text: #pragma once
  
  // Constants
  #define PI 3.14159265359
  #define RAD_TO_DEG float(57.2957795)
  #define DEG_TO_RAD float(0.01745329251)
  
  // Robot Constants
  #define AE_TO_GLOBAL_X 0.18
  #define AE_TO_GLOBAL_Y 0.13
  #define AE_TO_GLOBAL_W 0
  #define INVERSE_KINEMATICS_LX 0.28063
  #define INVERSE_KINEMATICS_LY 0.29375
  #define WHEEL_RADIUS 0.1524
  #define GEAR_RATIO 21
  
  
  // Functions
  #define constrain(amt,low,high) ((amt)<(low)?(low):((amt)>(high)?(high):(amt)))
  
  // Data Structure
  struct position {
      float x;
      float y;
      float w;
  };
  ///Add this in original library
  struct Vector {
      float x;
      float y;
      float z;
  };
  struct Quad {
      float q0;
      float q1;
      float q2;
      float q3;
  };
  enum Command {noAction, homing, readyPosition, fire, VESC, toggleVG};
  
  struct pointInfo
  {
     struct position targetPos;
  
  };
  
  
  
  
  
  
  
  