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MotorBoard.h
-- Defines commands/message types used in motor messages between the base
   mote (generally a mica variant) and the motor board.  Also defines
   the MOTOR_Msg type (similar to TOS_Msg) used in the messaging 
   components below.

Robot Message Types
-------------------
BeepDiffusionMsg.h
-- Defines the BeepDiffusionMsg and BeepDiffusionResetMsg types for the
   BeepDiffusion application.

NavigationMsg.h
-- Defines the NavigationMsg and NavigationDbgMsg types for the Navigation
   component.

RobotMsg.h
-- Defines a standard robot command message (types listed in MotorBoard.h)

Robot Messaging Components and Interfaces
-----------------------------------------
MotorPacket.nc
-- Provides abstract byte-level implementation of MotorSend and 
   MotorReceive interfaces.

MotorReceiveMsg.nc
-- Interface provides a receive event implemented by MotorPacket.

MotorSendMsg.nc
-- Interface provides a send command and sendDone event implemented by
   MotorPacket.

UARTMotorPacket.nc
-- Interface directly used for communication.  Standard use is something like
   component UARTMotorPacket as Packet
   where other communication methods may be substituted (such as I2C below)

I2CMotorPacket.nc
-- not yet implemented and tested

Other Robot-related Interfaces
------------------------
Robot.nc
-- Provides setSpeed, setTurn, setDirection and setSpeedTurnDirection commands.
   It should be noted that since this involves sending data over the UART
   that there is some delay involved (which is why the setSpeedTurnDirection
   command is included).  Abstracts details of robot implementations from
   the application programmer.

ServoCalibration.nc
-- Provides an interface in which to calibrate the control loop for the 
   Mini-Z servo.  Allows the user to set the Kp, Ki and Straight parameters.
   See tos/platform/motor/README for more details.

Servo.nc
-- Provides a general servo interface.  The key command is setTurn which
   takes a value from 0-60 (30=straight, 0=left, 60=right).  It also requires
   an initialization and provides a debug event if needed.

EEPROM.nc
-- Provides read, write and init commands as well as a writeDone event.

Figure8Calibration.nc
-- Provides a calibration interface for a Figure8.  Allows the user to set
   the right turn time, the first straight turn time, the left turn time, the
   second straight turn time, and the speed.  Because the Figure8 component
   implemented here is open-loop, calibration is necessary to get anything
   that even resembles a figure8.

Navigation.nc
-- Provides a navigate command which takes an initial point and heading
   as well as a second point.

Accel.nc
-- Provides an init, startSensing and stopSensing command.  Also fires a fire
   event when x and y accelerations are captured and provides a debug event.

HPLMotor.nc
-- Provides an init command as well as setSpeed and setDir for a lower level
   motor driver.  Also allows for retrieving the current speed and direction
   setting of the motor.

Other Robot-related Components
----------------------
RobotC.nc
-- The top-level configuration component for the robot.

RobotM.nc
-- Implements the robot interface.  RobotM sends messages to the MotorBoard
   using the MotorPacket component described above.  The actual robot
   platform (Mini-Z Racer, tank, etc) is entirely abstracted here.  All 
   specific settings for the Robot interface are located on the MotorBoard in
   MotorBoardTopM.

Figure8M.nc
-- Implements the Figure8 interface and runs a figure8.

MotorClock.nc
-- Implements the Clock interface using Timer0 (which only has an overflow
   interrupt).

MotorTestC.nc
-- Runs through a set sequence of speeds to control and test both motors.  This
   configuration is set to use the motor board-specific components.

MotorTestM.nc
-- Runs through a set sequence of speeds to control and test both motors.

NavigationC.nc
-- A top level configuration for the Navigation component.  This component
   should drive the robot from one point to another given the correct
   locations and the current robot heading.

NavigationM.nc
-- Implementation of the Navigation component.  This component
   drives the robot from one point to another given the correct
   locations and the current robot heading.  This component is still in its 
   early development.  Currently the component uses trig functions from 
   the math.h file and assumes the robot may only move forward.  Several 
   optimizations may be performed on the calculations in this component.