From c9518919b4fe4c06257dc1193e574053fdd46c07 Mon Sep 17 00:00:00 2001
From: Tim Korjakow <you@example.com>
Date: Wed, 2 Aug 2023 02:44:11 +0800
Subject: [PATCH] added docs

---
 src/dcaitirobot/embedded/Doxyfile             | 2658 ++++++++++++++++
 .../embedded/docs/html/MotorWheel_8cpp.html   |   94 +
 .../docs/html/MotorWheel_8cpp__incl.map       |    9 +
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 .../embedded/docs/html/MotorWheel_8h.html     |  521 ++++
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 .../docs/html/MotorWheel_8h__incl.png         |  Bin 0 -> 12702 bytes
 .../docs/html/MotorWheel_8h_source.html       |  494 +++
 .../embedded/docs/html/PID__Beta6_8cpp.html   |   97 +
 .../docs/html/PID__Beta6_8cpp__incl.map       |    8 +
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 .../embedded/docs/html/PID__Beta6_8h.html     |  156 +
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 .../docs/html/PID__Beta6_8h_source.html       |  211 ++
 .../docs/html/PinChangeIntConfig_8h.html      |   96 +
 .../html/PinChangeIntConfig_8h__dep__incl.map |   10 +
 .../html/PinChangeIntConfig_8h__dep__incl.md5 |    1 +
 .../html/PinChangeIntConfig_8h__dep__incl.png |  Bin 0 -> 27083 bytes
 .../html/PinChangeIntConfig_8h_source.html    |   99 +
 .../embedded/docs/html/PinChangeInt_8cpp.html |  186 ++
 .../docs/html/PinChangeInt_8cpp__incl.map     |    7 +
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 .../embedded/docs/html/PinChangeInt_8h.html   |  233 ++
 .../docs/html/PinChangeInt_8h__dep__incl.map  |    9 +
 .../docs/html/PinChangeInt_8h__dep__incl.md5  |    1 +
 .../docs/html/PinChangeInt_8h__dep__incl.png  |  Bin 0 -> 19670 bytes
 .../docs/html/PinChangeInt_8h__incl.map       |    6 +
 .../docs/html/PinChangeInt_8h__incl.md5       |    1 +
 .../docs/html/PinChangeInt_8h__incl.png       |  Bin 0 -> 8608 bytes
 .../docs/html/PinChangeInt_8h_source.html     |  237 ++
 .../embedded/docs/html/UARTCom_8cpp.html      |  790 +++++
 .../embedded/docs/html/UARTCom_8cpp__incl.map |   10 +
 .../embedded/docs/html/UARTCom_8cpp__incl.md5 |    1 +
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 .../embedded/docs/html/UARTCom_8hpp.html      |  121 +
 .../docs/html/UARTCom_8hpp__dep__incl.map     |    6 +
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 .../embedded/docs/html/UARTCom_8hpp__incl.map |    5 +
 .../embedded/docs/html/UARTCom_8hpp__incl.md5 |    1 +
 .../embedded/docs/html/UARTCom_8hpp__incl.png |  Bin 0 -> 6877 bytes
 .../docs/html/UARTCom_8hpp_source.html        |  112 +
 .../embedded/docs/html/UCommands_8cpp.html    |  150 +
 .../docs/html/UCommands_8cpp__incl.map        |    8 +
 .../docs/html/UCommands_8cpp__incl.md5        |    1 +
 .../docs/html/UCommands_8cpp__incl.png        |  Bin 0 -> 13868 bytes
 .../embedded/docs/html/UCommands_8hpp.html    |  120 +
 .../docs/html/UCommands_8hpp__dep__incl.map   |    5 +
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 .../docs/html/UCommands_8hpp__incl.map        |    5 +
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 .../docs/html/UCommands_8hpp_source.html      |  104 +
 .../embedded/docs/html/UValue_8cpp.html       |   95 +
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 .../embedded/docs/html/UValue_8hpp.html       |  119 +
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 .../docs/html/UValue_8hpp_source.html         |  104 +
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 .../embedded/docs/html/Utils_8cpp__incl.png   |  Bin 0 -> 4863 bytes
 .../embedded/docs/html/Utils_8hpp.html        |  119 +
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 src/dcaitirobot/embedded/docs/html/bc_s.png   |  Bin 0 -> 676 bytes
 src/dcaitirobot/embedded/docs/html/bdwn.png   |  Bin 0 -> 147 bytes
 .../docs/html/classGearedMotor-members.html   |  137 +
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 .../html/classGearedMotor__inherit__graph.map |    6 +
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 .../docs/html/classMotor-members.html         |  130 +
 .../embedded/docs/html/classMotor.html        | 1381 +++++++++
 .../docs/html/classMotorWheel-members.html    |  147 +
 .../embedded/docs/html/classMotorWheel.html   |  698 +++++
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diff --git a/src/dcaitirobot/embedded/Doxyfile b/src/dcaitirobot/embedded/Doxyfile
new file mode 100644
index 0000000..d6ae872
--- /dev/null
+++ b/src/dcaitirobot/embedded/Doxyfile
@@ -0,0 +1,2658 @@
+# Doxyfile 1.9.1
+
+# This file describes the settings to be used by the documentation system
+# doxygen (www.doxygen.org) for a project.
+#
+# All text after a double hash (##) is considered a comment and is placed in
+# front of the TAG it is preceding.
+#
+# All text after a single hash (#) is considered a comment and will be ignored.
+# The format is:
+# TAG = value [value, ...]
+# For lists, items can also be appended using:
+# TAG += value [value, ...]
+# Values that contain spaces should be placed between quotes (\" \").
+
+#---------------------------------------------------------------------------
+# Project related configuration options
+#---------------------------------------------------------------------------
+
+# This tag specifies the encoding used for all characters in the configuration
+# file that follow. The default is UTF-8 which is also the encoding used for all
+# text before the first occurrence of this tag. Doxygen uses libiconv (or the
+# iconv built into libc) for the transcoding. See
+# https://www.gnu.org/software/libiconv/ for the list of possible encodings.
+# The default value is: UTF-8.
+
+DOXYFILE_ENCODING      = UTF-8
+
+# The PROJECT_NAME tag is a single word (or a sequence of words surrounded by
+# double-quotes, unless you are using Doxywizard) that should identify the
+# project for which the documentation is generated. This name is used in the
+# title of most generated pages and in a few other places.
+# The default value is: My Project.
+
+PROJECT_NAME           = "DCAITI Robot Hardware"
+
+# The PROJECT_NUMBER tag can be used to enter a project or revision number. This
+# could be handy for archiving the generated documentation or if some version
+# control system is used.
+
+PROJECT_NUMBER         = 1.0
+
+# Using the PROJECT_BRIEF tag one can provide an optional one line description
+# for a project that appears at the top of each page and should give viewer a
+# quick idea about the purpose of the project. Keep the description short.
+
+PROJECT_BRIEF          =
+
+# With the PROJECT_LOGO tag one can specify a logo or an icon that is included
+# in the documentation. The maximum height of the logo should not exceed 55
+# pixels and the maximum width should not exceed 200 pixels. Doxygen will copy
+# the logo to the output directory.
+
+PROJECT_LOGO           =
+
+# The OUTPUT_DIRECTORY tag is used to specify the (relative or absolute) path
+# into which the generated documentation will be written. If a relative path is
+# entered, it will be relative to the location where doxygen was started. If
+# left blank the current directory will be used.
+
+OUTPUT_DIRECTORY       = ./docs
+
+# If the CREATE_SUBDIRS tag is set to YES then doxygen will create 4096 sub-
+# directories (in 2 levels) under the output directory of each output format and
+# will distribute the generated files over these directories. Enabling this
+# option can be useful when feeding doxygen a huge amount of source files, where
+# putting all generated files in the same directory would otherwise causes
+# performance problems for the file system.
+# The default value is: NO.
+
+CREATE_SUBDIRS         = NO
+
+# If the ALLOW_UNICODE_NAMES tag is set to YES, doxygen will allow non-ASCII
+# characters to appear in the names of generated files. If set to NO, non-ASCII
+# characters will be escaped, for example _xE3_x81_x84 will be used for Unicode
+# U+3044.
