/* persistent */ float lmul, rmul;

/* convenient color constants */
#define BLACK 0
#define WHITE 1
#define RED 0
#define GREEN 1
int MYCOLOR;

/* motor ports */
#define LEFT1 2
#define LEFT2 3
#define RIGHT1 0
#define RIGHT2 1
#define LFORWARD -1
#define RFORWARD 1

/* color sensor ports (analog) */
#define COLOR_NW 31
#define COLOR_SW 28
#define COLOR_NE 25
#define COLOR_SE 22

/* cos(10 degrees), to determine directional accuracy */
#define COS10DEG 0.985

/* RF grid resolution */
#define UNITSPERFT 100
#define MAXDIST (UNITSPERFT*10)
#define STOPDIST 50.0

/* Angles for turns */
#define LEFT_TURN 90.0
#define RIGHT_TURN -90.0

/* Board goes from (-3ft, -4ft) to (3ft, 4ft). */

/* Starting locations */
#define START_BX 0
#define START_BY (UNITSPERFT*5/4)
#define START_WX 0
#define START_WY (-UNITSPERFT*5/4)

/* Scoring area centers */
#define SCORE_BLX (UNITSPERFT/2)
#define SCORE_BLY ((-UNITSPERFT*4)+(UNITSPERFT/2))
#define SCORE_BCX 0
#define SCORE_BCY ((UNITSPERFT*4)-(UNITSPERFT/2))
#define SCORE_BRX ((UNITSPERFT*3)-(UNITSPERFT/2))
#define SCORE_BRY ((-UNITSPERFT*4)+(UNITSPERFT/2))
#define SCORE_WLX (UNITSPERFT/2)
#define SCORE_WLY ((UNITSPERFT*4)-(UNITSPERFT/2))
#define SCORE_WCX 0
#define SCORE_WCY ((-UNITSPERFT*4)+(UNITSPERFT/2))
#define SCORE_WRX ((UNITSPERFT*3)-(UNITSPERFT/2))
#define SCORE_WRY ((UNITSPERFT*4)-(UNITSPERFT/2))