/* symbols */
#define DRIVE_MOTOR		0	/* PWM on pin RC2 */
#define CAM_MOTOR		1	/* PWM on pin RC1 */
#define TAPE_MOTOR		2	/* digital on pin RC0 */

/* fudge factors */
#define servo_straight  0xda
#define servo_turn      0x14
#define servo_clicks    4	/* clicks (same units as above params) per below */
#define servo_delayms	3	/* ms between a move of servo_clicks */

void resetPic();
void steerAngle(int steer);
int camSensor();
void cam(int out);
void turnAngle(double distance);				/* dist=degrees CW */
void turnDirAngle(int dir, double distance);		/* dir=1=>CW, dist=degrees */
void driveForward(int dir, double distance);	/* dir=1=>fwd, dist=cm */
int polarizedShaftEncoder(int dir);
void drive(int dir, double distance);
void tape(int wind);
void setMotorDir(int whichMotor, int state);
void setMotorPower(int motor, int power);
void delayMilliseconds(int millis);
double get_speed();
void show_speed();
void adjust_speed(double desired_speed);
void paperPickup();
void paperDrop();