+
+//included librarys
 #include <SharpIR.h>
 #include <NewPing.h>
 #include <Servo.h>
 
-#define LDRLeft A0
-#define LDRCenter A1
-#define LDRRight A2
-#define LDRTop A4
-#define SharpIr A3
+//analog pin definitions
+#define LDRLeft         A0
+#define LDRCenter       A1
+#define LDRRight        A2
+#define LDRTop          A4
+#define SharpIr         A3
 
-#define SerialRx 0
-#define SerialTx 1
-#define IrRx 2
-#define IrTx 3
-#define PB1 4
-#define Dright 5
-#define Dleft 6
-#define LEDRed 7
-#define Ping1 8
-#define Ping2 9
-#define Ping3 10
-#define Ping4 11
-#define SharpIrEnable 12
-#define turret 13
+//digital pin definitions
+#define SerialRx        0
+#define SerialTx        1
+#define IrRx            2
+#define IrTx            3
+#define PB1             4
+#define Dright          5
+#define Dleft           6
+#define LEDRed          7
+#define Ping1           8
+#define Ping2           9
+#define Ping3           10
+#define Ping4           11
+#define SharpIrEnable   12
+#define turret          13
 
-#define DrightStop 68
-#define DleftStop 83
-#define TurretCenter 84
+//calibration values
+#define DrightStop      68
+#define DleftStop       83
+#define TurretCenter    84
 
+//app control deffinition
+#define Forward         48
+#define Backward	49
+#define Turret_Left	50
+#define Turret_Right	51
+#define Pivot_Left	52
+#define Pivot_Right	53
+#define Stop	        54
+#define Function_1	55
+#define Function_2	56
+#define Function_3      57
 
+//object instantition 
 Servo Driveleft;
 Servo Driveright;
 Servo Turret;

NewPing sonar2(Ping2, Ping2, 200);
NewPing sonar3(Ping3, Ping3, 200);
NewPing sonar4(Ping4, Ping4, 200);

void setup() {
  

}




