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README for BeepDiffusion
Author/Contact: [e-mail]

Description:

The goal of BeepDiffusion is to spread robots out in a confined space.  Each
robot beeps in turn and if the other robots hear it, they move forward.  It
uses obstacle avoidance through the accelerometer component (Obstacle
above).  In this way, the robots act as gas particles diffusing throughout
a space -- bouncing off walls.  In this case though, if no robots can hear
the others, they stop and consider themselves spread far enough.  There are
still some problems with this application -- namely getting consistent beep
radii.  BeepDiffusion has two components -- BeepDiffusionC and StartDiffusion.
BeepDiffusion is the main application to be run on the robots and 
StartDiffusion injects packets into the network to start the application.

Tools:

BeepDiffusion requires a base mote to be programmed with the StartDiffusion
code (or these packets may also be injected using the BeepDiffusion application
in tools.  Since BeepDiffusion uses a TDMA-like scheme for syncing the robots
and giving them beep slots, it must first initialize and detect all of its 
neighbors.  Therefore, a packet changing the tick length is first injected
(depending on the number of robots and how long you want them to drive) and
following that a "go" packet is injected telling them to start beeping.

Known bugs/limitations:

The "beep radius" is incredibly inconsistent using the mica sensorboard
hardware.  Sometimes robots can hear the beeps five meters away and not
two meters or one meter away.  In addition, this application has all of the
limitations of Obstacle.