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// *****************
// ** DEFINITIONS **
// *****************
// Pin configuration
#define PIN_SENS_OBSTACLE_TURRET 9
#define PIN_SENS_IR_LEFT A1
#define PIN_SENS_IR_RIGHT A0
#define PIN_SENS_SAMPLE_TURRET 5
#define PIN_SENS_SAMPLE_GRIPPER 6
#define PIN_SENS_BEACON_TURRET 3
#define PIN_SERVO_LEFT 12
#define PIN_SERVO_RIGHT 13
#define PIN_SERVO_TURRET 11
#define PIN_SERVO_GRIPPER 10
// Compass is on A4, A5
// Number of directions the robot can choose from: ((x-1) * (360/x)) degree. Preferably a multiple of 4, I think.
#define NUM_DIRECTIONS 12
// Number of directions the turret can measure from
#define NUM_TURRET_DIRECTIONS 13
// Number of compass checks to create average
#define NUM_COMPASS_CHECKS 12
// Threshold value for obstacle turret. No free path!
#define OBSTACLE_TOO_CLOSE 30
// Maximum time between communications to Raspberry Pi (ms)
#define MAX_COMMUNICATION_DELAY 3000
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