Source: ./scout.h

/* Some basic robot initialization and movement functions
 * Updates:
 *   -creation 2.2. 2001 Teemu Kurppa
 */
#ifndef SCOUT_H
#define SCOUT_H

#include <Nclient.h>

/* scout_* commands. Instead of commanding each wheels, these commands allow
 * one to specify translational and rotational values for movement.
 * For example: scout_pr(0, 900) turns robot 90 degrees.
 */
#define scout_vm(trans, steer)   vm(RIGHT(trans, steer), LEFT(trans, steer), 0)
#define scout_pr(trans, steer)   pr(RIGHT(trans, steer), LEFT(trans, steer), 0)
#define scout_ac(value)          ac(value, value, 0)
#define scout_sp(value)          sp(value, value, 0)
#define scout_mv(trans_mode,trans_value, steer_mode, steer_value) \
mv(trans_mode, RIGHT(trans_value,steer_value), \
   steer_mode, LEFT(trans_value, steer_value), \
   MV_IGNORE, 0)


void init_robot();
void uninit_robot();

void turn_sonars(int state);
void turn_sonars_on();
void turn_sonars_off();

bool isMoving();
void wait_for_stop();

#endif