/**
* Velorex based vehicle
*
* Author: Jan Dvořák z Vozerovic
* E-mail: dvorkaman@gmail.com
* Web: dvorkaman.asp2.cz
* Created: 2015
*/

/* Licensed to the Apache Software Foundation (ASF) under one or more
* contributor license agreements.  See the NOTICE file distributed with
* this work for additional information regarding copyright ownership.
* The ASF licenses this file to You under the Apache License, Version 2.0
* (the "License"); you may not use this file except in compliance with
* the License.  You may obtain a copy of the License at
*
*     http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*/

#include "stm32f4xx.h"

#include "libSystem.h"
#include "libSystemTime.h"

#include "libXbeeApi.h"
#include "libF4mini.h"

#include "libUSART.h"
#include "libPWMTone.h"
#include "libUtils.h"
#include "libSensors.h"

#define ANALOG_INPUTS 1

#define DRIVE_MIN 50
#define STEER_MIN 0
#define STEER_MAX 180
#define LIGHT_SPEED 100 // %

#define SEND_DIST_EACH 1000 // ms

void processCommand(libRemoteCommandValue cv);
void initializePeripherals(void);
void clearPeripherals(void);
void toneLoop(void);