/* --------------------------------------------------------------------- */
/* -                       MYTEST.H                                    - */
/* --------------------------------------------------------------------- */
/*         Filename:      MYTEST.H                                     - */
/*         Description:   Contains the header file for robot golf      - */
/*         Written by:						       - */
/*	       	       Shawn Lovelidge                                 - */
/*         Other authors of this code include:			       - */
/*	       	Roger W. Webster, Ph.D                                 - */
/*                     Robot Vision and Artificial Intelligence Lab    - */
/*                     Department of Computer Science                  - */
/*                     Millersville University                         - */
/*                     Millersville, PA 17551                          - */
/*                     (717) 872-3539 or (717) 872-3860                - */
/* --------------------------------------------------------------------- */

/* --------------------------------------------------------------------- */
/* -    necessary includes & defines for this file                     - */
/* --------------------------------------------------------------------- */
#include <stdio.h>
#define FIXEDLENGTH 164.5 /* length inches from robot to y=480 in camera */
#define PAST_THE_CUP 18 /* The number of inches past cup to aim at (18 ?)*/

#define YES  1
#define NO 0
#define TRUE  1
#define FALSE 0
#define RAD_TO_DEG    180 / 3.14159265359
#define DEG_PER_RAD   57.2956 
#define OUT_LUT   3
#define MINX  50
#define MINY  50
#define MAXX  600
#define MAXY  430
#define RED   1
#define GREEN 2
#define BLUE  3

/**** Prototypes ****/
/* defines required */
#define NEG_ONE -1
#define ZERO 0
#define ONE 1
#define TWO 2
#define THREE 3
#define SCANERR1  101   /* ball did not cross first scan line */
#define DEFAULT_XSCAN         20
#define DEFAULT_DX            600
#define DEFAULT_TIMEOUT_SCAN1 232700
#define DEFAULT_TIMEOUT_SCAN2 1256
#define DEFAULT_TIMEOUT_SCAN3 1256
#define SCREEN_MAXY     480    /* the height of the view */
#define HALF_SCREEN	SCREEN_MAXY / TWO
#define BALL_WIDTH_MULT 3      /* multiplier for limiting scan areas */

#define COPY_Y1 500
#define COPY_Y2 600
#define COPY_Y3 700

extern void calculate_y_scans();