text: /**
   * decoder.h
   * 
   * Current bit configuration:
   * [2:0] WALLS; true or false / right,front, left
   * [5:3] TREASURE; y/n, circle/square, red/blue
   * [7:6] ROBOT DIRECTION; forward, right, left
   * [8]   ROBOT; true or false
  */
  
  /**
   * Takes input number and outputs array of output with labels. Assume
   * size of array works
   * 
  */
  int * decoder(uint16_t input){
      bool left  = input & 0x1;
      bool front = (input >> 1) & 0x1;
      bool right  = (input >> 2) & 0x1;
      int treasure = (input >> 3) & 0x1;
      int tshape = (input>>4) & 0x1;
      int tcolor =  (input>>5) & 0x1;
      int direction = (input>>6) & 0x3;
      bool robot = (input >> 8) & 0x1;
      int output[]={left, front, right, treasure, tshape, tcolor, direction, robot};
      return output; 
  }
  
  int encoder(int &in1, int &in2, int &in3, int &in4, int &in5, int &in6){
      
      int output = (in5<<7|in6<<4|in4<<3|in3<<2|in2<<1|in1) & 0xBF;
      return output;
  }
  