+# The default value is: NO.
+
+ALLOW_UNICODE_NAMES    = NO
+
+# The OUTPUT_LANGUAGE tag is used to specify the language in which all
+# documentation generated by doxygen is written. Doxygen will use this
+# information to generate all constant output in the proper language.
+# Possible values are: Afrikaans, Arabic, Armenian, Brazilian, Catalan, Chinese,
+# Chinese-Traditional, Croatian, Czech, Danish, Dutch, English (United States),
+# Esperanto, Farsi (Persian), Finnish, French, German, Greek, Hungarian,
+# Indonesian, Italian, Japanese, Japanese-en (Japanese with English messages),
+# Korean, Korean-en (Korean with English messages), Latvian, Lithuanian,
+# Macedonian, Norwegian, Persian (Farsi), Polish, Portuguese, Romanian, Russian,
+# Serbian, Serbian-Cyrillic, Slovak, Slovene, Spanish, Swedish, Turkish,
+# Ukrainian and Vietnamese.
+# The default value is: English.
+
+OUTPUT_LANGUAGE        = English
+
+# The OUTPUT_TEXT_DIRECTION tag is used to specify the direction in which all
+# documentation generated by doxygen is written. Doxygen will use this
+# information to generate all generated output in the proper direction.
+# Possible values are: None, LTR, RTL and Context.
+# The default value is: None.
+
+OUTPUT_TEXT_DIRECTION  = None
+
+# If the BRIEF_MEMBER_DESC tag is set to YES, doxygen will include brief member
+# descriptions after the members that are listed in the file and class
+# documentation (similar to Javadoc). Set to NO to disable this.
+# The default value is: YES.
+
+BRIEF_MEMBER_DESC      = YES
+
+# If the REPEAT_BRIEF tag is set to YES, doxygen will prepend the brief
+# description of a member or function before the detailed description
+#
+# Note: If both HIDE_UNDOC_MEMBERS and BRIEF_MEMBER_DESC are set to NO, the
+# brief descriptions will be completely suppressed.
+# The default value is: YES.
+
+REPEAT_BRIEF           = YES
+
+# This tag implements a quasi-intelligent brief description abbreviator that is
+# used to form the text in various listings. Each string in this list, if found
+# as the leading text of the brief description, will be stripped from the text
+# and the result, after processing the whole list, is used as the annotated
+# text. Otherwise, the brief description is used as-is. If left blank, the
+# following values are used ($name is automatically replaced with the name of
+# the entity):The $name class, The $name widget, The $name file, is, provides,
+# specifies, contains, represents, a, an and the.
+
+ABBREVIATE_BRIEF       = "The $name class" \
+                         "The $name widget" \
+                         "The $name file" \
+                         is \
+                         provides \
+                         specifies \
+                         contains \
+                         represents \
+                         a \
+                         an \
+                         the
+
+# If the ALWAYS_DETAILED_SEC and REPEAT_BRIEF tags are both set to YES then
+# doxygen will generate a detailed section even if there is only a brief
+# description.
+# The default value is: NO.
+
+ALWAYS_DETAILED_SEC    = NO
+
+# If the INLINE_INHERITED_MEMB tag is set to YES, doxygen will show all
+# inherited members of a class in the documentation of that class as if those
+# members were ordinary class members. Constructors, destructors and assignment
+# operators of the base classes will not be shown.
+# The default value is: NO.
+
+INLINE_INHERITED_MEMB  = NO
+
+# If the FULL_PATH_NAMES tag is set to YES, doxygen will prepend the full path
+# before files name in the file list and in the header files. If set to NO the
+# shortest path that makes the file name unique will be used
+# The default value is: YES.
+
+FULL_PATH_NAMES        = YES
+
+# The STRIP_FROM_PATH tag can be used to strip a user-defined part of the path.
+# Stripping is only done if one of the specified strings matches the left-hand
+# part of the path. The tag can be used to show relative paths in the file list.
+# If left blank the directory from which doxygen is run is used as the path to
+# strip.
+#
+# Note that you can specify absolute paths here, but also relative paths, which
+# will be relative from the directory where doxygen is started.
+# This tag requires that the tag FULL_PATH_NAMES is set to YES.
+
+STRIP_FROM_PATH        =
+
+# The STRIP_FROM_INC_PATH tag can be used to strip a user-defined part of the
+# path mentioned in the documentation of a class, which tells the reader which
+# header file to include in order to use a class. If left blank only the name of
+# the header file containing the class definition is used. Otherwise one should
+# specify the list of include paths that are normally passed to the compiler
+# using the -I flag.
+
+STRIP_FROM_INC_PATH    =
+
+# If the SHORT_NAMES tag is set to YES, doxygen will generate much shorter (but
+# less readable) file names. This can be useful is your file systems doesn't
+# support long names like on DOS, Mac, or CD-ROM.
+# The default value is: NO.
+
+SHORT_NAMES            = NO
+
+# If the JAVADOC_AUTOBRIEF tag is set to YES then doxygen will interpret the
+# first line (until the first dot) of a Javadoc-style comment as the brief
+# description. If set to NO, the Javadoc-style will behave just like regular Qt-
+# style comments (thus requiring an explicit @brief command for a brief
+# description.)
+# The default value is: NO.
+
+JAVADOC_AUTOBRIEF      = NO
+
+# If the JAVADOC_BANNER tag is set to YES then doxygen will interpret a line
+# such as
+# /***************
+# as being the beginning of a Javadoc-style comment "banner". If set to NO, the
+# Javadoc-style will behave just like regular comments and it will not be
+# interpreted by doxygen.
+# The default value is: NO.
+
+JAVADOC_BANNER         = NO
+
+# If the QT_AUTOBRIEF tag is set to YES then doxygen will interpret the first
+# line (until the first dot) of a Qt-style comment as the brief description. If
+# set to NO, the Qt-style will behave just like regular Qt-style comments (thus
+# requiring an explicit \brief command for a brief description.)
+# The default value is: NO.
+
+QT_AUTOBRIEF           = NO
+
+# The MULTILINE_CPP_IS_BRIEF tag can be set to YES to make doxygen treat a
+# multi-line C++ special comment block (i.e. a block of //! or /// comments) as
+# a brief description. This used to be the default behavior. The new default is
+# to treat a multi-line C++ comment block as a detailed description. Set this
+# tag to YES if you prefer the old behavior instead.
+#
+# Note that setting this tag to YES also means that rational rose comments are
+# not recognized any more.
+# The default value is: NO.
+
+MULTILINE_CPP_IS_BRIEF = NO
+
+# By default Python docstrings are displayed as preformatted text and doxygen's
+# special commands cannot be used. By setting PYTHON_DOCSTRING to NO the
+# doxygen's special commands can be used and the contents of the docstring
+# documentation blocks is shown as doxygen documentation.
+# The default value is: YES.
+
+PYTHON_DOCSTRING       = YES
+
+# If the INHERIT_DOCS tag is set to YES then an undocumented member inherits the
+# documentation from any documented member that it re-implements.
+# The default value is: YES.
+
+INHERIT_DOCS           = YES
+
+# If the SEPARATE_MEMBER_PAGES tag is set to YES then doxygen will produce a new
+# page for each member. If set to NO, the documentation of a member will be part
+# of the file/class/namespace that contains it.
+# The default value is: NO.
+
+SEPARATE_MEMBER_PAGES  = NO
+
+# The TAB_SIZE tag can be used to set the number of spaces in a tab. Doxygen
+# uses this value to replace tabs by spaces in code fragments.
+# Minimum value: 1, maximum value: 16, default value: 4.
+
+TAB_SIZE               = 4
+
+# This tag can be used to specify a number of aliases that act as commands in
+# the documentation. An alias has the form:
+# name=value
+# For example adding
+# "sideeffect=@par Side Effects:\n"
+# will allow you to put the command \sideeffect (or @sideeffect) in the
+# documentation, which will result in a user-defined paragraph with heading
+# "Side Effects:". You can put \n's in the value part of an alias to insert
+# newlines (in the resulting output). You can put ^^ in the value part of an
+# alias to insert a newline as if a physical newline was in the original file.
