Colony

 * @defgroup move Movement

 * @brief Functions fo controlling robot motion

 * Higher level functions to control the movement of robots.

 * 

/**

 * @brief Move the robot at the specified velocity

 *

 * Causes the robot to move with the given translation and rotational velocities.

 * motors_init must be called before this function can be used.

 *

 * @param velocity the translational velocity of the robot, in the range -255 to 255.

 * A positive value indicates forward motion, while a negative value indicates

 * backwards motion.

 * 

 * @param omega the rotational velocity of the robot, in the range -255 to 255.

 * A positive value indicates a counterclockwise velocity, while a negative

 * value indicates a clockwise velocity.

 *

 * @see motors_init, motor1_set, motor2_set

 **/

/**

 * @brief Move the robot while avoiding obstacles

 *

 * Moves the robot with the given translational and angular velocities

 * while avoiding obstacles. To be effective, this function must be

 * called repeatedly throughout the motion. It relies on the IR

 * rangefinders to detect obstacles. Before calling this function,

 * motors_init and range_init must be called.

 *

 * @param velocity the translational velocity of the robot, in the

 * range -255 to 255. A positive value indicates forward motion.

 *

 * @param omega the rotational velocity of the robot, in the range

 * -255 to 255. A positive value indicates a counterclockwise velocity.

 *

 * @param strength the strength of the avoid behavior, in the range

 * 0 to 100.

 *

 * @see motors_init, range_init, move

 **/