We confirmed that the team finding portion of our ACV state machine works today (without need of modification).  We had confirmed that the atoll capture portion worked last week, but we were finally able to find other teams to pair up with today.  Not much to show except for blinking LEDs and quick servo movements at this point, but they were the correct blinking LEDs and servo movements!  This will all be more fun when we have flags... of some sort...

Based on playing around with the RFID scanner, the Xbee radios, and a better understanding of the communications required in general, I've updated the working diagram of our communications layout.  Significant changes include:

• The PIC that reads the RFID card will no longer talk directly to the security controller.  It will simply pass along any information that it receives.
• The PIC that talks to the Security Controller is now the master of the SPI communications in the ACV.  The RFID PIC will pass every card number to the Security PIC, and this PIC will pass the card number (and the security key, if appropriate) to the main Xbee PIC on the ACV.
• A separate PIC will be used to control the drive motors and servos for the flags.  PWM will be implemented manually.  It will receive its commands over UART from the Xbee PIC, but it won't respond (so there won't be collisions on the UART lines). 
  

Here's an idea for how we can set up all our communications between PICs.  Dashed lines are connections I'm not 100% sure we need (and the dotted lines are RF communication).  One interesting idea is having the output of the PIC that reads the RFID reader connected to the input of the Security Controller.  The Security Controller would output to a second pic, and this PIC would report to the main processor on board the ACV.  We might be able to get rid of the PIC that interfaces with the Security Controller by putting the Security Controller and the Xbee on the same EUSART lines.  Doing so may or may not be easier.

Just got out of our first communications committee meeting...  It seemed pretty straight forward.  We were a little unclear though on if and why we needed to know who our team mates were.  Other than that, communications to our own devices will be handled by us, and communications otherwise ae pretty much just sending and receiving the atoll captured messages...