+# When you need a literal { or } or , in the value part of an alias you have to
+# escape them by means of a backslash (\), this can lead to conflicts with the
+# commands \{ and \} for these it is advised to use the version @{ and @} or use
+# a double escape (\\{ and \\})
+
+ALIASES                =
+
+# Set the OPTIMIZE_OUTPUT_FOR_C tag to YES if your project consists of C sources
+# only. Doxygen will then generate output that is more tailored for C. For
+# instance, some of the names that are used will be different. The list of all
+# members will be omitted, etc.
+# The default value is: NO.
+
+OPTIMIZE_OUTPUT_FOR_C  = NO
+
+# Set the OPTIMIZE_OUTPUT_JAVA tag to YES if your project consists of Java or
+# Python sources only. Doxygen will then generate output that is more tailored
+# for that language. For instance, namespaces will be presented as packages,
+# qualified scopes will look different, etc.
+# The default value is: NO.
+
+OPTIMIZE_OUTPUT_JAVA   = NO
+
+# Set the OPTIMIZE_FOR_FORTRAN tag to YES if your project consists of Fortran
+# sources. Doxygen will then generate output that is tailored for Fortran.
+# The default value is: NO.
+
+OPTIMIZE_FOR_FORTRAN   = NO
+
+# Set the OPTIMIZE_OUTPUT_VHDL tag to YES if your project consists of VHDL
+# sources. Doxygen will then generate output that is tailored for VHDL.
+# The default value is: NO.
+
+OPTIMIZE_OUTPUT_VHDL   = NO
+
+# Set the OPTIMIZE_OUTPUT_SLICE tag to YES if your project consists of Slice
+# sources only. Doxygen will then generate output that is more tailored for that
+# language. For instance, namespaces will be presented as modules, types will be
+# separated into more groups, etc.
+# The default value is: NO.
+
+OPTIMIZE_OUTPUT_SLICE  = NO
+
+# Doxygen selects the parser to use depending on the extension of the files it
+# parses. With this tag you can assign which parser to use for a given
+# extension. Doxygen has a built-in mapping, but you can override or extend it
+# using this tag. The format is ext=language, where ext is a file extension, and
+# language is one of the parsers supported by doxygen: IDL, Java, JavaScript,
+# Csharp (C#), C, C++, D, PHP, md (Markdown), Objective-C, Python, Slice, VHDL,
+# Fortran (fixed format Fortran: FortranFixed, free formatted Fortran:
+# FortranFree, unknown formatted Fortran: Fortran. In the later case the parser
+# tries to guess whether the code is fixed or free formatted code, this is the
+# default for Fortran type files). For instance to make doxygen treat .inc files
+# as Fortran files (default is PHP), and .f files as C (default is Fortran),
+# use: inc=Fortran f=C.
+#
+# Note: For files without extension you can use no_extension as a placeholder.
+#
+# Note that for custom extensions you also need to set FILE_PATTERNS otherwise
+# the files are not read by doxygen. When specifying no_extension you should add
+# * to the FILE_PATTERNS.
+#
+# Note see also the list of default file extension mappings.
+
+EXTENSION_MAPPING      =
+
+# If the MARKDOWN_SUPPORT tag is enabled then doxygen pre-processes all comments
+# according to the Markdown format, which allows for more readable
+# documentation. See https://daringfireball.net/projects/markdown/ for details.
+# The output of markdown processing is further processed by doxygen, so you can
+# mix doxygen, HTML, and XML commands with Markdown formatting. Disable only in
+# case of backward compatibilities issues.
+# The default value is: YES.
+
+MARKDOWN_SUPPORT       = YES
+
+# When the TOC_INCLUDE_HEADINGS tag is set to a non-zero value, all headings up
+# to that level are automatically included in the table of contents, even if
+# they do not have an id attribute.
+# Note: This feature currently applies only to Markdown headings.
+# Minimum value: 0, maximum value: 99, default value: 5.
+# This tag requires that the tag MARKDOWN_SUPPORT is set to YES.
+
+TOC_INCLUDE_HEADINGS   = 5
+
+# When enabled doxygen tries to link words that correspond to documented
+# classes, or namespaces to their corresponding documentation. Such a link can
+# be prevented in individual cases by putting a % sign in front of the word or
+# globally by setting AUTOLINK_SUPPORT to NO.
+# The default value is: YES.
+
+AUTOLINK_SUPPORT       = YES
+
+# If you use STL classes (i.e. std::string, std::vector, etc.) but do not want
+# to include (a tag file for) the STL sources as input, then you should set this
+# tag to YES in order to let doxygen match functions declarations and
+# definitions whose arguments contain STL classes (e.g. func(std::string);
+# versus func(std::string) {}). This also make the inheritance and collaboration
+# diagrams that involve STL classes more complete and accurate.
+# The default value is: NO.
+
+BUILTIN_STL_SUPPORT    = NO
+
+# If you use Microsoft's C++/CLI language, you should set this option to YES to
+# enable parsing support.
+# The default value is: NO.
+
+CPP_CLI_SUPPORT        = NO
+
+# Set the SIP_SUPPORT tag to YES if your project consists of sip (see:
+# https://www.riverbankcomputing.com/software/sip/intro) sources only. Doxygen
+# will parse them like normal C++ but will assume all classes use public instead
+# of private inheritance when no explicit protection keyword is present.
+# The default value is: NO.
+
+SIP_SUPPORT            = NO
+
+# For Microsoft's IDL there are propget and propput attributes to indicate
+# getter and setter methods for a property. Setting this option to YES will make
+# doxygen to replace the get and set methods by a property in the documentation.
+# This will only work if the methods are indeed getting or setting a simple
+# type. If this is not the case, or you want to show the methods anyway, you
+# should set this option to NO.
+# The default value is: YES.
+
+IDL_PROPERTY_SUPPORT   = YES
+
+# If member grouping is used in the documentation and the DISTRIBUTE_GROUP_DOC
+# tag is set to YES then doxygen will reuse the documentation of the first
+# member in the group (if any) for the other members of the group. By default
+# all members of a group must be documented explicitly.
+# The default value is: NO.
+
+DISTRIBUTE_GROUP_DOC   = NO
+
+# If one adds a struct or class to a group and this option is enabled, then also
+# any nested class or struct is added to the same group. By default this option
+# is disabled and one has to add nested compounds explicitly via \ingroup.
+# The default value is: NO.
+
+GROUP_NESTED_COMPOUNDS = NO
+
+# Set the SUBGROUPING tag to YES to allow class member groups of the same type
+# (for instance a group of public functions) to be put as a subgroup of that
+# type (e.g. under the Public Functions section). Set it to NO to prevent
+# subgrouping. Alternatively, this can be done per class using the
+# \nosubgrouping command.
+# The default value is: YES.
+
+SUBGROUPING            = YES
+
+# When the INLINE_GROUPED_CLASSES tag is set to YES, classes, structs and unions
+# are shown inside the group in which they are included (e.g. using \ingroup)
+# instead of on a separate page (for HTML and Man pages) or section (for LaTeX
+# and RTF).
+#
+# Note that this feature does not work in combination with
+# SEPARATE_MEMBER_PAGES.
+# The default value is: NO.
+
+INLINE_GROUPED_CLASSES = NO
+
+# When the INLINE_SIMPLE_STRUCTS tag is set to YES, structs, classes, and unions
+# with only public data fields or simple typedef fields will be shown inline in
+# the documentation of the scope in which they are defined (i.e. file,
+# namespace, or group documentation), provided this scope is documented. If set
+# to NO, structs, classes, and unions are shown on a separate page (for HTML and
+# Man pages) or section (for LaTeX and RTF).
+# The default value is: NO.
+
+INLINE_SIMPLE_STRUCTS  = NO
+
+# When TYPEDEF_HIDES_STRUCT tag is enabled, a typedef of a struct, union, or
+# enum is documented as struct, union, or enum with the name of the typedef. So
+# typedef struct TypeS {} TypeT, will appear in the documentation as a struct
+# with name TypeT. When disabled the typedef will appear as a member of a file,
+# namespace, or class. And the struct will be named TypeS. This can typically be
+# useful for C code in case the coding convention dictates that all compound
+# types are typedef'ed and only the typedef is referenced, never the tag name.
