·         Initialize ports

·         Configure communication to xBee UART

o   9600 baud

·         Loop until iButton is detected

o   Check for PING from admiral

o   Check for iButton

·         Read iButton

·         Loop until IBUTTON broadcast with correct iButton ID is heard

o   Check for messages

·         Store address of helm sending IBUTTON command with correct address

·         Send MATCHED command to that helm

·         Activate correct team indicator (blue for even iButton #, red for odd)

·         Start 3 second timer

·         Loop until HARD_RESET is received from admiral

o   Listen for messages

§  If message received

·         Reset 3 second timer

·         If message received

o   Check byte 0

§  If admiral message (byte 0 = 0x04)

·         If STAND_DOWN received

o   Turn off all actuators, water, special abilities

o   Send STAND_DOWN_RECEIVED to helm

o   Wait for acknowledgement from helm

·         If SOFT_RESET received

o   Turn off all actuators, water, special abilities

o   Send acknowledgement to admiral

·         If PING received

o   Send ping response to admiral

·         If HARD_RESET received

o   Turn off all actuators, water, special abilities

o   Break out of message check loop

·         If navigation command received (Byte 0 = 0x02)

o   Check helm sending command

§  If paired helm

·         Respond according to communications protocol

§  If not paired helm

·         Ignore message

o   If 3 second timer expires (no messages detected during 3 second period)

§  Turn off all actuators, water, special abilities

·         Disassociate from helm

o   Reset helm address

o   Reset iButton ID

·         Return to checking for iButton