically
      * a constant, one of AN0 - AN7.
+     *
      * @return the ten bit number input to the specified port
+     *
      * @see analog_init, analog8
      **/
     unsigned int analog10(int which)
+    {
     	unsigned int adc_h = 0;
     	unsigned int adc_l = 0;
     	if(which < EXT_MUX)
     		ADMUX = 0x60 + which;
     	else if(which == EXT_MUX)
     		return 0;
     	else
+    	{
     		ADMUX = 0x60 + EXT_MUX;
     		set_adc_mux(which - 8);
     		_delay_ms(1);
+    	}
     	_delay_ms(1);
     	adc_l = ADCL; /* highest 2 bits of ADCL -> least 2 bits of analog val */
     	adc_h = ADCH; /* ADCH -> 8 highest bits of analog val */
     	return (adc_h << 2) | (adc_l >> 6);
+    }
     /**
      * Returns the current position of the wheel, as an integer
      * in the range 0 - 255.
      * analog_init must be called before using this function.
+     *
      * @return the orientation of the wheel, as an integer in
      * the range 0 - 255.
+     *
      * @see analog_init
      **/
     int wheel(void)
+    {
     	return analog8(WHEEL_PORT);
+    }
     /**@}**/ //end defgroup
     SIGNAL (SIG_ADC)
+    {
     	// This is just here to catch ADC interrupts because ADC is free running.
     	// No code needs to be in here.
+    }
     void set_adc_mux(int which)
+    {
       // FIX THIS IN NEXT REVISION
       // ADDR2 ADDR1 ADDR0
       // G2.G4.G3 set mux to port 0-7 via binary selection
       // math would be much cleaner if it was G4.G3.G2
       // mask so only proper bits are possible.
       PORTG = (PORTG & 0xE3) | ((which & 0x03) << 3) | (which & 0x04);
+    }
     /**
      * Copyright (c) 2007 Colony Project
+     *
      * Permission is hereby granted, free of charge, to any person
      * obtaining a copy of this software and associated documentation
      * files (the "Software"), to deal in the Software without
      * restriction, including without limitation the rights to use,
      * copy, modify, merge, publish, distribute, sublicense, and/or sell
      * copies of the Software, and to permit persons to whom the
      * Software is furnished to do so, subject to the following
      * conditions:
+     *
      * The above copyright notice and this permission notice shall be
      * included in all copies or substantial portions of the Software.
+     *
      * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
      * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES
      * OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
      * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT
      * HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY,
      * WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
      * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR
      * OTHER DEALINGS IN THE SOFTWARE.
      **/
     /**
      * @file analog.c
      * @brief Analog input and output
+     *
      * Contains functions for manipulating the ADC on the Dragonfly board.
+     *
      * @author Colony Project, CMU Robotics Club
      * code mostly taken from fwr analog file (author: Tom Lauwers)
      **/
     #include <util/delay.h>
     #include <avr/interrupt.h>
     #include "analog.h"
     #include "serial.h"
     // Internal Function Prototypes
     void set_adc_mux(int which);
     /** @brief Struct to hold the value of a particular analog port */
     typedef struct {
     	uint8_t adc8;
     	uint16_t adc10;
     } adc_t;
     /**
      * @defgroup analog Analog
      * Functions for manipulation the ADC on the dragonfly board.
      * All definitions may be found in analog.h.
+     *
      * @{
      **/
     int adc_loop_running = 0;
     int adc_current_port = AN1;
     adc_t an_val[11];
     /**
      * Initializes the ADC.
      * Call analog_init before reading from the analog ports.
+     *
      * @see analog8, analog10
      **/
     void analog_init(int start_conversion)
+    {
     	for (int i = 0; i < 11; i++) {
     		an_val[i].adc10 = 0;
     		an_val[i].adc8 = 0;
+    	}
     	//cli();
     	// ADMUX register
     	// Bit 7,6 - Set voltage reference to AVcc (0b01)
     	// Bit 5 - ADLAR set to simplify moving from register
     	// Bit 4 - X
     	// Bit 3:0 - Sets the current channel
     	// Initializes to read from AN1 first (AN0 is reservered for the BOM)
     	ADMUX = 0;
     	ADMUX |= ADMUX_OPT | _BV(MUX0);
     	// ADC Status Register A
     	// Bit 7 - ADEN is set (enables analog)
     	// Bit 6 - Start conversion bit is set (must be done once for free-running mode)
     	// Bit 5 - Enable Auto Trigger (for free running mode) NOT DOING THIS RIGHT NOW
     	// Bit 4 - ADC interrupt flag, 0
     	// Bit 3 - Enable ADC Interrupt (required to run free-running mode)
     	// Bits 2-0 - Set to create a clock divisor of 128, to make ADC clock = 8,000,000/64 = 125kHz
     	ADCSRA = 0;
     	ADCSRA |= _BV(ADEN) | _BV(ADIE) | _BV(ADPS2) | _BV(ADPS1) | _BV(ADPS0);
     	// Set external mux lines to outputs
     	DDRG |= 0x1C;
     	// Set up first port for conversions
     	set_adc_mux(0x00);
     	adc_current_port = AN1;
     	//Start the conversion if requested
     	if (start_conversion)
     		analog_start_loop();
     	else
     		analog_stop_loop();
     	//sei();
+    }
     unsigned int analog8(int which) {
     	if (which == BOM_PORT) {
     		return 0;
     	} else {
     		return an_val[which - 1].adc8;
+    	}
+    }
     unsigned int analog10(int which) {
     	if (which == BOM_PORT) {
     		return 0;
     	} else {
     		return an_val[which - 1].adc10;
+    	}
+    }
     void analog_start_loop(void) {
     	//Start the conversion
     	ADCSRA |= _BV(ADSC);
     	adc_loop_running = 0x1;
+    }
     //will stop after current conversion finishes
     void analog_stop_loop(void) {
     	//Stop the conversion
     	adc_loop_running = 0x0;
+    }
     /**
      * Reads an eight bit number from an analog port.
