text: // Constant threshold values used
  
  // Raw Input: Distances
  	// max is 1250, seems like output of ToF is pretty much millimeters
  	// range: 0 to 1250
  	// low = far, high = close
  const int high1 = 0;
  const int high2 = 140;
  const int high3 = 280;
  const int high4 = 420;
  
  const int med1 = 430;
  const int med2 = 570;
  const int med3 = 710;
  const int med4 = 850;
  
  const int low1 = 860;
  const int low2 = 1000;
  const int low3 = 1140;
  const int low4 = 8192;
  
  // Output: Speeds
  	// For turns, the inner wheel is slower than the outer wheel
  const int v_small_slow = 60;
  const int v_small_fast = 80;
  
  const int v_full_slow = 50;
  const int v_full_fast = 90;
  
  const int v_center = 70;
  
  // Line sensor thresholds
  const int line_fwd = 75;		// max fwd
  
  const int line_rev = 75;		// max rev
  const int nudge = 750;			// duration of reverse maneuver (ms)
  
  const int line_180 = 75;
  const int degrees180 = 1500; 	// duration of 180 deg turn (ms)
  
  const int degrees45 = 175;
  
  // 		Consult with Mason, TBD
  