// typically this file is included at the beginning of your program
// a call to InitRROScommands will set up constants that make working
// with rCommands easier and more readable
InitCommands:
InitRROScommands: 
  CalibServoDrive =    110
  CalibrateCompass =   111
  SetSenseInvMask =    112
  SetTurretOffset =    113
  SetRotationTime =    114   // calibrate for 90 degrees
  SetMoveTime =        115   // calibrate for radius distance
  SetLeftStopOffset =  116   // used to correct motor mismatch and centering
  SetRightStopOffset = 117
  SetTurnStyle =       118
  SetSpeed =           119
  SetCCdivisor  =      120   // used for count correction
  SetMotorRamp =       121
  SetBumpDist =        122
  SetProxDist =        123
  SetExpanTimeout =    124
  SetRobotAngle =      125   // compensate for compass alignment
  SetBeaconTime =      126
  SetClicksPerDiam =   127
  SetClicksPer90 =     128
  // 129 used internally for rPen
  TurnToHalfAngle =    130
  PlaySound =          131   
  TestCommand =        132  // returns: argument, 1,2,3,4
  StartBalance =       133
  EnableMotors =       134
  EnableCounters =     135   // 1/0, counters always used for drift compensation 
  SetSlowDownSpeed =   136
  MuteBeaconDet =      137 
  MotorSetup =         138  
  SensorSetup =        139
  SetReducForwRight =  140
  SetReducBackRight =  141
  SetReducForwLeft =   142
  SetReducBackLeft =   143
  SetRROStimeout =     144
  SetCountDivisor =    145
  SetDriveServoWidth = 146
  FindBeacon =         147   // argument specifies direction of rotation
  SetBeaconDelay =     148   // delay till MIDDLE of first timing period
  SetSteerServoWidth = 149
  SetDriveServoDir =   150
  SetSteerServoDir =   151
  SetRobotDiameter =   152
  SetTurretServoWidth= 153
  SetTurnToMax =       154
  SetTurnToMin =       155
  SetSlowDown2 =       156
  SetPCBcalibrate =    157
  RROSversion =        158
  Drive =              159
  ReadRangers =        160
  // 160-199reserved space for main chip expansion codes

  // used only when an expansion chip is available
  ExpansionSetup =     200  // Sends initializing byte
  BecomeArmExpansion = 201  // typcially used internally only
  ReadExtSensors =     202  // reads bump, IR, line sensors from external source
                            // typically used only internally by RROS
  ReadArmSensors =     203  // reads available line sensors from Arm expansion
                            // typically use only internally
  // codes 204-209 are reserved for RROS use
  // all codes 210 - 255 are just passed to remote with all five bytes returned
  // codes 210-229 are reserved for user customized expansions
  SetNAVbeacons =      230
  ReadNAVangles =      231 
  ReadArmAnalogs =     232  // 2MSB specify #, all 8 bits passed on
  SetServoIndex =      233
  SetServoPosition =   234  // sets current position # to argument, increments #
  SetServoMin =        235  // sets current offset # to argument, increments #
  SetServoSpeed =      236  // sets current speed # to argument, increments #
  SetServoMax =        237  // sets max pulse width # (default 72), increments #
  EnableServos =       238  // 1 enables, 0 disables, default is disabled 
  GPSsetup =           239
  SetGPShighX =        240  
  SetGPSlowX =         241  // clears high byte automatically
  SetGPShighY =        242
  SetGPSlowY =         243  // clears high byte automatically 
  ExtSensorSetup =     244
  LookSetup =          245
  PenSetup =           246
  SetArmOutputs =      247
  SetNAVservoMinHigh = 248
  SetNAVservoMinLow =  249
  SetNAVservoMaxHigh = 250
  SetNAVservoMaxLow =  251

//  251-255 reserved for RROS use 

  
  // Sounds
  Pause =                0
  LowC =                 1
  LowD =                 2
  LowE =                 3
  LowF =                 4
  LowG =                 5
  LowA =                 6
  LowB =                 7
  MidC =                 8
  MidD =                 9
  MidE =                10
  MidF =                11
  MidG =                12
  MidA =                13
  MidB =                14
  HighC =               15
  HighD =               16
  HighE =               17
  HighF =               18
  HighG =               19
  HighA =               20
  HighB =               21
  Blip1 =               22
  Blip2 =               23
  InitTone =            24
  LowTone =             25
  BeepBeep =            26
  BeepBeepBeep =        27
  Phasor =              28
  Siren1 =              29
  Siren2 =              30
  Siren3 =              31
  Double =            7<<5
  Whole =             4<<5
  Half =              2<<5
  Quarter =           1<<5

  // Partial song for illustration purposes  
  Data Birthday; MidC|Quarter,MidC|Quarter,MidD|Half,MidC+Whole,MidF+Half,MidE+Half,Pause+Half
  Data Birthday; MidC+Quarter,MidC+Quarter,MidD+Half,MidC+Whole,MidG+Half,MidF+Half,Pause+Half
  Data Birthday; MidC+Quarter,MidC+Quarter,HighC+Half,MidA+Half,MidF+Half,MidE+Half,MidD+Whole,Pause+Half
  Data Birthday; MidB+Quarter,MidB+Quarter,MidA+Half,MidF+Half,MidG+Half,MidF+Whole
  Data Birthday; 0
  
  SMALLDC = 0
  SERVOMOTORS = 1
  ROBOCLAW = 2
  Steerable = 3
  IRSHORT = 0
  IRLONG = 1
  MAXBOTICS = 2
  PING = 3
  SR04 = 4
  HMC6352 = 1<<3
  LSM303 = 2<<3     // possible future implementation
  ENCODERS = 8     
  DIGITAL = 0
  FIVERANGE = 1<<6
  SIXRANGE = 2<<6
  GPS = 1
  LOOK = 2
  PEN = 4
  EXTSENSORS = 8
  ARM = 1<<4
  ARMwOUT = 2<<4
  ARMwNAV = 3<<4
return

PlayCurrentSong:
  NotePosition=0  
  while(1)
    if CurrentSong[NotePosition]=0 then break;
    x=rCommand(PlaySound,CurrentSong[NotePosition])
    NotePosition++
  wend
return