text: #ifndef ROBOT_INFO_H
  #define ROBOT_INFO_H
  
  /**
   *  This module contains the definitions of all implementation constants of
   *  the robot.
   */
  
  //
  // CAN IDs.
  //
  #define CANID_LEFTFRONT_JAG             2       //Orange
  #define CANID_LEFTREAR_JAG              3       //Yellow
  #define CANID_RIGHTFRONT_JAG            4       //Green
  #define CANID_RIGHTREAR_JAG             5       //Blue
  
  //
  // PWM channels.
  //
  #define PWM_TILT_MOTOR                  3
  
  //
  // Analog input channels.
  //
  #define AIN_GYRO                        1
  #define AIN_PRESSURE_GAUGE              2
  
  //
  // Digital input channels.
  //
  
  //
  // Solenoid channels - module 1.
  //
  #define SOL_LEFT_CANNON                 ((UINT32)1)
  #define SOL_MID_CANNON                  ((UINT32)2)
  #define SOL_RIGHT_CANNON                ((UINT32)3)
  
  //
  // Solenoid channels - module 2.
  //
  #define SOL_LEFT_RED_LED                ((UINT32)1)
  #define SOL_LEFT_GREEN_LED              ((UINT32)2)
  #define SOL_LEFT_BLUE_LED               ((UINT32)3)
  #define SOL_RIGHT_RED_LED               ((UINT32)4)
  #define SOL_RIGHT_GREEN_LED             ((UINT32)5)
  #define SOL_RIGHT_BLUE_LED              ((UINT32)6)
  
  //
  // Input subsystem.
  //
  #define JOYSTICK_LEFT_DRIVE             1
  #define JOYSTICK_RIGHT_DRIVE            2
  #define JOYSTICK_OPERATOR               3
  
  //
  // Drive subsystem.
  //
  #define MOTOR_LEFT_FRONT_REVERSE        false
  #define MOTOR_LEFT_REAR_REVERSE         false
  #define MOTOR_RIGHT_FRONT_REVERSE       true
  #define MOTOR_RIGHT_REAR_REVERSE        true
  
  #define DRIVE_ENCODER_PPR               360
  
  //
  // RGBLights subsystem.
  //
  #define NUM_COLORS                      8
  
  #define LED_LEFT_RED                    ((UINT8)SolID(SOL_LEFT_RED_LED))
  #define LED_LEFT_GREEN                  ((UINT8)SolID(SOL_LEFT_GREEN_LED))
  #define LED_LEFT_BLUE                   ((UINT8)SolID(SOL_LEFT_BLUE_LED))
  #define LED_LEFT_ALL                    ((UINT8)(LED_LEFT_RED |             \
                                                   LED_LEFT_GREEN |           \
                                                   LED_LEFT_BLUE))
  #define LED_RIGHT_RED                   ((UINT8)SolID(SOL_RIGHT_RED_LED))
  #define LED_RIGHT_GREEN                 ((UINT8)SolID(SOL_RIGHT_GREEN_LED))
  #define LED_RIGHT_BLUE                  ((UINT8)SolID(SOL_RIGHT_BLUE_LED))
  #define LED_RIGHT_ALL                   ((UINT8)(LED_RIGHT_RED |            \
                                                   LED_RIGHT_GREEN |          \
                                                   LED_RIGHT_BLUE))
  
  #define LED_COLOR_BLACK                 0
  #define LED_COLOR_RED                   ((UINT8)(LED_LEFT_RED |             \
                                                   LED_RIGHT_RED))
  #define LED_COLOR_GREEN                 ((UINT8)(LED_LEFT_GREEN |           \
                                                   LED_RIGHT_GREEN))
  #define LED_COLOR_BLUE                  ((UINT8)(LED_LEFT_BLUE |            \
                                                   LED_RIGHT_BLUE))
  #define LED_COLOR_YELLOW                ((UINT8)(LED_COLOR_RED |            \
                                                   LED_COLOR_GREEN))
  #define LED_COLOR_MAGENTA               ((UINT8)(LED_COLOR_RED |            \
                                                   LED_COLOR_BLUE))
  #define LED_COLOR_CYAN                  ((UINT8)(LED_COLOR_GREEN |          \
                                                   LED_COLOR_BLUE))
  #define LED_COLOR_WHITE                 ((UINT8)(LED_COLOR_RED |            \
                                                   LED_COLOR_GREEN |          \
                                                   LED_COLOR_BLUE))
  #define LEDLeftColors(d)                ((UINT8)((d) & LED_LEFT_ALL))
  #define LEDRightColors(d)               ((UINT8)((d) & LED_RIGHT_ALL))
  
  //
  // Shooter subsystem.
  //
  #define TRIGGER_TIME                    0.035
  #define LONG_TRIGGER_TIME               0.070
  
  #endif
  