File content as of revision 0:178a07cd3e39:

#include "bees.h"

int find_pollen() {
    return 1;
}
int return_home() {
    return 1;
}
int send_directions() {
    //while(!xbee.readable()) {}
    //read header
    
    //read contents
    int i = 0;
    while(1){
        xbee.putc(directions[i] + 2);
        if(DEBUG)
            pc.printf("Sending  %d\n\r", directions[i]);
        if(directions[i] == TERMINATE_CHAR) {
            if (DEBUG)
                pc.printf("Successfully transfered directions.\n\r");
            return 1;
        }
        i++;
    }
    
    if (DEBUG)
        pc.printf("Error writing directions.\n\r");
    return 0;
}

/*********************************************************
    Name: get_directions
    inputs: 
        void
    outputs:
        int: 1 = completed sucessfully; 0 = unsuccessful
    Purpose: gets directions on where to move
*********************************************************/
int get_directions() {
    //int buff[DIRECTIONS];
    int i;
    // wait until the xbee can be read
    //while(!xbee.readable()) {}
    //read header
    
    //read contents
    i = 0;
    while(1){
        directions[i] = xbee.getc() - 2;
        if (DEBUG)
            pc.printf("dir    %d\n\r", directions[i]);
        if(directions[i] == TERMINATE_CHAR)
            return 1; //successfully transfered directions
        i++;
    }
    
    if (DEBUG)
        pc.printf("Error reading directions.\n\r");
    return 0;
}

int gather() {
    return 1;
}

int goto_pollen() {
    return 1;
}

void blaze() {
    int i;
    for (i = 0; i < (2*DIRECTIONS); i++) {
        directions[i] = rand() % 3 - 1;
        directions[++i] = rand() % 20 + 51;  
        if(DEBUG){
            pc.printf("Directions:  %d,  %d\n\r", directions[i-1], directions[i]);
        } 
    }
    directions[i] = TERMINATE_CHAR;
    if(DEBUG)
        pc.printf("Temrinate\n\r");
}

int copy() {
    static int direct = 0;
    static int state = 0;
    
    /*if(dotype == GetMove) {
        current_move = directions[direct];
        
    }*/
    
    //else if (dotype == DoMove) {
    
    static int current_move;
    
    if(state == 0) {
        current_move = directions[direct];
        if(DEBUG)
            pc.printf("Oh! got the Move!    %d\n\r", current_move);
        state = 1;
    }
    else if (state == 2) {
        if(move_state == Stopped)
            state = 0;
        if(DEBUG)
            pc.printf("Waiting for  Next Move\n\r");
    }
    
    else if (state == 1) {
    if (current_move == TERMINATE_CHAR) {
        l_motor.speed(NEUTRAL);
        r_motor.speed(NEUTRAL);
        move_state = Stopped;
        return 1;
    }
    else if (current_move <= 1) {
        if(DEBUG)
            pc.printf("I like to rotate! \n\r");
        rotate(current_move);
        //if((r_tics >= r_goal) || (l_tics >= l_goal))
            direct++;
    }
    else if  (current_move >= 20) {
        if(DEBUG)
            pc.printf("I like to move it move it! \n\r");
            
        move(0.5, current_move);
        //if((r_tics >= r_goal) || (l_tics >= l_goal))
            direct++;
    }
    state = 2;
    }
    
    return 0;
}