[Anton]

I can't remember it at the moment, but you can easily check it with printf, for example:
printf("Port1 Y %3d, X %3d, Fire %d, Top %d, lm %d, rm%d\n, ,%d , %f",(int)p1_y,(int)p1_x,(int)p1_sw_trig,(int)p1_sw _top,lm,255-rm,5/3, 5/3 );