Colony

#include <dragonfly_lib.h>

/**

 * RangeFinder Rules

 * - analog_init() is needed

 * - value 100 - under 5cm is not detected

 * - value 800 - over 30cm is not detected

 *

 */

int testrangefinders(void) {

  dragonfly_init(ANALOG);

  usb_init();

        usb_puts("usb turned on\r\n");

  range_init();

  usb_puts("rangefinders turned on\r\n");

  int d1,d2,d3,d4,d5;

  delay_ms(1000);

  // start testing rangefinders

  while(1) {

    // get ranges

    d1 = range_read_distance(IR1);

    d2 = range_read_distance(IR2);

    d3 = range_read_distance(IR3);

    d4 = range_read_distance(IR4);

    d5 = range_read_distance(IR5);

    usb_puts("d1=");

    usb_puti(d1);

    usb_puts("\td2=");

    usb_puti(d2);

    usb_puts("\td3=");

    usb_puti(d3);

    usb_puts("\td4=");

    usb_puti(d4);

    usb_puts("\td5=");

    usb_puti(d5);

    usb_puts("\r\n");    

    delay_ms(100);

  }

  // end testing rangefinders

        return 0;

}