text: #pragma once
  #include <due_can.h>
  #include "Can_Protocol.h"
  
  namespace elcano{
  
  //set to 'false' to stop debug Serial.print/ln printing
  #define DEBUG true  //general debugging entering methods, passing tests etc
  #define DEBUG2 true //CAN BUS debugging, checking sent and receieved data to/from CANBUS
  #define DEBUG3 true //Navigation and Pilot debuggging, which direction told to travel
  #define DEBUG4 true //for testing propper heading of first path in Pilot.cpp
  
  
  #define CONES 6 //number of mission points. Update this for each use in new area
  #define MAX_WAYPOINTS 50 //change if you map with more than 50 points
    
  
  #define MAX_CAN_FRAME_DATA_LEN_16 16
  #define TURN_RADIUS_MM 1000
  #define MIN_TURNING_RADIUS_MM 1000
  
  #define TURN_SPEED 1050
  //#define DESIRED_SPEED_mmPs 1600 
   
  const long turn_speed = 835;
  
  //from common.h
  
  
  #define DESIRED_SPEED_mmPs 1390 //3.1 mph //used in getGoals to set speed to goals
  #define SLOW_SPEED_mmPs 833 //1.9 mph
  
  #define EARTH_RADIUS_MM 6371000000.
  #define PIf ((float) 3.1415926)
  #define TO_RADIANS (PIf/180.)
  #define HEADING_PRECISION 1000000.0
  #define DR_ERROR_mm 1000.0
  
  // The buffer size that will hold a GPS sentence. They tend to be 80 characters long.
  // Got weird results with 90; OK with 120.
  #define BUFFSIZ 120
  //#define MAX_MISSION 6 //The maximum number of target goal to hit
  #define MEG 1000000
  #define MAX_MAPS 10    //The maximum number of map files stored to SD card used to allocate space in map array
  #define MAX_WaypointS 40   // The maximum number of Waypoints in each map file.
  
  // setting of index to indicate a navigation fix
  #define POSITION -1
  // A bit flag for index that indicates this Waypoint is the last in a sequence.
  #define END  0x04000
  // index bit map showing that Waypoint is a goal
  #define GOAL 0x02000 
  #define MAX_DISTANCE 0x3ffffff
  // value if latitude, longitude or bearing is missing.
  #define INVALID MAX_DISTANCE
  
  #define WHEEL_BASE_mm         800
  #define TURNING_RADIUS_mm    4000
  #define MAX_ACCEL_mmPs2      2000
  #define STANDARD_ACCEL_mmPs2 1000
  // but we send a number from 0 to 255
  #define STANDARD_ACCEL       55
  #define MAX_ACCEL            110
  #define WALK_SPEED_mmPs      1000
  // 10 mph = 4.44 m/s
  #define MAX_SPEED_mmPs       4444
  
  
  
  
  }//end namespace elcano
  