Colony

#include "dragonfly_lib.h"

#include "serial.h"

int main(void){

  int i;

  int ranges[] = {IR1, IR2, IR3, IR4, IR5};

  unsigned long eval[] = {0,0,0,0,0};

  unsigned long square_eval[] = {0,0,0,0,0};

  unsigned int count[] = {0,0,0,0,0};

  int range;

  int distance;

  //Correspond to 4 cm to 30 cm  THIS COULD BE GETTING A BIT RIDICULOUSLY HUGE.

  int distance_values[26][5];

  while(1){

    //Expects a value from 4 to 30.

    distance = (usb_getc()-'0')*10 + usb_getc()-'0';

    if(distance > 30 || distance < 4){

      usb_puts("Expected a value in the range of the IR sensor. (4 cm - 30 cm), try again.\n");

      continue;

    }

    while(!button1_read()){

      for(i = 0; i < 5; i++){

        count[i]++;

        range = range_read_distance(ranges[i]); 

        if(range==-1)

          count[i]--; 

        else{

          sum[i] += range;

          square_sum[i] += range*range;

        }

      }

    }

    for(i=0;i<5;i++){

      eval[i] /= count;

      square_eval[i] /= count

    }

    usb_puts("Average, variance for this run:\n");

    for(i=0;i<5;i++){

      usb_puts("IR"); usb_puti(i); usb_puts(":\t");

      usb_puti(eval[i]); usb_puts("\t");

      usb_puti(square_eval[i]-eval[i]*eval[i]);

      usb_puts("\n");

    }

    while(!button2_read());

  }

}