Main:
	// set up defaults


class Wheels:
	// motor speeds are in %, +=forward, -=backward, -100 to 100
	SetDesired(num, percent) // sets the desired motor speed
	GetDesired(num, percent) // gets the desired motor speed
	GetCurrent(num)          // gets the current motor speed
	Update()                 // resolves differences between Desired and Current


class Arm:
	UpperLimit() // the upper limit is hit
	LowerLimit() // the lower limit is hit
	Reset()      // reset the limit switch checks
	SuctionOn()  // turn suction on
	SuctionOff() // turn suction off


class IO:
	byte GetParallel() // read the parallel port, callback
		ArmUpperLimit: Arm->UpperLimit();        // upper limit reached, turn off motors
		ArmLowerLimit: Arm->LowerLimit();        // lower limit reached, turn off motors
		NoseDetectNoToYes: Motors->SuctionOn();  // grab the ball
		NoseDetectYesToNo: Motors->SuctionOff(); // the ball fell, stop sucking
	SendSerial(val)                       // send a string
	SetMotor(number, percent)          // convert percent to a number (+-127)
	SetParallel();


Class Vision:
	array image;
	void CaptureImage(); // capture a frame and put it into image
	void Halftone(int color, int fuzzy); // halftone image at color +- fuzzy


Timers:
	Every 100ms:  Call Motors->Update();
	Every 500ms:  Call Arm->Reset();