#include <joyos.h>
#include "driving.h"
#include "collecting.h"

void raise_arms(){

	CoastMotors();
	pause(100);
	servo_set_pos(RightServo,RightArmUp);
	servo_set_pos(LeftServo,LeftArmUp);
}

void lower_arms(){

	CoastMotors();
	pause(100);
	servo_set_pos(RightServo,RightArmDown);
	servo_set_pos(LeftServo,LeftArmDown);
}

void raise_balls_and_flag(){
	
	CoastMotors();
	pause(100);
	motor_set_vel(FlagMotor, FlagMotorVelocity);
}

void stop_balls_and_flag(){

	CoastMotors();
	pause(100);
	motor_brake(FlagMotor);
}

void deposit_balls(){

	CoastMotors();
	pause(100);
	servo_set_pos(DepositServo,OpenPosition);
	pause(2000);
	servo_set_pos(DepositServo,ClosedPosition);
}
void close_basket(){

	CoastMotors();
	pause(100);
	servo_set_pos(DepositServo,ClosedPosition);
}
void open_basket(){

	CoastMotors();
	pause(100);
	servo_set_pos(DepositServo,OpenPosition);
}