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void sleep(unsigned int);
boolean is_stable();
void stabilize_xy(int);
void stabilize_xyz(int);
void power(int);
void power_all(int, boolean);
void stop();
boolean get_command(int *, int *);
void roll(int, boolean);
void pitch(int, boolean);
void yaw(int);
void motor_x(int);
void motor_y(int);
int get_z_acc();
void stabilize_z();
void get_angle();
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