Colony

#ifndef _LINE_DRIVE_

#define _LINE_DRIVE_

#include "lineFollow.h"

/* Old definitions, delete as soon as possible

#define DOUBLE           0

#define SINGLE                1

#define ON_RAMP                2

#define OFF_RAMP        3

*/

#define SINGLE      0

#define ON_RAMP     1

#define OFF_RAMP    2

#define DOUBLE_C    3

#define DOUBLE_T    4

#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