      * analog_init must be called before using this function.
+     *
      * @param which the analog port to read from. One of
      * the constants AN0 - AN7.
+     *
      * @return the eight bit input to the specified port
+     *
      * @see analog_init, analog10
      **/
     unsigned int analog_get8(int which)
+    {
     	// Let any previous conversion finish
     	while (ADCSRA & _BV(ADSC));
     	if(which < EXT_MUX) {
     		ADMUX = ADMUX_OPT + which;
     	} else {
     		ADMUX = ADMUX_OPT + EXT_MUX;
     		set_adc_mux(which - 8);
+    	}
     	// Start the conversion
     	ADCSRA |= _BV(ADSC);
     	// Wait for the conversion to finish
     	while (ADCSRA & _BV(ADSC));
     	return ADCH; //since we left aligned the data, ADCH is the 8 MSB.
+    }
     /**
      * Reads a ten bit number from the specified port.
      * analog_init must be called before using this function.
+     *
+     *
      * @param which the analog port to read from. Typically
      * a constant, one of AN0 - AN7.
+     *
      * @return the ten bit number input to the specified port
+     *
      * @see analog_init, analog8
      **/
     unsigned int analog_get10(int which)
+    {
     	int adc_h;
     	int adc_l;
     	// Let any previous conversion finish
     	while (ADCSRA & _BV(ADSC));
     	if(which < EXT_MUX) {
     		ADMUX = ADMUX_OPT + which;
     	} else {
     		ADMUX = ADMUX_OPT + EXT_MUX;
     		set_adc_mux(which - 8);
+    	}
     	// Start the conversion
     	ADCSRA |= _BV(ADSC);
     	// Wait for the conversion to finish
     	while (ADCSRA & _BV(ADSC));
     	adc_l = ADCL;
     	adc_h = ADCH;
     	return ((adc_h << 2) | (adc_l >> 6));
+    }
     /**
      * Returns the current position of the wheel, as an integer
      * in the range 0 - 255.
      * analog_init must be called before using this function.
+     *
      * @return the orientation of the wheel, as an integer in
      * the range 0 - 255.
+     *
      * @see analog_init
      **/
     int wheel(void)
+    {
     	return analog_get8(WHEEL_PORT);
+    }
     /**
      * Sets the value of the external analog mux. Values are read
      * 	on AN7 physical port. (AN8 - AN15 are "virtual" ports).
+     *
      * @param which which analog mux port (0-7) which corresponds
      * 		  to AN8-AN15.
+     *
      * @bug FIX THIS IN THE NEXT BOARD REVISION:
      *		ADDR2 ADDR1 ADDR0
      *		G2.G4.G3 set mux to port 0-7 via vinary selection
      *		math would be much cleaner if it was G4.G3.G2
+     *
      * @see analog_init
      **/
     void set_adc_mux(int which)
+    {
       // mask so only proper bits are possible.
