File content as of revision 6:59f239c83de4:

//
//  drive.h
//  MOTORDRIVER
//
//  Created by Antoine Laurens on 15.03.16.
//  Copyright (c) 2016 Antoine Laurens. All rights reserved.
//

#ifndef __MOTORDRIVER__drive__
#define __MOTORDRIVER__drive__

#include <stdio.h>
#include "main.h"
#include "LOCALIZE.h"
void down(LOCALIZE_xya *xya,int stopPoint,float *pwmDuty1,float *pwmDuty2);                     //when the robot goes downwards

void driveStraightD(LOCALIZE_xya *xya,int stopPoint,bool dir,float *pwmDuty1,float *pwmDuty2);     //when the robot drives straight (forward or backwards)
void driveStraightS(LOCALIZE_xya *xya,int stopPoint,bool dir,float *pwmDuty1,float *pwmDuty2);     //D down S Side

void rotate(int stopAngle,int initAngle,int robPosx,float *pwmDuty1,float *pwmDuty2); //when the robot rotates use *xya instead of init angle and robPosx

void crossSep();

void feedbackControl(LOCALIZE_xya *xya,int line,int angle,float *pwmDuty1,float *pwmDuty2);


    

#endif /* defined(__MOTORDRIVER__drive__) */