+# The default value is: NO.
+
+TYPEDEF_HIDES_STRUCT   = NO
+
+# The size of the symbol lookup cache can be set using LOOKUP_CACHE_SIZE. This
+# cache is used to resolve symbols given their name and scope. Since this can be
+# an expensive process and often the same symbol appears multiple times in the
+# code, doxygen keeps a cache of pre-resolved symbols. If the cache is too small
+# doxygen will become slower. If the cache is too large, memory is wasted. The
+# cache size is given by this formula: 2^(16+LOOKUP_CACHE_SIZE). The valid range
+# is 0..9, the default is 0, corresponding to a cache size of 2^16=65536
+# symbols. At the end of a run doxygen will report the cache usage and suggest
+# the optimal cache size from a speed point of view.
+# Minimum value: 0, maximum value: 9, default value: 0.
+
+LOOKUP_CACHE_SIZE      = 0
+
+# The NUM_PROC_THREADS specifies the number threads doxygen is allowed to use
+# during processing. When set to 0 doxygen will based this on the number of
+# cores available in the system. You can set it explicitly to a value larger
+# than 0 to get more control over the balance between CPU load and processing
+# speed. At this moment only the input processing can be done using multiple
+# threads. Since this is still an experimental feature the default is set to 1,
+# which efficively disables parallel processing. Please report any issues you
+# encounter. Generating dot graphs in parallel is controlled by the
+# DOT_NUM_THREADS setting.
+# Minimum value: 0, maximum value: 32, default value: 1.
+
+NUM_PROC_THREADS       = 1
+
+#---------------------------------------------------------------------------
+# Build related configuration options
+#---------------------------------------------------------------------------
+
+# If the EXTRACT_ALL tag is set to YES, doxygen will assume all entities in
+# documentation are documented, even if no documentation was available. Private
+# class members and static file members will be hidden unless the
+# EXTRACT_PRIVATE respectively EXTRACT_STATIC tags are set to YES.
+# Note: This will also disable the warnings about undocumented members that are
+# normally produced when WARNINGS is set to YES.
+# The default value is: NO.
+
+EXTRACT_ALL            = YES
+
+# If the EXTRACT_PRIVATE tag is set to YES, all private members of a class will
+# be included in the documentation.
+# The default value is: NO.
+
+EXTRACT_PRIVATE        = NO
+
+# If the EXTRACT_PRIV_VIRTUAL tag is set to YES, documented private virtual
+# methods of a class will be included in the documentation.
+# The default value is: NO.
+
+EXTRACT_PRIV_VIRTUAL   = NO
+
+# If the EXTRACT_PACKAGE tag is set to YES, all members with package or internal
+# scope will be included in the documentation.
+# The default value is: NO.
+
+EXTRACT_PACKAGE        = NO
+
+# If the EXTRACT_STATIC tag is set to YES, all static members of a file will be
+# included in the documentation.
+# The default value is: NO.
+
+EXTRACT_STATIC         = YES
+
+# If the EXTRACT_LOCAL_CLASSES tag is set to YES, classes (and structs) defined
+# locally in source files will be included in the documentation. If set to NO,
+# only classes defined in header files are included. Does not have any effect
+# for Java sources.
+# The default value is: YES.
+
+EXTRACT_LOCAL_CLASSES  = YES
+
+# This flag is only useful for Objective-C code. If set to YES, local methods,
+# which are defined in the implementation section but not in the interface are
+# included in the documentation. If set to NO, only methods in the interface are
+# included.
+# The default value is: NO.
+
+EXTRACT_LOCAL_METHODS  = NO
+
+# If this flag is set to YES, the members of anonymous namespaces will be
+# extracted and appear in the documentation as a namespace called
+# 'anonymous_namespace{file}', where file will be replaced with the base name of
+# the file that contains the anonymous namespace. By default anonymous namespace
+# are hidden.
+# The default value is: NO.
+
+EXTRACT_ANON_NSPACES   = NO
+
+# If this flag is set to YES, the name of an unnamed parameter in a declaration
+# will be determined by the corresponding definition. By default unnamed
+# parameters remain unnamed in the output.
+# The default value is: YES.
+
+RESOLVE_UNNAMED_PARAMS = YES
+
+# If the HIDE_UNDOC_MEMBERS tag is set to YES, doxygen will hide all
+# undocumented members inside documented classes or files. If set to NO these
+# members will be included in the various overviews, but no documentation
+# section is generated. This option has no effect if EXTRACT_ALL is enabled.
+# The default value is: NO.
+
+HIDE_UNDOC_MEMBERS     = NO
+
+# If the HIDE_UNDOC_CLASSES tag is set to YES, doxygen will hide all
+# undocumented classes that are normally visible in the class hierarchy. If set
+# to NO, these classes will be included in the various overviews. This option
+# has no effect if EXTRACT_ALL is enabled.
+# The default value is: NO.
+
+HIDE_UNDOC_CLASSES     = NO
+
+# If the HIDE_FRIEND_COMPOUNDS tag is set to YES, doxygen will hide all friend
+# declarations. If set to NO, these declarations will be included in the
+# documentation.
+# The default value is: NO.
+
+HIDE_FRIEND_COMPOUNDS  = NO
+
+# If the HIDE_IN_BODY_DOCS tag is set to YES, doxygen will hide any
+# documentation blocks found inside the body of a function. If set to NO, these
+# blocks will be appended to the function's detailed documentation block.
+# The default value is: NO.
+
+HIDE_IN_BODY_DOCS      = NO
+
+# The INTERNAL_DOCS tag determines if documentation that is typed after a
+# \internal command is included. If the tag is set to NO then the documentation
+# will be excluded. Set it to YES to include the internal documentation.
+# The default value is: NO.
+
+INTERNAL_DOCS          = NO
+
+# With the correct setting of option CASE_SENSE_NAMES doxygen will better be
+# able to match the capabilities of the underlying filesystem. In case the
+# filesystem is case sensitive (i.e. it supports files in the same directory
+# whose names only differ in casing), the option must be set to YES to properly
+# deal with such files in case they appear in the input. For filesystems that
+# are not case sensitive the option should be be set to NO to properly deal with
+# output files written for symbols that only differ in casing, such as for two
+# classes, one named CLASS and the other named Class, and to also support
+# references to files without having to specify the exact matching casing. On
+# Windows (including Cygwin) and MacOS, users should typically set this option
+# to NO, whereas on Linux or other Unix flavors it should typically be set to
+# YES.
+# The default value is: system dependent.
+
+CASE_SENSE_NAMES       = YES
+
+# If the HIDE_SCOPE_NAMES tag is set to NO then doxygen will show members with
+# their full class and namespace scopes in the documentation. If set to YES, the
+# scope will be hidden.
+# The default value is: NO.
+
+HIDE_SCOPE_NAMES       = NO
+
+# If the HIDE_COMPOUND_REFERENCE tag is set to NO (default) then doxygen will
+# append additional text to a page's title, such as Class Reference. If set to
+# YES the compound reference will be hidden.
+# The default value is: NO.
+
+HIDE_COMPOUND_REFERENCE= NO
+
+# If the SHOW_INCLUDE_FILES tag is set to YES then doxygen will put a list of
+# the files that are included by a file in the documentation of that file.
+# The default value is: YES.
+
+SHOW_INCLUDE_FILES     = YES
+
+# If the SHOW_GROUPED_MEMB_INC tag is set to YES then Doxygen will add for each
+# grouped member an include statement to the documentation, telling the reader
+# which file to include in order to use the member.
+# The default value is: NO.
+
+SHOW_GROUPED_MEMB_INC  = NO
+
+# If the FORCE_LOCAL_INCLUDES tag is set to YES then doxygen will list include
+# files with double quotes in the documentation rather than with sharp brackets.
+# The default value is: NO.
