Colony

#define SLAM_PACKET_GROUP 11

#define CONTROL_PACKET_TYPE 'C'

#define REQUEST_PACKET_TYPE 'R'

#define ROBOT_RESPONSE 'I'

#define MAX_ROBOTS 50

//Request Packet organization.

#define IR_1_LOC 0

#define IR_2_LOC 1

#define IR_3_LOC 2

#define IR_4_LOC 3

#define IR_5_LOC 4

#define BOM_START_LOC 5

typedef struct bom_node{

  char value;

  short int id;

  struct bom_node* next;

} BomNode;

typedef struct robot_data{

  short int id;

  unsigned char IR[5];

  struct robot_data* next;

  struct bom_node* bom_head;

} RobotData;

RobotData* head_bot;

RobotData* current_bot;