struct motion_irc {
	long left;		// PXMC's actual position (pxms.ap)
	long right;		// PXMC's actual position (pxms.ap)
	octet seq;		// Sequence number from the last received CAN_CORR_TRIG
};

struct motion_speed {
	short left;
	short right;	
};

struct motion_status {
	unsigned short err_left;
	unsigned short err_right;
};

struct corr_trig {
	octet seq;
};

struct corr_distances {
	unsigned short t1;
	unsigned short t2;
	unsigned short t3;
};

struct robot_pos {
	double x;
	double y;
	double phi;
};

struct pwr_voltage {
	double voltage33;
	double voltage50;
	double voltage80;
	double voltageBAT;
};

struct pwr_ctrl {
	boolean voltage33;
	boolean voltage50;
	boolean voltage80;
};

struct pwr_alert {
	octet value;
	boolean bat_low;
	boolean bat_critical;
	boolean bat_bye;
	boolean low_33;
	boolean low_50;
	boolean low_80;
};

struct robot_cmd {
	boolean start;
	boolean stop;
};

struct can_msg {
    octet data[8];
    octet len;
    octet id;
};

struct hokuyo_scan {
    unsigned short data[34];
};

/** Request for hokuyo pitch (angle) */
struct hokuyo_pitch {
	/** Hokuyo angle (0..down, 255..up)*/
	octet angle;
};

/** Request for lift */
struct lift {
	/** Position in IRCs (0..fully in, >0 out) */
	unsigned short pos;
};

/** Request for pusher */
struct pusher {
	/** Position in IRCs (0..fully in, >0 out) */
	unsigned short pos;
};

/** Status of the distance measurement sensor */
struct puck_distance {
	/** Distance of the puck from the Sharp sensor in meters */
	double distance;
};

/** Status sent from actuators (lift and pusher) */
struct actuator_status {
	/** Position in IRCs (0..the lowest position, >0 position above the lowest position) */
	unsigned short lift_pos;
	/** Position in IRCs (0..fully in, >0 out) */
	unsigned short pusher_pos;
	/** Status bits - see actuators.h */
	octet status; 
};

/** Request for chelae */
struct chelae {
	/** Position of left chela (0..closed, 255..open) */
	octet left;
	/** Position of right chela (0..closed, 255..open) */
	octet right;
};

/** Request for chelae's belts */
struct belts {
	/** Speed of left chela belt (-127..full speed out, 0..stop,
	    127..full speed in) */
	octet left;
	/** Speed of right chela belt (-127..full speed out, 0..stop,
	    127..full speed in) */
	octet right;
};

/** Request for holder */
struct holder {
	/** Position of the puck holder (0..closed, 255..fully open) */
	octet pos;
};

// FIXME: What's this??? M.S.
struct binary_data {
    octet data;
};

struct fsm_state {
	char state_name[21];
};

struct camera_control {
    boolean on;
    octet game_color;
};

struct camera_result {
    octet lot;
};

struct puck_inside {
    octet status;
};