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#ifndef _ATMEGA128RFA1_H_
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#define _ATMEGA128RFA1_H_
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#include "ros/node_handle.h"
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#define BAUD_RATE 38400
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#define RX_BUFFER_SIZE 256
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#define MAX_SUBSCRIBERS 8
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#define MAX_PUBLISHERS 6
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#define INPUT_SIZE 256
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#define OUTPUT_SIZE 1024
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class Atmega128rfa1
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{
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public:
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  Atmega128rfa1();
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  void init();
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  int read();
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  void write(uint8_t* data, int length);
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  void puts(const char* str) {write((uint8_t*) str, strlen(str));}
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  unsigned long time();
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};
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#endif