movement.h

#ifndef MOVEMENT_H
#define MOVEMENT_H

#include <avr/io.h>
#include <stdlib.h>
#include "open_interface.h"
#include "music.h"
#include "LED.h"
#include "bluetooth.h"

/**
 * Vortex Movement Control API Header - Provides a set of function for controlling the movement of the Vortex platform
 * @author Jacob Johnson, Justin Fehr, Mitchell Borman, Richard Millan, Zach Bennett
 * @date 4/18/2015
 */

/// Move Forwards Given Number of Centimeters
void moveForward(oi_t*sensor, int centimeters);

/// Move Backwards Given Number of Centimeteres
void moveBackward(oi_t*sensor, int centimeters);

/// Turn Clockwise Given Number of Degrees
void turnClockwise(oi_t*sensor, int degrees);

/// Turn Counter-Clockwise Given Number of Degrees
void turnCounterClockwise(oi_t*sensor, int degrees);

/// Move Forwards Given Number of Centimeters with Bump Detection Activated
void moveForwardWithSensors(oi_t*sensor, int centimeters);

/// Automated sequence to be done when final area has been detected
void finish_retrieval(oi_t*sensor);

#endif // MOVEMENT_H