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#ifndef _ATMEGA128RFA1_H_

#define _ATMEGA128RFA1_H_

#include "ros/node_handle.h"

#define BAUD_RATE 38400

#define RX_BUFFER_SIZE 256

#define MAX_SUBSCRIBERS 8

#define MAX_PUBLISHERS 6

#define INPUT_SIZE 256

#define OUTPUT_SIZE 1024

class Atmega128rfa1

{

public:

  Atmega128rfa1();

  void init();

  int read();

  void write(uint8_t* data, int length);

  void puts(const char* str) {write((uint8_t*) str, strlen(str));}

  unsigned long time();

};

#endif