further refactoring debris extraction

nuts_bolts.h

@@ -20,14 +20,17 @@
 
 #ifndef nuts_bolts_h
 #define nuts_bolts_h
-
 #include <string.h>
 
+#define ONE_MINUTE_OF_MICROSECONDS 60000000.0
+#define TICKS_PER_MICROSECOND (F_CPU/1000000)
+
+
 #define max(a,b) (((a) > (b)) ? (a) : (b))
 #define min(a,b) (((a) < (b)) ? (a) : (b))
 
-#define false 0
-#define true 1
+#define FALSE 0
+#define TRUE 1
 
 // Decide the sign of a value
 #define signof(a) (((a)>0) ? 1 : (((a)<0) ? -1 : 0))