#include <stdio.h>
#include <math.h>

#define MaxRotVelo			5		/* 100 hex 5 rotations/sec */
#define MinRotVelo			1		/* 20 hex 1 rotation/sec */
#define MaxRotAccel			5		
#define MinRotAccel			1		

#define MaxTransVelocity 	16384	/* 4000 hex */
#define MinTransVelocity 	512	/* 200 hex */
#define MaxTransAccel 		16384	/* 4000 hex */
#define MinTransAccel 		512	/* 200 hex */
#define MaxPower			255		/*	0% */
#define	MinPower			1		/*	100% */

#define MaxAngle 			360
#define MinAngle			1


/*****************************************************************************/
/* These are 
variable used by the C laguage interface to obtain information */
/* about the state of the B12 robot.					     */
/*****************************************************************************/
         
static short Sonar[12];
static int b12_value;
static char b12_msg[4];
static int user_value;
static short Base_X;
static short Base_Y;