Author:	Yves Hwang
Date:   13/12/2001
Contact:hwang-y@ee.uwa.edu.au

This is a simple program which demonstrates the basic robot functionality.
The user is able to ultilize all robot function with the aid of a Nokia
tv-remote control.  

The buttons are specified below.

DRIVING
-------
2: Drive forwards. (Initial speed set at 0.4m/s)
8: Drive backwards. (Initial speed set at 0.4m/s)
6: Turn right. (Initial speed set at 0.5 rad/s)
4: Turn left. (Initial speed set at 0.5 rad/s)
1: Curve left-forwards. 
3. Curve right-forwards.
7. Curve left-backwards.
9. Curve right-backwards.
5. Stop

KICKING
-------
0. Kick (Uses Servos)

CAMERA
------
Fast Forward Button: (Assuming camera is able to spin horizontally) Turns camera to the right.
Reverse Button: (Similar assumption as above) Turns camera to the left.

NB. The servos which controls the camera can be arbitrarily placed. Hence the camera movement will differ
depending on the angle which the servo is placed. 

CHANGING PARAMETERS
-------------------
TIMER: Increase speed; m/s
CLEAR: Decrease speed; m/s
-: Increase speed; rad/s
+: Decrease speed; rad/s

MISC
----
STOP BUTTON: Clears screen.
OK BUTTON: Toggle between "Text Mode" and "Camera Mode".
POWER BUTTON: Ends program.

NB. Text Mode allows users to observe the current state of the robot and any
 other input commands. Camera Mode displays the images captured by the camera.
 It does not display remote control input commands. Default is Camera Mode.

NB. Doxyfile is used to configure the documenting program, doxygen.