+
+FORCE_LOCAL_INCLUDES   = NO
+
+# If the INLINE_INFO tag is set to YES then a tag [inline] is inserted in the
+# documentation for inline members.
+# The default value is: YES.
+
+INLINE_INFO            = YES
+
+# If the SORT_MEMBER_DOCS tag is set to YES then doxygen will sort the
+# (detailed) documentation of file and class members alphabetically by member
+# name. If set to NO, the members will appear in declaration order.
+# The default value is: YES.
+
+SORT_MEMBER_DOCS       = YES
+
+# If the SORT_BRIEF_DOCS tag is set to YES then doxygen will sort the brief
+# descriptions of file, namespace and class members alphabetically by member
+# name. If set to NO, the members will appear in declaration order. Note that
+# this will also influence the order of the classes in the class list.
+# The default value is: NO.
+
+SORT_BRIEF_DOCS        = NO
+
+# If the SORT_MEMBERS_CTORS_1ST tag is set to YES then doxygen will sort the
+# (brief and detailed) documentation of class members so that constructors and
+# destructors are listed first. If set to NO the constructors will appear in the
+# respective orders defined by SORT_BRIEF_DOCS and SORT_MEMBER_DOCS.
+# Note: If SORT_BRIEF_DOCS is set to NO this option is ignored for sorting brief
+# member documentation.
+# Note: If SORT_MEMBER_DOCS is set to NO this option is ignored for sorting
+# detailed member documentation.
+# The default value is: NO.
+
+SORT_MEMBERS_CTORS_1ST = NO
+
+# If the SORT_GROUP_NAMES tag is set to YES then doxygen will sort the hierarchy
+# of group names into alphabetical order. If set to NO the group names will
+# appear in their defined order.
+# The default value is: NO.
+
+SORT_GROUP_NAMES       = NO
+
+# If the SORT_BY_SCOPE_NAME tag is set to YES, the class list will be sorted by
+# fully-qualified names, including namespaces. If set to NO, the class list will
+# be sorted only by class name, not including the namespace part.
+# Note: This option is not very useful if HIDE_SCOPE_NAMES is set to YES.
+# Note: This option applies only to the class list, not to the alphabetical
+# list.
+# The default value is: NO.
+
+SORT_BY_SCOPE_NAME     = NO
+
+# If the STRICT_PROTO_MATCHING option is enabled and doxygen fails to do proper
+# type resolution of all parameters of a function it will reject a match between
+# the prototype and the implementation of a member function even if there is
+# only one candidate or it is obvious which candidate to choose by doing a
+# simple string match. By disabling STRICT_PROTO_MATCHING doxygen will still
+# accept a match between prototype and implementation in such cases.
+# The default value is: NO.
+
+STRICT_PROTO_MATCHING  = NO
+
+# The GENERATE_TODOLIST tag can be used to enable (YES) or disable (NO) the todo
+# list. This list is created by putting \todo commands in the documentation.
+# The default value is: YES.
+
+GENERATE_TODOLIST      = YES
+
+# The GENERATE_TESTLIST tag can be used to enable (YES) or disable (NO) the test
+# list. This list is created by putting \test commands in the documentation.
+# The default value is: YES.
+
+GENERATE_TESTLIST      = YES
+
+# The GENERATE_BUGLIST tag can be used to enable (YES) or disable (NO) the bug
+# list. This list is created by putting \bug commands in the documentation.
+# The default value is: YES.
+
+GENERATE_BUGLIST       = YES
+
+# The GENERATE_DEPRECATEDLIST tag can be used to enable (YES) or disable (NO)
+# the deprecated list. This list is created by putting \deprecated commands in
+# the documentation.
+# The default value is: YES.
+
+GENERATE_DEPRECATEDLIST= YES
+
+# The ENABLED_SECTIONS tag can be used to enable conditional documentation
+# sections, marked by \if <section_label> ... \endif and \cond <section_label>
+# ... \endcond blocks.
+
+ENABLED_SECTIONS       =
+
+# The MAX_INITIALIZER_LINES tag determines the maximum number of lines that the
+# initial value of a variable or macro / define can have for it to appear in the
+# documentation. If the initializer consists of more lines than specified here
+# it will be hidden. Use a value of 0 to hide initializers completely. The
+# appearance of the value of individual variables and macros / defines can be
+# controlled using \showinitializer or \hideinitializer command in the
+# documentation regardless of this setting.
+# Minimum value: 0, maximum value: 10000, default value: 30.
+
+MAX_INITIALIZER_LINES  = 30
+
+# Set the SHOW_USED_FILES tag to NO to disable the list of files generated at
+# the bottom of the documentation of classes and structs. If set to YES, the
+# list will mention the files that were used to generate the documentation.
+# The default value is: YES.
+
+SHOW_USED_FILES        = YES
+
+# Set the SHOW_FILES tag to NO to disable the generation of the Files page. This
+# will remove the Files entry from the Quick Index and from the Folder Tree View
+# (if specified).
+# The default value is: YES.
+
+SHOW_FILES             = YES
+
+# Set the SHOW_NAMESPACES tag to NO to disable the generation of the Namespaces
+# page. This will remove the Namespaces entry from the Quick Index and from the
+# Folder Tree View (if specified).
+# The default value is: YES.
+
+SHOW_NAMESPACES        = YES
+
+# The FILE_VERSION_FILTER tag can be used to specify a program or script that
+# doxygen should invoke to get the current version for each file (typically from
+# the version control system). Doxygen will invoke the program by executing (via
+# popen()) the command command input-file, where command is the value of the
+# FILE_VERSION_FILTER tag, and input-file is the name of an input file provided
+# by doxygen. Whatever the program writes to standard output is used as the file
+# version. For an example see the documentation.
+
+FILE_VERSION_FILTER    =
+
+# The LAYOUT_FILE tag can be used to specify a layout file which will be parsed
+# by doxygen. The layout file controls the global structure of the generated
+# output files in an output format independent way. To create the layout file
+# that represents doxygen's defaults, run doxygen with the -l option. You can
+# optionally specify a file name after the option, if omitted DoxygenLayout.xml
+# will be used as the name of the layout file.
+#
+# Note that if you run doxygen from a directory containing a file called
+# DoxygenLayout.xml, doxygen will parse it automatically even if the LAYOUT_FILE
+# tag is left empty.
+
+LAYOUT_FILE            =
+
+# The CITE_BIB_FILES tag can be used to specify one or more bib files containing
+# the reference definitions. This must be a list of .bib files. The .bib
+# extension is automatically appended if omitted. This requires the bibtex tool
+# to be installed. See also https://en.wikipedia.org/wiki/BibTeX for more info.
+# For LaTeX the style of the bibliography can be controlled using
+# LATEX_BIB_STYLE. To use this feature you need bibtex and perl available in the
+# search path. See also \cite for info how to create references.
+
+CITE_BIB_FILES         =
+
+#---------------------------------------------------------------------------
+# Configuration options related to warning and progress messages
+#---------------------------------------------------------------------------
+
+# The QUIET tag can be used to turn on/off the messages that are generated to
+# standard output by doxygen. If QUIET is set to YES this implies that the
+# messages are off.
+# The default value is: NO.
+
+QUIET                  = NO
+
+# The WARNINGS tag can be used to turn on/off the warning messages that are
+# generated to standard error (stderr) by doxygen. If WARNINGS is set to YES
+# this implies that the warnings are on.
+#
+# Tip: Turn warnings on while writing the documentation.
+# The default value is: YES.
+
+WARNINGS               = YES
+
+# If the WARN_IF_UNDOCUMENTED tag is set to YES then doxygen will generate
+# warnings for undocumented members. If EXTRACT_ALL is set to YES then this flag
+# will automatically be disabled.
+# The default value is: YES.
+
+WARN_IF_UNDOCUMENTED   = YES
+
+# If the WARN_IF_DOC_ERROR tag is set to YES, doxygen will generate warnings for
+# potential errors in the documentation, such as not documenting some parameters
+# in a documented function, or documenting parameters that don't exist or using
+# markup commands wrongly.
+# The default value is: YES.
