Colony

#ifndef _robot_comm_h

#define _robot_comm_h

#include <wireless.h>

void comm_robot_init (void);

char *motor_direction_string (uint8_t direction);

void robot_set_orbs (uint8_t red1, uint8_t green1, uint8_t blue1, uint8_t red2, uint8_t green2, uint8_t blue2);

void robot_set_motors (uint8_t direction1, uint8_t speed1, uint8_t direction2, uint8_t speed2);

void robot_set_motors_time (uint8_t direction1, uint8_t speed1, uint8_t direction2, uint8_t speed2, uint16_t time_ms);

void robot_set_motors_off (void);

void robot_set_bom (uint16_t bitmask);

void robot_reset_encoders (void);

bool robot_read_encoders (int16_t *left, int16_t *right);

bool robot_read_bom (uint8_t num, uint16_t *value);

bool robot_read_rangefinder (uint8_t num, uint16_t *value);

bool robot_read_bom_all (int16_t *value);

#define motor_direction_off 0

#define motor_direction_forward 1

#define motor_direction_backward 2

#endif