anchor.diff:           stargazer_subscribe_position/0, stargazer_subscribe_position/1]).
   
   -record(state, {aip, aport, socket, dict, synnumnext}).
  --record(dispd_key, {dev_t :: non_neg_integer(), dev_i :: non_neg_integer(), synnum :: non_neg_integer()}).
  --record(dispd_val, {recpid = self()}).
  +-record(dispd_key, {dev_t  :: non_neg_integer(),
  +        						dev_i  :: non_neg_integer(),
  +        						synnum :: non_neg_integer()}).
  +-record(dispd_val, {recpid = self() :: pid(),
  +        						post            :: mfa() | fun(() -> any())}).
   
   start_link() -> gen_server:start_link({local, ?MODULE}, ?MODULE, {?AMBERIP, ?AMBERPORT}, []).
   
  
positive.code: 	send_to_amber(Hdr, MsgBinary).
  
  
  build_drivermsg(#motor_cmd{speed=L_Speed, accel=L_Accel, dist=L_Dist, is_buf=L_Buf},
                  #motor_cmd{speed=R_Speed, accel=R_Accel, dist=R_Dist, is_buf=R_Buf},
                  HwAddr) ->
  	#motorscommand{
  		address    = HwAddr,
  		m1speed    = R_Speed,
  		m1accel    = R_Accel,
  		m1distance = R_Dist,
  		m1buffered = R_Buf,
  		m2speed    = L_Speed,
  		m2accel    = L_Accel,
  		m2distance = L_Dist,
  		m2buffered = L_Buf
  	}.
  
  
  
negative.code: %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%[ ROBOCLAW ]%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
  %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
  
  
  
  %% @doc Uproszczone sterowanie robotem. Pozwala dobrać prędkość dla lewych i
  