/ - Diff - Colony - Robotics Club

     /**
      * @file recharge_i2c.c
      * @brief Handles I2C data
+     *
      * Handles I2C data received from charge board and updates battery status
+     *
      * @author Colony Project, CMU Robotics Club
      **/
     #include "recharge_i2c.h"
     #include "recharge_defs.h"
-...
     	return (int)recharge_i2c_homing_sensor_data;
+    }
     /**
      * Check if battery is fully charged.
+     *
      * @return 1 is battery is full, 0 if not
      **/
     int recharge_i2c_is_battery_full()
+    {
     	return recharge_i2c_battery_full;
+    }
     /**
      * Set battery status.
+     *
      * @param 1 is battery is full, 0 if not
      **/
     void recharge_i2c_set_battery_full(int full)
+    {
     	if (!full)
     		recharge_i2c_battery_charging = 0;
     	recharge_i2c_battery_full = full;
+    }
     /**
      * Check if battery is charging.
+     *
      * @return 1 is battery is charging, 0 if not
      **/
     int recharge_i2c_is_battery_charging()
+    {
     	return recharge_i2c_battery_charging;
-...
      **/
     void recharge_i2c_receive(char i2c_byte)
+    {
         usb_putc(i2c_byte);
         if(recharge_i2c_prev_byte == I2C_MSG_HOMING_DATA)
+    	{
     		recharge_i2c_homing_sensor_data = i2c_byte;
     		recharge_i2c_prev_byte = i2c_byte;
             //usb_puti(i2c_byte);
     		return;
+    	}

     /**
      * @file departing.c
      * @brief Departing charging station
+     *
      * Contains functions for robots departing charging station when charging
      * is complete.
+     *
      * @author Colony Project, CMU Robotics Club
      **/
     #include "departing.h"
     #include <rangefinder.h>

     /**
      * @file recharge.c
      * @brief Robot recharging code
+     *
      * Contains functions for autonomous recharging.
+     *
      * @author Colony Project, CMU Robotics Club
      **/
     #include <move.h>
     #include <battery.h>
     #include <dio.h>

     /**
      * @file homing.c
      * @brief Interpret homing beacon data
+     *
      * Contains functions for translating homing data into directions.
+     *
      * @author Colony Project, CMU Robotics Club
      **/
     #include "homing.h"
     #include "recharge_defs.h"
-...
      * translates homing sensor data into the
      * direction the robot needs to turn
      * (or if it needs to use the BOM).
+     *
      * @return returns direction flag
      **/
     int homing_direction(int beaconcount)
+    {

     /**
      * @file recharge_i2c.h Recharge_I2C
+     *
      * Functions for receiving and using i2c data from charge board.
      **/
     void recharge_i2c_init(void);
     /** @brief Seek the charging station **/
     int recharge_i2c_get_homing_reading(void);
     int recharge_i2c_is_battery_full(void);
     int recharge_i2c_is_battery_charging(void);
     void recharge_i2c_set_battery_full(int full);
     void recharge_i2c_receive(char i2c_byte);

     #include <wl_token_ring.h>
     #include <rangefinder.h>
     #include "smart_run_around_fsm.h"
     #include "recharge.h"
     void do_nothing2(void) {}
-...
     int main(void)
+    {
     	dragonfly_init(ALL_ON);
     	//range_init();
     	//orb_enable();
     	usb_puts("Turned on!\n");
     	wl_init();
     	usb_puts("Wireless initialized!\n");

     /**
      * @file seeking.c
      * @brief Controls seeking movement
+     *
      * Contains functions for navigating to a charging station using the BOM
      * and/or homing sensor.
+     *
      * @author Colony Project, CMU Robotics Club
      **/
     #include "seeking.h"
     #include <move.h>

     /**
      * @file recharge_defs.h Recharge_Defs
+     *
      * Definitions used for recharging.
      **/
     // Recharging group
     #define WL_RECHARGE_GROUP 3

     #define HOMING_LEFT    2
     #define HOMING_RIGHT   3
     /** @brief Seek the charging station **/
     /** @brief Find direction to station **/
     int homing_direction(int beacon_count);
     /** @} **/

Colony