/* Navigation header file */
/* By: Benjie Nelson, Nora Levinson, David Sirkin */
/* Dr. Von Sirlevson's Automated Locomotive Computation Engine */

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/* Prototypes                                     */
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/* High-Level Navigation Functions                */
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/* 'Pulsing' CCW rotate to overpower turn inertia */

void LookForStart(void);

void AlignWithDispenser(char eventArg);
void ReAlignWithDispenser(void);
void FollowBeacon(char clearFlag);

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/* Basket Control Functions                       */
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/* PWM sets the basket DC to the desired position */

void SetBasket(char pos);

/* PWM up/down end positions found experimentally */

void DropBalls(void);

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/* Drive Mode Functions                           */
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/* Set left/right wheels to desired speed or stop */

void LeftWheel(int DC);

void RightWheel(int DC);
void Stop(void);