 //////////////////////
 // WiFi Definitions //
 //////////////////////
-const char* ssid = "GTC-Guest";
-const char* password = ".gtcguest.";
-
-//IPAddress server(192, 168, 1, 100);
-IPAddress server(161, 72, 124, 168);
+const char* ssid = "***";
+const char* password = "***";
+
+IPAddress server(192, 168, 1, 100);
 IPAddress ip_address;
 int status = WL_IDLE_STATUS;
 

  rmc0=rmc0;
}

void leftCallback(const std_msgs::Int16& msg) {
  len = abs(msg.data);
  ldir=-1;
  rdir=1;
  motion(lpwm,rpwm,LOW,HIGH,len);
}
void rightCallback(const std_msgs::Int16& msg) {
  len = abs(msg.data);
  ldir=1;
  rdir=-1;
  right();
}

void forwardCallback(const std_msgs::Int16& msg) {
  len = abs(msg.data);
  ldir=1;
  rdir=1;            
  forward();
}

void backwardCallback(const std_msgs::Int16& msg) {
  len = abs(msg.data);
  ldir=-1;
  rdir=-1;
  backward();
}

void chatterCallback(const std_msgs::Int16& msg) {
  i = abs(msg.data);
  s.write(i);
}

std_msgs::String str_msg;
std_msgs::Int16 int_msg;
ros::Publisher leftenc("/car/leftencoder", &int_msg);

#include <std_msgs/Float64.h>
#include <Servo.h>

#define DEBUG 0

int spd=800;
int lpwm=spd;
