//////////////////////////////////////////////////////
///////  OWI Robot Navigation and Control Kit  ///////
///////     Version 0.1, December 28, 1999     ///////
///////             Alan Mishchenko            ///////
//////////////////////////////////////////////////////

#ifndef __CONTROL_H__
#define __CONTROL_H__

// Windows port numbers
#define DPORT 0x378
#define SPORT 0x379
#define CPORT 0x37a

// physical dimensions of the robot (in santimeters)
const double Base = 15; 
const double Shoulder = 12;
const double Elbow = 24;

void Calibrate();
int Move( CARTESIAN StartPoint, CARTESIAN StopPoint );
void SetMotion( char Joint, int Direction );
void ContinueMotion( int Time );
void StopMotion();

#endif