     CAN.send_0();
     delay(10);
 
-    #if DEBUG
+    #if DEBUGMODE
     for (int i = 0; i < 8; i++)
     {
         Serial.print(data[i], HEX);


void robot_quickStop(uint8_t wheel)
{
    #if DEBUG
    Serial.println("# Motor quickstop");
    #endif


// Robot.ino
//
//
//   Wheel 3               Wheel 0
//     +--------------------+
//     |                    |
//     |               Arm  | -->
//     |                    |
//     +--------------------+
//   Wheel 2               Wheel 1
//

#include <CAN.h>
#include <SPI.h>

#define DEBUGMODE 0
#define CAN_BUS_SPEED 1000  // 1Mbaud

void robot_begin()
{
    robot_initCAN(CAN_BUS_SPEED);

    for (int wheel = 0; wheel < 4; wheel++)
    {
        robot_initWheel(wheel);
    }

    #if DEBUGMODE
    Serial.println("@E01: Robot movement is ready.");
    #endif
}

void robot_initCAN(uint16_t baudrate)
{
    CAN.begin();
    CAN.baudConfig(baudrate);
    CAN.setMode(NORMAL);
    delay(100);
}

void robot_initWheel(uint8_t wheel)
{
    robot_velocityMode(wheel);
    robot_motorPowerOn(wheel);
    robot_motorStart(wheel);
}

byte robot_nodeAdress(uint8_t wheel)
