Colony

#ifndef _LINE_DRIVE_

#define _LINE_DRIVE_

#include "lineFollow.h"

#define DOUBLE                0

#define SINGLE                1

#define ON_RAMP                2

#define OFF_RAMP        3

#define ISTRAIGHT        0

#define ILEFT                1

#define IRIGHT                2

#define IUTURN                3

#define MERGELEFT        4

#define MERGERIGHT        5

#define NORMAL                -1

#define FINISHED        -2

#define LOST                -3

#define ERROR                -4

void lineDrive_init(void);

int doDrive(int speed);

void start(void);

void stop(void);

int merge(int dir);

int turn(int type, int dir);

#endif