int joinNetwork(){ ///More Testing
int retries;
int offset;
int result;
if(inCommandMode == -1){
result = enterCommandMode();
if(result == -1)
return -1;
else
inCommandMode = 1;
}
for(retries = 0; retries < RETRY_ATTEMPTS; retries++){
sendString(JOIN_BOONDOCKS, 15);
longDelay();
sendString(SHOW_CONNECTION, 7);
longDelay();
if(Txdata[0] != NULL){
if(Txdata[2] == '3'){
result = exitCommandMode();
while(result != 1){
result = exitCommandMode();
}
return 1;
}
}
}
result = exitCommandMode();
return -1;
}
void respondLeft() {
accelreverse();
int rearCase = 0;
for( unsigned int time = 35000; time > 0; time-- ) {
rearCase = determineRearCase();
switch(rearCase) {
case 0:
break;
case 1://left sensed activated
ledSetup(3);
rotateRight();
longDelay(3);
accelforward();
return;
case 2://right sensed
ledSetup(3);
pivotForwardAroundRight();
longDelay(3);
accelforward();
return;
}
}
rotateRight();
longDelay(7);
accelforward();
}
int rebootModule() ///Works
{
int retries;
int offset;
int result;
if(inCommandMode == -1)
{
result = enterCommandMode();
if(result == -1)
return -1;
else
inCommandMode = 1;
}
for(retries = 0; retries < RETRY_ATTEMPTS; retries++)
{
sendString(REBOOT, 8);
longDelay();
if(Txdata[0] != NULL)
{
if(Txdata[0] == '*' && Txdata[1] == 'R' && Txdata[2] == 'E')
{
inCommandMode = -1;
return 1;
}
}
}
return -1;
}
void initialize() ///Works with current delays
{
int result;
result = enterCommandMode();
sendString(GET_WLAN_STRING, 6);
Delay10KTCYx(0);
sendString(SET_SSID, 18);
Delay10KTCYx(0);
sendString(SET_PASSPHRASE, 29);
Delay10KTCYx(0);
sendString(SET_CHANNEL, 10);
Delay10KTCYx(0);
sendString(SET_AUTH, 10);
Delay10KTCYx(0);
sendString(SET_JOIN, 10);
Delay10KTCYx(0);
sendString(SET_DHCP, 10);
Delay10KTCYx(0);
sendString(SET_COMM_OPEN, 10);
Delay10KTCYx(0);
sendString(SET_COMM_REMOTE, 10);
Delay10KTCYx(0);
autoConnect();
sendString(SAVE, 5);
Delay10KTCYx(0);
result = rebootModule();
longDelay();
}
