#ifndef _BUILD_0_H_

#define _BUILD_0_H_

uint8_t change_motor_speed(int, int16_t);

uint8_t set_motor_speed(int, int16_t);

void start_drive_motors(void);

void coast_drive_motors(void);

void stop_drive_motors(void);

uint8_t reverse_drive_motors(uint16_t, uint16_t);


uint8_t reverse_until_motor_spike(uint16_t);


uint8_t detect_motor_current_spikes(void);

int motor_current_spike_thread(void);



uint8_t drive_straight(uint8_t, uint8_t);

int drive_straight_thread(void);

uint8_t drive_reverse(uint8_t);

void start_reverse_motors(void);




uint8_t spin_using_gyro(float, uint32_t);




uint8_t move_claws(int16_t, uint16_t);

uint8_t close_claws(void);

uint8_t open_claws(void);

uint8_t goalify_claws(void);

int claws_operation_thread(void);



uint8_t orient_robot(uint8_t);

uint8_t orient_at_start(uint8_t);

uint8_t read_dist_sens_digital(uint8_t);



float read_dist_sens_mm(int);

float front_dist_sens_convert(uint16_t);

float rear_dist_sens_convert(uint16_t);

float left_dist_sens_convert(uint16_t);

float right_dist_sens_convert(uint16_t);


uint8_t read_dist_sens_range(uint8_t);

uint8_t dist_sens_scale(uint8_t);

uint8_t front_dist_sens_scale(uint16_t);

uint8_t rear_dist_sens_scale(uint16_t);

uint8_t side_dist_sens_scale(uint16_t);


void reset_sencoders(void);

int16_t average_sencodings(void);


int int_abs(int);





void assignment4(void);


#endif