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+#ifndef defs_hh
+#define defs_hh
+// io-hub - Modular Input/Output. {{{
+//
+// Copyright (C) 2013 Nicolas Schodet
+//
+// APBTeam:
+// Web: http://apbteam.org/
+// Email: team AT apbteam DOT org
+//
+// This program is free software; you can redistribute it and/or modify
+// it under the terms of the GNU General Public License as published by
+// the Free Software Foundation; either version 2 of the License, or
+// (at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU General Public License for more details.
+//
+// You should have received a copy of the GNU General Public License
+// along with this program; if not, write to the Free Software
+// Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA.
+//
+// }}}
+
+/// General purpose definitions.
+
+extern "C" {
+#include "modules/math/geometry/geometry.h"
+#include "modules/math/geometry/vect.h"
+}
+
+/// Position with an angle.
+struct Position
+{
+ /// Cartesian position in millimeters, (0, 0) is at bottom left.
+ vect_t v;
+ /// Angle, counter-clockwise, [0, 1), f0.16.
+ /// For example, 0x8000 means 0.5, which means 180 degrees.
+ uint16_t a;
+};
+
+/// Convert degrees to an angle usable in Position.
+#define POSITION_A_DEG(a) G_ANGLE_UF016_DEG (a)
+
+/// Moving direction.
+enum Direction
+{
+ /// No direction or unknown.
+ DIRECTION_NONE,
+ /// Forward direction, along the robot X axis.
+ DIRECTION_FORWARD,
+ /// Backward direction, opposite to the robot X axis.
+ DIRECTION_BACKWARD,
+};
+
+/// Team color, determine the start zone side.
+enum TeamColor
+{
+ /// Start on the right side, every coordinates are mirrored.
+ TEAM_COLOR_RIGHT = 0,
+ /// Start on the left side.
+ TEAM_COLOR_LEFT = 1,
+ /// Initial value, should never be read.
+ TEAM_COLOR_UNKNOWN = 2
+};
+
+/// Current team color, sampled early during the setup stage.
+extern TeamColor team_color;
+
+#endif // defs_hh