InitializeBeacons: takes no arguments, returns nothing
Turn the timer system on and prescale by 16 to get 1.5MHz clock rate
Initialize input capture (T0) on rising and falling edges for the left beacon
Initialize output compare (T2) with no pin connected for the left beacon
Initialize input capture (T1) on rising and falling edges for the right beacon
Initialize output compare (T3) with no pin connected for the right beacon
Initialize all initial periods to 0
Enable interrupts globally

CheckBeaconDetected: takes LEFT or RIGHT sensorSide, returns what beacon_t is detected
switch on the sensorSide
	case LEFT
		If the period falls in the 1120 us range and the high time in the 880 us range, the detectedBeacon is DISPENSER_0
		Else if the period falls in the 1120 us range and the high time in the 720 us range, the detectedBeacon is DISPENSER_1
		Else if the period falls in the 880 us range and the high time in the 240 us range, the detectedBeacon is DISPENSER_2
		Else if the period falls in the 880 us range and the high time in the 400 us range, the detectedBeacon is DISPENSER_3
		Else if the period falls in the 1120 us range and the high time in the 560 us range, the detectedBeacon is HOOP_RED
		Else if the period falls in the 880 us range and the high time in the 560 us range, the detectedBeacon is HOOP_GREEN 
	case RIGHT
		Same
Return the detectedBeacon

ReturnHighTime: takes LEFT or RIGHT beacon, returns the current high time
switch on the beacon
	case LEFT: return 2/3 of the current left time high (to get time in microseconds since we have 1.5 MHz clock)
	case RIGHT: return 2/3 of the current right time high (to get time in microseconds)

ReturnPeriod: takes LEFT or RIGHT beacon, returns the current period
switch on the beacon
	case LEFT: return 2/3 of the current left period (to get time in microseconds)
	case RIGHT: return 2/3 of the current right period (to get time in microseconds)

HandleLeftEdge: takes no arguments, returns nothing
Capture the currTime
Get the state of the edge (high or low)
If the state is high (rising edge)
	The period is the currTime - last valid left high time
	If currTime - last left falling edge time < noise period
		Not a valid rising edge, noise
	Else if the period falls in the range for 880 us period
		Valid rising edge
		Record leftPeriod as 880 us period
	Else if the period falls in the range for 1120 us period
		Valid rising edge
		Record leftPeriod as 1120 us period
	Else (unexpected period, or first time calling function)
		Not valid rising edge
		Record leftPeriod as 0
		Set the last valid left high time as the currTime
	Update the last left high time

Else (falling edge)
	Not a valid rising edge
	The timeHigh is the currTime - last valid left high time
	If currTime - last left rising edge time < noise period
		Noise
	Else if the timeHigh falls in the range for 240 us high time
		Record leftHighTime as 240 us high time
	Else if the timeHigh falls in the range for 400 us high time
		Record leftHighTime as 400 us high time
	Else if the timeHigh falls in the range for 560 us high time
		Record leftHighTime as 560 us high time
	Else if the timeHigh falls in the range for 720 us high time
		Record leftHighTime as 720 us high time
	Else if the timeHigh falls in the range for 880 us high time
		Record leftHighTime as 880 us high time
	Else (unexpected high time)
		Record leftHighTime as 0
		Set the last valid left high time as the currTime
	Update the last left low time

If we had a valid rising edge
	Update the last valid left high time

HandleRightEdge: takes no arguments, returns nothing
same as above, replacing 'left' with 'right'

LeftEdgeDetected (input capture)
Schedule output compare to trigger when signal out of range
Turn on OC interrupt
Figure out period/high time (HandleLeftEdge)
Clear flag

RightEdgeDetected (input capture)
Schedule output compare to trigger when signal out of range
Turn on OC interrupt
Figure out period/high time (HandleRightEdge)
Clear flag

LeftBeaconLost (output compare)
Clear flag
Turn off OC interrupt
Get ready for next signal detection (set period and leftHighTime to 0)

RightBeaconLost (output compare)
Clear flag
Turn off OC interrupt
Get ready for next signal detection (set period and rightHighTime to 0)