Colony

#include <dragonfly_lib.h>

/* init_dragonfly - Initializes functions based on configuration parameters

   examples:

   init_dragonfly (0, 0, 0); - just initialize the digital IO (buttons, potentiometer)

   init_dragonfly (ANALOG | SERIAL | BUZZER, C0_C1_ANALOG, BAUD115200); 

   Initialize ADC and set C0 and C1 as analog inputs.  Initialize serial and set baud rate

   to 115200 bps.  Initialize the buzzer.

   init_dragonfly (MOTORS | ORB, 0, 0);

   Initialize motor driving and the color fading abilities of the ORB. */

/**

 * @defgroup dragonfly Dragonfly

 * @brief General Dragonfly Functions

 * General functions for the dragonfly. Include

 * dragonfly_lib.h to access these functions.

 *

 * @{

 **/

/**

 * Initializes the components specified by config.

 * 

 * @see analog_init, usb_init, xbee_init, buzzer_init,

 * bom_init, orb_init, motors_init, lcd_init

 **/

void dragonfly_init(int config) 

{

        // Set directionality of various IO pins

        DDRG &= ~(_BV(PING0)|_BV(PING1));

        PORTG |= _BV(PING0)|_BV(PING1);

        if(config & ANALOG) {

                analog_init();

        }

        if(config & COMM) {

    //Defaults to 115200. Check serial.h for more information.

    sei();

    usb_init();

    xbee_init();

        }

        if(config & BUZZER) {

    sei();

                buzzer_init();

        }

        if(config & ORB) {

    sei();

                orb_init();

        }

        if(config & MOTORS) {

                motors_init();

        }

        if(config & SERVOS) {

                sei();

    //Servos not yet implemented

    //servo_init();

        }

        if(config & LCD) {

                lcd_init();

        }

        if(config & (SERVOS | ORB)) {

    sei();

    orb_init();

    //Servos not yet implemented

        }

        // delay a bit for stability

        _delay_ms(1);

}

/** @} **/ //end defgroup