#ifndef KHEPCC_H
#define KHEPCC_H

#include <access.h>
#include <raw.h>
#include <oneway_cmds.h>
#include <twoway_cmds.h>


/* TYPES AND DEFS */
#ifndef M_PI
#define M_PI 3.14159265358979323846
#endif

enum direction {
  DIR_UP = 1,
  DIR_LEFT = 3,
  DIR_CENTER = 4,
  DIR_RIGHT = 5,
  DIR_DOWN = 7
};

typedef struct khep_state 
{
  int mot_l, mot_r;
  int need_update;
  int run;
} khep_state_t;

/* Consts */
#define khep_speed 30.0

/* Globals */
extern unsigned int amb_sens[KHEP_SENS_COUNT];
extern unsigned int prox_sens[KHEP_SENS_COUNT];
extern int motor_speed[KHEP_MOT_COUNT];

extern khep_state_t *st;
extern khep_hand_t hand;


#endif /* KHEPCC_H */