+
+WARN_IF_DOC_ERROR      = YES
+
+# This WARN_NO_PARAMDOC option can be enabled to get warnings for functions that
+# are documented, but have no documentation for their parameters or return
+# value. If set to NO, doxygen will only warn about wrong or incomplete
+# parameter documentation, but not about the absence of documentation. If
+# EXTRACT_ALL is set to YES then this flag will automatically be disabled.
+# The default value is: NO.
+
+WARN_NO_PARAMDOC       = NO
+
+# If the WARN_AS_ERROR tag is set to YES then doxygen will immediately stop when
+# a warning is encountered. If the WARN_AS_ERROR tag is set to FAIL_ON_WARNINGS
+# then doxygen will continue running as if WARN_AS_ERROR tag is set to NO, but
+# at the end of the doxygen process doxygen will return with a non-zero status.
+# Possible values are: NO, YES and FAIL_ON_WARNINGS.
+# The default value is: NO.
+
+WARN_AS_ERROR          = NO
+
+# The WARN_FORMAT tag determines the format of the warning messages that doxygen
+# can produce. The string should contain the $file, $line, and $text tags, which
+# will be replaced by the file and line number from which the warning originated
+# and the warning text. Optionally the format may contain $version, which will
+# be replaced by the version of the file (if it could be obtained via
+# FILE_VERSION_FILTER)
+# The default value is: $file:$line: $text.
+
+WARN_FORMAT            = "$file:$line: $text"
+
+# The WARN_LOGFILE tag can be used to specify a file to which warning and error
+# messages should be written. If left blank the output is written to standard
+# error (stderr).
+
+WARN_LOGFILE           =
+
+#---------------------------------------------------------------------------
+# Configuration options related to the input files
+#---------------------------------------------------------------------------
+
+# The INPUT tag is used to specify the files and/or directories that contain
+# documented source files. You may enter file names like myfile.cpp or
+# directories like /usr/src/myproject. Separate the files or directories with
+# spaces. See also FILE_PATTERNS and EXTENSION_MAPPING
+# Note: If this tag is empty the current directory is searched.
+
+INPUT                  = src/ include/
+
+# This tag can be used to specify the character encoding of the source files
+# that doxygen parses. Internally doxygen uses the UTF-8 encoding. Doxygen uses
+# libiconv (or the iconv built into libc) for the transcoding. See the libiconv
+# documentation (see:
+# https://www.gnu.org/software/libiconv/) for the list of possible encodings.
+# The default value is: UTF-8.
+
+INPUT_ENCODING         = UTF-8
+
+# If the value of the INPUT tag contains directories, you can use the
+# FILE_PATTERNS tag to specify one or more wildcard patterns (like *.cpp and
+# *.h) to filter out the source-files in the directories.
+#
+# Note that for custom extensions or not directly supported extensions you also
+# need to set EXTENSION_MAPPING for the extension otherwise the files are not
+# read by doxygen.
+#
+# Note the list of default checked file patterns might differ from the list of
+# default file extension mappings.
+#
+# If left blank the following patterns are tested:*.c, *.cc, *.cxx, *.cpp,
+# *.c++, *.java, *.ii, *.ixx, *.ipp, *.i++, *.inl, *.idl, *.ddl, *.odl, *.h,
+# *.hh, *.hxx, *.hpp, *.h++, *.cs, *.d, *.php, *.php4, *.php5, *.phtml, *.inc,
+# *.m, *.markdown, *.md, *.mm, *.dox (to be provided as doxygen C comment),
+# *.py, *.pyw, *.f90, *.f95, *.f03, *.f08, *.f18, *.f, *.for, *.vhd, *.vhdl,
+# *.ucf, *.qsf and *.ice.
+
+FILE_PATTERNS          = *.c \
+                         *.cc \
+                         *.cxx \
+                         *.cpp \
+                         *.c++ \
+                         *.java \
+                         *.ii \
+                         *.ixx \
+                         *.ipp \
+                         *.i++ \
+                         *.inl \
+                         *.idl \
+                         *.ddl \
+                         *.odl \
+                         *.h \
+                         *.hh \
+                         *.hxx \
+                         *.hpp \
+                         *.h++ \
+                         *.cs \
+                         *.d \
+                         *.php \
+                         *.php4 \
+                         *.php5 \
+                         *.phtml \
+                         *.inc \
+                         *.m \
+                         *.markdown \
+                         *.md \
+                         *.mm \
+                         *.dox \
+                         *.py \
+                         *.pyw \
+                         *.f90 \
+                         *.f95 \
+                         *.f03 \
+                         *.f08 \
+                         *.f18 \
+                         *.f \
+                         *.for \
+                         *.vhd \
+                         *.vhdl \
+                         *.ucf \
+                         *.qsf \
+                         *.ice
+
+# The RECURSIVE tag can be used to specify whether or not subdirectories should
+# be searched for input files as well.
+# The default value is: NO.
+
+RECURSIVE              = YES
+
+# The EXCLUDE tag can be used to specify files and/or directories that should be
+# excluded from the INPUT source files. This way you can easily exclude a
+# subdirectory from a directory tree whose root is specified with the INPUT tag.
+#
+# Note that relative paths are relative to the directory from which doxygen is
+# run.
+
+EXCLUDE                =
+
+# The EXCLUDE_SYMLINKS tag can be used to select whether or not files or
+# directories that are symbolic links (a Unix file system feature) are excluded
+# from the input.
+# The default value is: NO.
+
+EXCLUDE_SYMLINKS       = NO
+
+# If the value of the INPUT tag contains directories, you can use the
+# EXCLUDE_PATTERNS tag to specify one or more wildcard patterns to exclude
+# certain files from those directories.
+#
+# Note that the wildcards are matched against the file with absolute path, so to
+# exclude all test directories for example use the pattern */test/*
+
+EXCLUDE_PATTERNS       =
+
+# The EXCLUDE_SYMBOLS tag can be used to specify one or more symbol names
+# (namespaces, classes, functions, etc.) that should be excluded from the
+# output. The symbol name can be a fully qualified name, a word, or if the
+# wildcard * is used, a substring. Examples: ANamespace, AClass,
+# AClass::ANamespace, ANamespace::*Test
+#
+# Note that the wildcards are matched against the file with absolute path, so to
+# exclude all test directories use the pattern */test/*
+
+EXCLUDE_SYMBOLS        =
+
+# The EXAMPLE_PATH tag can be used to specify one or more files or directories
+# that contain example code fragments that are included (see the \include
+# command).
+
+EXAMPLE_PATH           =
+
+# If the value of the EXAMPLE_PATH tag contains directories, you can use the
+# EXAMPLE_PATTERNS tag to specify one or more wildcard pattern (like *.cpp and
+# *.h) to filter out the source-files in the directories. If left blank all
+# files are included.
+
+EXAMPLE_PATTERNS       = *
+
+# If the EXAMPLE_RECURSIVE tag is set to YES then subdirectories will be
+# searched for input files to be used with the \include or \dontinclude commands
+# irrespective of the value of the RECURSIVE tag.
+# The default value is: NO.
+
+EXAMPLE_RECURSIVE      = NO
+
+# The IMAGE_PATH tag can be used to specify one or more files or directories
+# that contain images that are to be included in the documentation (see the
+# \image command).
+
+IMAGE_PATH             =
+
+# The INPUT_FILTER tag can be used to specify a program that doxygen should
+# invoke to filter for each input file. Doxygen will invoke the filter program
+# by executing (via popen()) the command:
+#
+# <filter> <input-file>
+#
+# where <filter> is the value of the INPUT_FILTER tag, and <input-file> is the
+# name of an input file. Doxygen will then use the output that the filter
+# program writes to standard output. If FILTER_PATTERNS is specified, this tag
+# will be ignored.
+#
+# Note that the filter must not add or remove lines; it is applied before the
+# code is scanned, but not when the output code is generated. If lines are added
+# or removed, the anchors will not be placed correctly.
+#
+# Note that for custom extensions or not directly supported extensions you also
+# need to set EXTENSION_MAPPING for the extension otherwise the files are not
+# properly processed by doxygen.