       PORTG = (PORTG & 0xE3) | ((which & 0x03) << 3) | (which & 0x04);
+    }
     /**@}**/ //end defgroup
     ISR(ADC_vect) {
     	static volatile int adc_prev_loop_running = 0;
     	int adc_h = 0;
     	int adc_l = 0;
     	//usb_putc('p');
     	//usb_putc('r');
     	//usb_puti(adc_loop_running);
     	//usb_puts("\n\r");
     	//Store the value only if this read isn't for the BOM
     	if (ADMUX != BOM_PORT) {
     		adc_l = ADCL;
     		adc_h = ADCH;
     		an_val[adc_current_port - 1].adc10 = (adc_h << 2) | (adc_l >> 6);
     		an_val[adc_current_port - 1].adc8 = adc_h;
     		//usb_puti(an_val[adc_current_port - 1].adc10);
     		//usb_puts("\n\r");
     		//usb_puti(an_val[adc_current_port - 1].adc8);
     		//usb_puti(ADCH);
     		//usb_puts("\n\r");
+    	}
     	//Save the result only if we just turned off the loop
     	if (!adc_loop_running && !adc_prev_loop_running)
     		return;
     	adc_prev_loop_running = adc_loop_running;
     	//Skip AN7 because it is not a real port
     	if (adc_current_port == AN6) {
     		ADMUX = ADMUX_OPT | EXT_MUX;
     		set_adc_mux(AN8 - 8);
     		adc_current_port = AN8;
     	//Wrap around
     	} else if (adc_current_port == AN11) {
     		adc_current_port = AN1;
     		ADMUX = ADMUX_OPT | adc_current_port;
     	//Normal increment
     	} else {
     		adc_current_port++;
     		if(adc_current_port < EXT_MUX) {
     			ADMUX = ADMUX_OPT | adc_current_port;
     		} else {
     			ADMUX = ADMUX_OPT | EXT_MUX;
     			set_adc_mux(adc_current_port - 8);
+    		}
+    	}
     	//Initiate next conversion only if we are running a loop
     	if (!adc_loop_running)
     		return;
     	ADCSRA |= _BV(ADSC);
     	//if (ADCSRA & _BV(ADSC))
     	//	usb_putc('s');
     	return;
+    }

     /*
     /**
      * Copyright (c) 2007 Colony Project
+     *
      * Permission is hereby granted, free of charge, to any person
      * obtaining a copy of this software and associated documentation
      * files (the "Software"), to deal in the Software without
      * restriction, including without limitation the rights to use,
      * copy, modify, merge, publish, distribute, sublicense, and/or sell
      * copies of the Software, and to permit persons to whom the
      * Software is furnished to do so, subject to the following
      * conditions:
+     *
      * The above copyright notice and this permission notice shall be
      * included in all copies or substantial portions of the Software.
+     *
      * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
      * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES
      * OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
      * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT
      * HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY,
      * WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
      * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR
      * OTHER DEALINGS IN THE SOFTWARE.
      **/
     lcd-ar2.c - implementation for lcd functions
     Author: CMU Robotics Club, Colony Project
     This uses SPI.
     lcd_init MUST be called before anything can be used.
     */
     /**
      * @file lcd.c
      * @brief LCD
+     *
      * Implementation of functions for using the LCD.
+     *
      * @author Colony Project, CMU Robotics Club
      **/
     #include <avr/io.h>
     #include <lcd.h>
     #include <time.h>
     #define LCD_RS    PB4 // Command/Data
     #define LCD_RSTB  PE2 // reset line
     #define LCD_CS    PB0
     //////lcd defines
     //LCD defines
     #define RST _BV(4)  // pd4 (GPIO)
     #define SCE _BV(0)  // pb0 (~SS)
     #define D_C _BV(5)  // pd5 (GPIO?)
-...
     #define LCDRESETPORT PORTD
     #define LCDRESETDDR DDRD
     // Internal Function Prototypes
     // inialize OLED and SPI
     void OLED_init(void);
     // reset Controller
     void Reset_SSD1339(void);
     // write command or data
     void write_c(unsigned char out_command);
     void write_d(unsigned char out_data);
     // these write data to the OLED on 8 bit data bus,  depends on MCU
     void LCD_out(unsigned char cmd);
     // these functions set / clear pins for OLED control lines.  they accecpt a 0 or 1
     void DC(char stat);
     void RES(char stat);
     void CS(char stat);
     void lcd_putbyte(unsigned char b);
     void crazycircle (void) {
     /*  int i;
       // draw 100 random circles
       for(i = 0;i < 100;i++){
           write_c(0x86);    // draw circle command
           write_d(rand() % 130);
           write_d(rand() % 130);
           write_d(rand() % 64);
           write_d(rand());
           write_d(rand());
           write_d(rand());
           write_d(rand());
           delay_ms(10);
+      }
     */
+    }
     void OLEDtest (void) {
       //int   i = 0;
       // Initialize
       //Initialize();
       OLED_init();
       delay_ms(120);
       write_c(0x8e);    // clear window command
       write_d(0);
       write_d(0);
       write_d(130);
       write_d(130);
       delay_ms(100);
       write_c(0x92);    // fill enable command
       write_d(0x01);
       delay_ms(10);
       crazycircle();
     /*
       // write directly to ram,  this fills up bottom 1/3 of display with color pattern
       write_c(0x5c);
       for (i = 0; i < 2000; i++){
       write_c(0x5c);
        write_d(i);
        write_d(i);
        write_d(i);
+      }
       */
+    }
     /**********************************************************
                           Initialize
     **********************************************************/
     void OLED_init(void)
+    {
       // Setup SPI here
       SPCR = 0x5D; //  enable SPI, master, SPI mode 3
       DDRB |= 0x06; // enable MOSI and SCK as outputs
       LCD_out(0);
       DC(0);
       CS(0);

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