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// Major development caveats for beagle embedded + swarms
// OBSC system does NOT have watchdog timer ensuring a reset after the main motor stutters and jumps voltage because of sliding PWM values
// -this is particularly important in non-shared ground situations wherein voltage differentials matter more
// Once SWARMS registers fill for waiting on OBSC responses, the device hangs indefinitely
// OBSC embedded is very touchy, yet can possibly robust in future if able to pureify power reaching device through regulation
#include <usb.h>
#include <iostream>
#include <string>
#include <assert.h>
using namespace std;
class MotorController {
void reset();
void open();
void close();
bool isOpen();
void toggleLed2();
void toggleLed1();
void setSpeed(int speed);
void setDirection(int direction);
int speed_current;
int direction_current;
bool sendCommandWithPayload(string command, string payload);
bool sendSyncronousFrame(string command, string payload);
usb_dev_handle * usbDeviceHandle;
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