+
+INPUT_FILTER           =
+
+# The FILTER_PATTERNS tag can be used to specify filters on a per file pattern
+# basis. Doxygen will compare the file name with each pattern and apply the
+# filter if there is a match. The filters are a list of the form: pattern=filter
+# (like *.cpp=my_cpp_filter). See INPUT_FILTER for further information on how
+# filters are used. If the FILTER_PATTERNS tag is empty or if none of the
+# patterns match the file name, INPUT_FILTER is applied.
+#
+# Note that for custom extensions or not directly supported extensions you also
+# need to set EXTENSION_MAPPING for the extension otherwise the files are not
+# properly processed by doxygen.
+
+FILTER_PATTERNS        =
+
+# If the FILTER_SOURCE_FILES tag is set to YES, the input filter (if set using
+# INPUT_FILTER) will also be used to filter the input files that are used for
+# producing the source files to browse (i.e. when SOURCE_BROWSER is set to YES).
+# The default value is: NO.
+
+FILTER_SOURCE_FILES    = NO
+
+# The FILTER_SOURCE_PATTERNS tag can be used to specify source filters per file
+# pattern. A pattern will override the setting for FILTER_PATTERN (if any) and
+# it is also possible to disable source filtering for a specific pattern using
+# *.ext= (so without naming a filter).
+# This tag requires that the tag FILTER_SOURCE_FILES is set to YES.
+
+FILTER_SOURCE_PATTERNS =
+
+# If the USE_MDFILE_AS_MAINPAGE tag refers to the name of a markdown file that
+# is part of the input, its contents will be placed on the main page
+# (index.html). This can be useful if you have a project on for instance GitHub
+# and want to reuse the introduction page also for the doxygen output.
+
+USE_MDFILE_AS_MAINPAGE =
+
+#---------------------------------------------------------------------------
+# Configuration options related to source browsing
+#---------------------------------------------------------------------------
+
+# If the SOURCE_BROWSER tag is set to YES then a list of source files will be
+# generated. Documented entities will be cross-referenced with these sources.
+#
+# Note: To get rid of all source code in the generated output, make sure that
+# also VERBATIM_HEADERS is set to NO.
+# The default value is: NO.
+
+SOURCE_BROWSER         = NO
+
+# Setting the INLINE_SOURCES tag to YES will include the body of functions,
+# classes and enums directly into the documentation.
+# The default value is: NO.
+
+INLINE_SOURCES         = NO
+
+# Setting the STRIP_CODE_COMMENTS tag to YES will instruct doxygen to hide any
+# special comment blocks from generated source code fragments. Normal C, C++ and
+# Fortran comments will always remain visible.
+# The default value is: YES.
+
+STRIP_CODE_COMMENTS    = YES
+
+# If the REFERENCED_BY_RELATION tag is set to YES then for each documented
+# entity all documented functions referencing it will be listed.
+# The default value is: NO.
+
+REFERENCED_BY_RELATION = NO
+
+# If the REFERENCES_RELATION tag is set to YES then for each documented function
+# all documented entities called/used by that function will be listed.
+# The default value is: NO.
+
+REFERENCES_RELATION    = NO
+
+# If the REFERENCES_LINK_SOURCE tag is set to YES and SOURCE_BROWSER tag is set
+# to YES then the hyperlinks from functions in REFERENCES_RELATION and
+# REFERENCED_BY_RELATION lists will link to the source code. Otherwise they will
+# link to the documentation.
+# The default value is: YES.
+
+REFERENCES_LINK_SOURCE = YES
+
+# If SOURCE_TOOLTIPS is enabled (the default) then hovering a hyperlink in the
+# source code will show a tooltip with additional information such as prototype,
+# brief description and links to the definition and documentation. Since this
+# will make the HTML file larger and loading of large files a bit slower, you
+# can opt to disable this feature.
+# The default value is: YES.
+# This tag requires that the tag SOURCE_BROWSER is set to YES.
+
+SOURCE_TOOLTIPS        = YES
+
+# If the USE_HTAGS tag is set to YES then the references to source code will
+# point to the HTML generated by the htags(1) tool instead of doxygen built-in
+# source browser. The htags tool is part of GNU's global source tagging system
+# (see https://www.gnu.org/software/global/global.html). You will need version
+# 4.8.6 or higher.
+#
+# To use it do the following:
+# - Install the latest version of global
+# - Enable SOURCE_BROWSER and USE_HTAGS in the configuration file
+# - Make sure the INPUT points to the root of the source tree
+# - Run doxygen as normal
+#
+# Doxygen will invoke htags (and that will in turn invoke gtags), so these
+# tools must be available from the command line (i.e. in the search path).
+#
+# The result: instead of the source browser generated by doxygen, the links to
+# source code will now point to the output of htags.
+# The default value is: NO.
+# This tag requires that the tag SOURCE_BROWSER is set to YES.
+
+USE_HTAGS              = NO
+
+# If the VERBATIM_HEADERS tag is set the YES then doxygen will generate a
+# verbatim copy of the header file for each class for which an include is
+# specified. Set to NO to disable this.
+# See also: Section \class.
+# The default value is: YES.
+
+VERBATIM_HEADERS       = YES
+
+# If the CLANG_ASSISTED_PARSING tag is set to YES then doxygen will use the
+# clang parser (see:
+# http://clang.llvm.org/) for more accurate parsing at the cost of reduced
+# performance. This can be particularly helpful with template rich C++ code for
+# which doxygen's built-in parser lacks the necessary type information.
+# Note: The availability of this option depends on whether or not doxygen was
+# generated with the -Duse_libclang=ON option for CMake.
+# The default value is: NO.
+
+CLANG_ASSISTED_PARSING = NO
+
+# If clang assisted parsing is enabled and the CLANG_ADD_INC_PATHS tag is set to
+# YES then doxygen will add the directory of each input to the include path.
+# The default value is: YES.
+
+CLANG_ADD_INC_PATHS    = YES
+
+# If clang assisted parsing is enabled you can provide the compiler with command
+# line options that you would normally use when invoking the compiler. Note that
+# the include paths will already be set by doxygen for the files and directories
+# specified with INPUT and INCLUDE_PATH.
+# This tag requires that the tag CLANG_ASSISTED_PARSING is set to YES.
+
+CLANG_OPTIONS          =
+
+# If clang assisted parsing is enabled you can provide the clang parser with the
+# path to the directory containing a file called compile_commands.json. This
+# file is the compilation database (see:
+# http://clang.llvm.org/docs/HowToSetupToolingForLLVM.html) containing the
+# options used when the source files were built. This is equivalent to
+# specifying the -p option to a clang tool, such as clang-check. These options
+# will then be passed to the parser. Any options specified with CLANG_OPTIONS
+# will be added as well.
+# Note: The availability of this option depends on whether or not doxygen was
+# generated with the -Duse_libclang=ON option for CMake.
+
+CLANG_DATABASE_PATH    =
+
+#---------------------------------------------------------------------------
+# Configuration options related to the alphabetical class index
+#---------------------------------------------------------------------------
+
+# If the ALPHABETICAL_INDEX tag is set to YES, an alphabetical index of all
+# compounds will be generated. Enable this if the project contains a lot of
+# classes, structs, unions or interfaces.
+# The default value is: YES.
+
+ALPHABETICAL_INDEX     = YES
+
+# In case all classes in a project start with a common prefix, all classes will
+# be put under the same header in the alphabetical index. The IGNORE_PREFIX tag
+# can be used to specify a prefix (or a list of prefixes) that should be ignored
+# while generating the index headers.
+# This tag requires that the tag ALPHABETICAL_INDEX is set to YES.
+
+IGNORE_PREFIX          =
+
+#---------------------------------------------------------------------------
+# Configuration options related to the HTML output
+#---------------------------------------------------------------------------
+
+# If the GENERATE_HTML tag is set to YES, doxygen will generate HTML output
+# The default value is: YES.
+
+GENERATE_HTML          = YES
+
+# The HTML_OUTPUT tag is used to specify where the HTML docs will be put. If a
+# relative path is entered the value of OUTPUT_DIRECTORY will be put in front of
+# it.
+# The default directory is: html.
+# This tag requires that the tag GENERATE_HTML is set to YES.
