float forwardSimpleMM(float distanceInMM) {
MotionParameter* motionParameter = getDefaultMotionParameters(MOTION_PARAMETER_TYPE_FORWARD_OR_BACKWARD);
return forwardMM(distanceInMM, motionParameter->a, motionParameter->speed);
}
void backwardMM(PidMotion* pidMotion, float distanceInMM, float a, float speed, OutputStream* notificationOutputStream) {
// Go at a position in millimeter
forwardMM(pidMotion, -distanceInMM, a, speed, notificationOutputStream);
}
float backwardMM(float distanceInMM, float a, float speed) {
// Go at a position in millimeter
forwardMM(-distanceInMM, a, speed);
return -distanceInMM;
}
void forwardSimpleMM(PidMotion* pidMotion, float distanceInMM, OutputStream* notificationOutputStream) {
MotionParameter* motionParameter = getMotionParameters(MOTION_PARAMETER_TYPE_FORWARD_OR_BACKWARD);
forwardMM(pidMotion, distanceInMM, motionParameter->a, motionParameter->speed, notificationOutputStream);
}
