barrier.bzz (Source) 

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# Barrier functions
BARRIER_VSTIG = 101
ROBOTS = 8 # Total number of robots

function barrier_set(threshold, transf) {
  statef = function() {
    barrier_wait(threshold, transf);
  }
}

function barrier_ready() {
  barrier.put(id, 1)
}

function barrier_wait(threshold, transf) {
  barrier.get(id)
  debug("wait ", barrier.size())
  set_wheels(0.0,0.0)
  if(barrier.size() >= threshold) {
    barrier = nil
    statef = transf
  }
}

# First state, increment for every time-step
function iterate() {
  iteration = iteration + 1
  set_wheels(-10.0,10.0)
  debug(iteration)
  if(iteration % 30 == 0) {
    barrier_set(ROBOTS, rgb_red)
    barrier_ready()
  }
}

# The final state
function rgb_red() {
  setleds(255,0,0)
  set_wheels(10.0,-10.0)
  #debug("red")
}

function init() {
  barrier = stigmergy.create(BARRIER_VSTIG)
  # Set random number for every robot
  rng.setseed(id)
  iteration = rng.uniform(1,100)
  statef = iterate
}

function step() {
  statef()
}

function destroy() {
}