Colony

#ifndef INTERNALS_H

#define INTERNALS_H

#define LS 0

#define LD 1

#define RS 2

#define RD 3

#define LEFT 0

#define RIGHT 1

#define FORWARD 1

#define BACKWARD 0

#define SENDER 1

#define RECEIVER 0

#define INFINITE -1

#define L 13.5

#define DT .102

#define DIST(x1, y1, x2, y2)    (sqrt(((x1)-(x2))*((x1)-(x2)) + ((y1)-(y2))*((y1)-(y2))))

#define LOOK_AHEAD              30

#define LOOK_AHEAD_ERR_THRES    5

#define VELOCITY                20

typedef struct state

{

        double x;

        double y;

        double theta;

        double vl;

        double vr;

        double vl_ref;

        double vr_ref;

} state;

typedef struct {

    double *x;

    double *y;

} curv_t;

state robot;

void updatePosition();

void setAttriv(int file);

void pos_control_curve(curv_t *ref, int len);

void velocityControl(double*, double*);

#endif