#ifndef ISRG_ROBOT_20060405_VZRGNTERNGTVEYGUVFFRZRFGREOHGFURVFYRNIVATFBBASB
#define ISRG_ROBOT_20060405_VZRGNTERNGTVEYGUVFFRZRFGREOHGFURVFYRNIVATFBBASB

#include <isrg_daq.h>

#define ULTRASONIC_FRONT_FORWARD_LEFT ISRG_DAQ_US_FFL
#define ULTRASONIC_FRONT_FORWARD_CENTER ISRG_DAQ_US_FFC
#define ULTRASONIC_FRONT_FORWARD_RIGHT ISRG_DAQ_US_FFR
#define METERS_PER_ULTRASONIC_TICK (1.0 / (float) ISRG_DAQ_US_ONE_METER)

int isrg_robot_init ();
int isrg_robot_set_easy_mode (int easy_mode);
isrg_daq_sample_t isrg_robot_wait ();
int isrg_robot_get_ultrasonic (int ultrasonic_id);
void isrg_robot_move (double meters_forward, double radians_ccw);
void isrg_robot_move_compass_align_north (double north_heading);
void isrg_robot_move_compass_align_east (double east_heading);
void isrg_robot_move_cancel ();
int isrg_robot_move_finished ();

#endif // ISRG_ROBOT_20060405_VZRGNTERNGTVEYGUVFFRZRFGREOHGFURVFYRNIVATFBBAS