PIC CODE (SPECIAL COMMUNICATIONS) HANDLES COMMUNICATING INFORMATION ABOUT BATTERY LEVEL, LIGHTS ON/OFF, AND CHARGING STATUS WITH THE SPECIAL CAMERA AND THE C32 ON THE ROAMER
c32 code (ROAMER SIDE) HANDLES ALL ROAMER FUNCTIONALITY. INCLUDES COMMUNICATIONS WITH THE PIC (USING PIN STATES), XBEE COMMUNICATIONS WITH THE E128, GRIPPER AND SPECIAL ORIENTATION SERVO CONTROL, AND MOTOR DRIVE
e128 code (POD Side) HANDLES ALL POD FUNCTIONALITY. INCLUDES XBEE COMMUNICATIONS WITH THE C32, USER INPUTS FOR SPECIAL LIGHTS ON/OFF, ROAMER SELECT AND CONNECT/DISCONNECT TO ROAMER FUNCTIONALITY, MOTOR DRIVE INPUT (ACCELEROMETER), GRIPPER SERVO ORIENTATION INPUT (PROXIMITY SENSORS), AND SPECIAL SERVO ORIENTATION (BUTTON)