#define BEGIN_SCRIPT(name) struct commands name[] = {
#define END_SCRIPT                   {NULL,                    0,      0,     0} };

#define GYRO_BIAS                    {CMD_STOP,                0,      0,     0},
#define NOP                          {CMD_NOP,                 0,      0,     0},
#define SHOW_STATE                   {CMD_SHOW_STATE,          0,      0,     0},
#define STOP                         {CMD_WAIT_FOR_BUMP,       0,      0,     0},
#define WAIT_FOR_BUMP                {CMD_SHOW_STATE,          0,      0,     0},

#define DRIVE(dist)                  {CMD_DRIVE,          (dist),      0,     0},
#define GOTO_WAYPOINT(point)         {CMD_GOTO_WAYPOINT, (point),      0,     0},
#define JUMP(line)                   {CMD_JUMP,           (line),      0,     0},
#define SET_HEADING(ang)             {CMD_SET_HEADING,     (ang),      0,     0},
#define VELOCITY(vel)                {CMD_VELOCITY,        (vel),      0,     0},
#define WAIT(time)                   {CMD_WAIT,           (time),      0,     0},
#define WAIT_UNTIL(time)             {CMD_WAIT_UNTIL,     (time),      0,     0},

#define KEEP_HEADING(time,tol)       {CMD_KEEP_HEADING,   (time),  (tol),     0},
#define SET_POS(x,y)                 {CMD_SET_POS,           (x),    (y),     0},
#define TURN(ang,tol)                {CMD_TURN,            (ang),  (tol),     0},

#define GOTO_COLOR(col,time,tol)     {CMD_GOTO_COLOR,      (col), (time), (tol)},
#define POINT_AT_COLOR(col,time,tol) {CMD_POINT_AT_COLOR,  (col), (time), (tol)},