 ////////////////// PARAMETERS //////////////////
 ////////////////////////////////////////////////
 
-uint8_t num_anchors = 4;
-uint16_t anchors[4] = {0x6641,0x6639,0x663D,0x6670};
-int32_t heights[4] = {2500, 2500, 2500, 2500};
+uint8_t num_anchors = 4;                                    // the number of anchors
+uint16_t anchors[4] = {0x1156, 0x256B, 0x3325, 0x4244};     // the network id of the anchors
+int32_t heights[4] = {2750, 2000, 1900, 2350};              // anchor z-coordinates in mm
+boolean bProcessing = false;                                // set this to true to output data for the processing sketch         
+
+// only required for manual anchor calibration
+int32_t anchors_x[4] = {0, 10000, 1000, 9000};              // anchor x-coorindates in mm
+int32_t anchors_y[4] = {0, 0, 7000, 8000};                  // anchor y-coordinates in mm
 
 ////////////////////////////////////////////////
 

  Pozyx.clearDevices();
     
  int status = Pozyx.doAnchorCalibration(POZYX_2D, 10, num_anchors, anchors, heights);
  
  if (status != POZYX_SUCCESS){
    Serial.println(status);

  Serial.println(); 
}

// function to print out positoining data + ranges for the processing sketch
void printCoordinatesProcessing(coordinates_t coor){
  
  // get the network id and print it
  uint16_t network_id;
  Pozyx.getNetworkId(&network_id);
  
  Serial.print("POS,0x");
  Serial.print(network_id,HEX);
  Serial.print(",");
  Serial.print(coor.x);
  Serial.print(",");
  Serial.print(coor.y);
  Serial.print(",");
  Serial.print(coor.z);
  Serial.print(",");
  
  // get information about the positioning error and print it
  pos_error_t pos_error;
  Pozyx.getPositionError(&pos_error);
    
  Serial.print(pos_error.x);
  Serial.print(",");
  Serial.print(pos_error.y);
  Serial.print(",");
  Serial.print(pos_error.z);
  Serial.print(",");
  Serial.print(pos_error.xy);
  Serial.print(",");
  Serial.print(pos_error.xz);
  Serial.print(",");
  Serial.print(pos_error.yz); 
  
  // read out the ranges to each anchor and print it 
  for (int i=0; i < num_anchors; i++){
    device_range_t range;
    Pozyx.getDeviceRangeInfo(anchors[i], &range);
    Serial.print(",");
    Serial.print(range.distance);  
    Serial.print(",");
    Serial.print(range.RSS); 
  }
  Serial.println();
}

// print out the anchor coordinates (also required for the processing sketch)
void printCalibrationResult(){
  uint8_t list_size;
  int status;
