/***********************************************************************/
/** @name global.h   
    Contains all global definitions and variables.

    @author Thomas Braunl & Birgit Graf, UWA, 1998
*/
/***********************************************************************/

/*@{*/

#include "eyebot.h"

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


/* -----------= directions =-------------- */

#ifndef RIGHT
#define RIGHT 1
#endif

#ifndef LEFT
#define LEFT -1
#endif

#define MIDDLE 0
#define FRONT 0			/* for PSD */

#define UP 1			/* for camera servo */
#define DOWN 2



/* -----------= constant factors =-------------- */

#ifndef PI
#define PI 3.1415926535
#endif
#define PI2 1.5707963		/* PI half */

#define SSIZE 8192		/* stack for parallel processing */

#define LENGTH 2.740		/* field length (in m) */
#define LENGTH2 1.370		/* field length (in m) */
#define LENGTH4 0.685		/* quarter field length (in m) */
#define WIDTH2 0.7625		/* half field width (in m) */
#define WIDTH4 0.38125		/* quarter field width (in m) */

#define GOALWIDTH 0.5		/* goal width (in m) */
#define ROBWIDTH2 0.04		/* half robot width (in m) */


/* -----------= colours =-------------- */

#define BLACK  0
#define WHITE 15


/* -----------= player positions =-------------- */

#define POS_G  1
#define POS_LB 2
#define POS_RB 3
#define POS_LF 4
#define POS_RF 5


/* -----------= speeds =-------------- */

extern meterPerSec LIN_SPEED;
extern radPerSec ROT_SPEED;


/* -----------= tables =--------------  */

/** factor to calculate y position from pixels to meters depending on
    x position (achieved by getting width in m of object that has
    width of screen at selected y positions, fact = val(m)/imagerows)
*/
extern float yfact[3][imagerows];

/** get x position in meters from x position in pixels */
extern float x2m[3][imagerows];

/** ball distance in meters depending on x and y position in pixels */
extern float ball_dist[3][imagerows / 2][imagecolumns];


/** Handle for motors */
extern VWHandle vw;
/** flag to detect whether motors are used or test mode without motors */
extern int use_motors;		


/* -----------= global flags =-------------- */
/** flag to indicate current camera position (UP or DOWN), set after
    camera movement */
extern int cam_pos;


/* ----= flags to indicate results of sensor readings  =---- */
/** flag to indicate keypress (-> end ball search) */
extern int end_flag;

/** flag to indicate detected object */
extern int obstacle_flag;

/** flag to indicate having ball caught in front of robot */
extern int got_ball_flag;

/** flag to indicate seeing ball */
extern int see_ball_flag;	

/** flag to indicate that program just started */
extern int start_flag;
extern int start_flag1;
extern int attack_flag ;

/** flag for competition mode */
extern int competition_mode;		
  
/** position of player */
extern int player_pos;

/** home position of different players */
extern PositionType home[4][3];

/** next home position */
extern int next_home;


/*@}*/