·         Initialize ports

·         Configure communication to xBee UART

o   9600 baud

·         Loop until iButton is detected

o   Check for PING from admiral

§  Respond to admiral if pinged

o   Check for iButton

·         Read iButton

·         Loop until MATCHED command received from craft

o   Broadcast IBUTTON command with iButton ID number every 0.2 seconds

o   Check for PING from admiral

§  Respond to admiral if pinged

o   Check for MATCHED message from craft

·         Store address of craft sending MATCHED command

·         Check look up table for Craft number associated with address of paired craft

·         Display team affiliation (red for odd iButton #, blue for even)

·         Display number of paired craft

·         Loop until admirals broadcast START_OF_GAME command

o   Send NO_ACTION to paired craft

o   Check for PING from admiral

§  Respond to admiral if pinged

o   Listen for START_OF_GAME command

·         Acknowledge START_OF_GAME to admirals

·         Loop until admirals broadcast END_OF_GAME command

o   Check for messages

§  If a Craft message (byte 0 = 0x08)

·         If STAND_DOWN received from correct craft

o   Activate stand down indicator

o   Start 10 second countdown timer

§  Loop until timer expires

·         Send NO_ACTION commands to craft every 0.2 seconds

o   Turn off stand down indicator

§  If admiral message (byte 0 = 0x04)

·         If RED_GOAL message

o   Turn off blue goal active indicator

o   Turn on red goal active indicator

·         If BLUE_GOAL message

o   Turn off red goal active indicator

o   Turn on blue goal active indicator

·         If PING

o   Respond to admiral with ping response

·         If HARD_RESET

o   Unpair from craft

§  Reset address of craft transmitting to

§  Reset serial number read from iButton

o   Return to initial checking for iButton state

o   Every 0.2 seconds

§  Read control inputs

§  ME218 byte 0 = 0x02

§  Assemble ME218 byte 1

§  Assemble ME218 byte 2

§  Send commands to helm

·         Acknowledge END_OF_GAME to admiral

·         Send command to turn off all water and special functions

·         Loop until HARD_RESET received

o   Every 0.2 seconds

§  Read control inputs

§  Assemble ME218 byte 1

§  ME218 byte 2 is always 0

§  Send commands to helm

·         Unpair from craft

o   Reset address of craft transmitting to

o   Reset serial number read from iButton

·         Return to initial checking for iButton state