/*InitBeacon*/
// Initialize Type B timer and input capture on digital input pin for BEACON_IN

/*PostBeacon*/
// Allows external code to post an event to this queue

/*RunBeacon*/
	
// ES_INIT or ES_TIMEOUT event
	
	// Calculate time since last beacon alignment time
	// If time is greater than 10ms
		// If misalignment index++ % 5 == 0 or aligned flag is set
			// Clear aligned flag
// Post HW_MISALIGNED to leader service
// Initialize align time timer

// HW_ALIGNED

	// Calculate frequency based on period param

// If has never aligned yet
// Set isRed or isBlue flag depending on detected beacon frequency (with tolerance)
 // If either color flag is set
	// Set first alignment flag
	// Change LED team indicator color

// If same frequency of original detected team frequency is detected again
	// Set aligned flag
	// Post HW_BEACON to leader service
	
/*IC3 Handler*/ Input capture for BEACON_IN pin

// If corresponding timer interrupt flag is set and input capture buffer is less than 0x8000
	// Increment rollover counter and clear timer interrupt flag

// Record last beacon alignment time as current time

	// Add calculated beacon period to buffer
	// If buffer is full (i.e., has MEDIAN_LENGTH elements) and aligned flag not set
		// Calculate median of buffer using MedianBeaconTimes()
		// Clear buffer	
// Post HW_ALIGNED to BeaconService with median as period param

/*MedianBeaconTimes*/

	// Bubble sort on buffer (buffer is very small)

	// If length of buffer is even
		// Return average of middle two elements
	// If length of buffer is odd
		// Return middle element