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// DRIVE SYSTEM #defines
#define PORT_MOTOR 3 // port (left) motor port
#define STBD_MOTOR 1 // starboard (right) motor port
// yarr, nautical terms be for the win.
#define MF 65 // the tracking adjustment speed (turning)
#define FF 90 // the forwardstracking speed
// CAMERA stuff
#define CAM_CENTER 170
#define TRACK_ADJUST_AMT 0.15
#define FWD_AMT 0.15
#define CHANNEL 0
#define INDEX 0
#define CH 0
#define I 0
#define TRACK_THRESH 60
#define DZ 35
// HOUSE COLLECTION/PROCESSING
#define HOUSE_CLAW_SERVO 0 // servo number of the claw that picks
// up the houses.
#define HOUSE_RETRACT_SERVO 1 // servo # of servo that moves the
// house claw back and forth to the chamber
#define UMBRELLA_MOTOR 2 // house shield dispenser motor
// WATER COLLECTION/DISPENSION
#define CLAW_SERVO 0 // servo that moves the claw up and down/
#define CLAW_MOTOR 0 // motor that actually actuates the claw.
#define CLAW_SLEEP 0.5 // sets the distance traveled by claw in
// single action. 0.5 seems to work fine.
#define CLAW_POS_DOWN 120 // servo position for lowest position
// for the claw servo.
#define CLAW_POS_UP 200 // highest position w/o hitting the USB cable
// when plugged in for interaction
#define CLAW_ACT_SLEEP 0.5 // amount of sleep given to complete actions
// on the claw.
#define BLUE_BALL_DIST_TO_DROP_CLAW 140
// ANALOG SENSORS This includes ports 0-6.
#define IR_SENS 5 // ET sensor for ranging. Presumably we'll
// be using this to range the blue balls
// and the bins. IR_SENS [port no]
#define DIST_TO_OBJECT_FROM_ET 100
// DIGITAL SENSORS (switches and stuff) Ports 8-14
#define CLAW_TOUCH_SENS 10 //port number for the touch sensor
//attached to the claw to sense when
// a ball has been picked up.
// GLOBAL VARS
int cur_blob_pos = 0; // current blob X position as seen by
// the XBCCam. Updated constantly by
// update_camdata()
int track_d = 0;
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