Colony

/** driver for bfs swarming

        execute bfs behavior

*/

#include <dragonfly_lib.h>

#include <wireless.h>

#include <wl_token_ring.h>

#include "bfs_fsm.h"

int main(void) {

  // enable everything

  dragonfly_init(ALL_ON);

  orb_enable();

  orb_init();

  orb_set_color(PURPLE);

  wl_init();

  wl_set_channel(0xF);

  wl_token_ring_register();

  wl_token_ring_join(); // join token ring

  usb_init();

  bfs_init(6); // set robot_id to find

  usb_puts("start 4\n\r");

  while(1) {

    bfs_fsm(); // do bfs

  }

  return 0;

}