#ifndef _SENSING_H_
#define _SENSING_H_

#define North 1
#define South 2
#define West 3
#define East 4

#define Right_LED    18
#define Middle_LED   17
#define Left_LED     16

#define Front_Distance_Sensor 8
#define Left_Distance_Sensor  9
#define Right_Distance_Sensor 10

#define Front_Bump_Sensor 0
#define Left_Bump_Sensor  1
#define Right_Bump_Sensor  2

#define white       1
#define black       0

#define	straight   10
#define right      11
#define left       12
#define hard_right 13
#define hard_left  14

#define ColorTolerance 450
#define ShortDistanceTolerance 30
#define LongDistanceTolerance  100

int8_t counter;

int8_t move;
int8_t Orientation;
int8_t Stop_Condition;

int8_t right_color;
int8_t middle_color;
int8_t left_color;

uint16_t Front_Distance;
uint16_t Left_Distance;
uint16_t Right_Distance;

uint8_t Front_Bump;
uint8_t Left_Bump;
uint8_t Right_Bump;

int8_t Distance_Tolerance;

uint16_t Average_Encoder_Read();

int8_t convert_LED_measurement(uint16_t);

uint16_t find_color_measurement(uint8_t);
uint16_t find_distance_measurement(uint8_t);
uint8_t find_bump_measurement(uint8_t);

void set_all_distances();
void set_all_colors();
void set_all_bumps();

void orient_gameboard();

int8_t detect_line();

#endif