+
+HTML_OUTPUT            = html
+
+# The HTML_FILE_EXTENSION tag can be used to specify the file extension for each
+# generated HTML page (for example: .htm, .php, .asp).
+# The default value is: .html.
+# This tag requires that the tag GENERATE_HTML is set to YES.
+
+HTML_FILE_EXTENSION    = .html
+
+# The HTML_HEADER tag can be used to specify a user-defined HTML header file for
+# each generated HTML page. If the tag is left blank doxygen will generate a
+# standard header.
+#
+# To get valid HTML the header file that includes any scripts and style sheets
+# that doxygen needs, which is dependent on the configuration options used (e.g.
+# the setting GENERATE_TREEVIEW). It is highly recommended to start with a
+# default header using
+# doxygen -w html new_header.html new_footer.html new_stylesheet.css
+# YourConfigFile
+# and then modify the file new_header.html. See also section "Doxygen usage"
+# for information on how to generate the default header that doxygen normally
+# uses.
+# Note: The header is subject to change so you typically have to regenerate the
+# default header when upgrading to a newer version of doxygen. For a description
+# of the possible markers and block names see the documentation.
+# This tag requires that the tag GENERATE_HTML is set to YES.
+
+HTML_HEADER            =
+
+# The HTML_FOOTER tag can be used to specify a user-defined HTML footer for each
+# generated HTML page. If the tag is left blank doxygen will generate a standard
+# footer. See HTML_HEADER for more information on how to generate a default
+# footer and what special commands can be used inside the footer. See also
+# section "Doxygen usage" for information on how to generate the default footer
+# that doxygen normally uses.
+# This tag requires that the tag GENERATE_HTML is set to YES.
+
+HTML_FOOTER            =
+
+# The HTML_STYLESHEET tag can be used to specify a user-defined cascading style
+# sheet that is used by each HTML page. It can be used to fine-tune the look of
+# the HTML output. If left blank doxygen will generate a default style sheet.
+# See also section "Doxygen usage" for information on how to generate the style
+# sheet that doxygen normally uses.
+# Note: It is recommended to use HTML_EXTRA_STYLESHEET instead of this tag, as
+# it is more robust and this tag (HTML_STYLESHEET) will in the future become
+# obsolete.
+# This tag requires that the tag GENERATE_HTML is set to YES.
+
+HTML_STYLESHEET        =
+
+# The HTML_EXTRA_STYLESHEET tag can be used to specify additional user-defined
+# cascading style sheets that are included after the standard style sheets
+# created by doxygen. Using this option one can overrule certain style aspects.
+# This is preferred over using HTML_STYLESHEET since it does not replace the
+# standard style sheet and is therefore more robust against future updates.
+# Doxygen will copy the style sheet files to the output directory.
+# Note: The order of the extra style sheet files is of importance (e.g. the last
+# style sheet in the list overrules the setting of the previous ones in the
+# list). For an example see the documentation.
+# This tag requires that the tag GENERATE_HTML is set to YES.
+
+HTML_EXTRA_STYLESHEET  =
+
+# The HTML_EXTRA_FILES tag can be used to specify one or more extra images or
+# other source files which should be copied to the HTML output directory. Note
+# that these files will be copied to the base HTML output directory. Use the
+# $relpath^ marker in the HTML_HEADER and/or HTML_FOOTER files to load these
+# files. In the HTML_STYLESHEET file, use the file name only. Also note that the
+# files will be copied as-is; there are no commands or markers available.
+# This tag requires that the tag GENERATE_HTML is set to YES.
+
+HTML_EXTRA_FILES       =
+
+# The HTML_COLORSTYLE_HUE tag controls the color of the HTML output. Doxygen
+# will adjust the colors in the style sheet and background images according to
+# this color. Hue is specified as an angle on a colorwheel, see
+# https://en.wikipedia.org/wiki/Hue for more information. For instance the value
+# 0 represents red, 60 is yellow, 120 is green, 180 is cyan, 240 is blue, 300
+# purple, and 360 is red again.
+# Minimum value: 0, maximum value: 359, default value: 220.
+# This tag requires that the tag GENERATE_HTML is set to YES.
+
+HTML_COLORSTYLE_HUE    = 220
+
+# The HTML_COLORSTYLE_SAT tag controls the purity (or saturation) of the colors
+# in the HTML output. For a value of 0 the output will use grayscales only. A
+# value of 255 will produce the most vivid colors.
+# Minimum value: 0, maximum value: 255, default value: 100.
+# This tag requires that the tag GENERATE_HTML is set to YES.
+
+HTML_COLORSTYLE_SAT    = 100
+
+# The HTML_COLORSTYLE_GAMMA tag controls the gamma correction applied to the
+# luminance component of the colors in the HTML output. Values below 100
+# gradually make the output lighter, whereas values above 100 make the output
+# darker. The value divided by 100 is the actual gamma applied, so 80 represents
+# a gamma of 0.8, The value 220 represents a gamma of 2.2, and 100 does not
+# change the gamma.
+# Minimum value: 40, maximum value: 240, default value: 80.
+# This tag requires that the tag GENERATE_HTML is set to YES.
+
+HTML_COLORSTYLE_GAMMA  = 80
+
+# If the HTML_TIMESTAMP tag is set to YES then the footer of each generated HTML
+# page will contain the date and time when the page was generated. Setting this
+# to YES can help to show when doxygen was last run and thus if the
+# documentation is up to date.
+# The default value is: NO.
+# This tag requires that the tag GENERATE_HTML is set to YES.
+
+HTML_TIMESTAMP         = NO
+
+# If the HTML_DYNAMIC_MENUS tag is set to YES then the generated HTML
+# documentation will contain a main index with vertical navigation menus that
+# are dynamically created via JavaScript. If disabled, the navigation index will
+# consists of multiple levels of tabs that are statically embedded in every HTML
+# page. Disable this option to support browsers that do not have JavaScript,
+# like the Qt help browser.
+# The default value is: YES.
+# This tag requires that the tag GENERATE_HTML is set to YES.
+
+HTML_DYNAMIC_MENUS     = YES
+
+# If the HTML_DYNAMIC_SECTIONS tag is set to YES then the generated HTML
+# documentation will contain sections that can be hidden and shown after the
+# page has loaded.
+# The default value is: NO.
+# This tag requires that the tag GENERATE_HTML is set to YES.
+
+HTML_DYNAMIC_SECTIONS  = NO
+
+# With HTML_INDEX_NUM_ENTRIES one can control the preferred number of entries
+# shown in the various tree structured indices initially; the user can expand
+# and collapse entries dynamically later on. Doxygen will expand the tree to
+# such a level that at most the specified number of entries are visible (unless
+# a fully collapsed tree already exceeds this amount). So setting the number of
+# entries 1 will produce a full collapsed tree by default. 0 is a special value
+# representing an infinite number of entries and will result in a full expanded
+# tree by default.
+# Minimum value: 0, maximum value: 9999, default value: 100.
+# This tag requires that the tag GENERATE_HTML is set to YES.
+
+HTML_INDEX_NUM_ENTRIES = 100
+
+# If the GENERATE_DOCSET tag is set to YES, additional index files will be
+# generated that can be used as input for Apple's Xcode 3 integrated development
+# environment (see:
+# https://developer.apple.com/xcode/), introduced with OSX 10.5 (Leopard). To
+# create a documentation set, doxygen will generate a Makefile in the HTML
+# output directory. Running make will produce the docset in that directory and
+# running make install will install the docset in
+# ~/Library/Developer/Shared/Documentation/DocSets so that Xcode will find it at
+# startup. See https://developer.apple.com/library/archive/featuredarticles/Doxy
+# genXcode/_index.html for more information.
+# The default value is: NO.
+# This tag requires that the tag GENERATE_HTML is set to YES.
+
+GENERATE_DOCSET        = NO
+
+# This tag determines the name of the docset feed. A documentation feed provides
+# an umbrella under which multiple documentation sets from a single provider
+# (such as a company or product suite) can be grouped.
+# The default value is: Doxygen generated docs.
+# This tag requires that the tag GENERATE_DOCSET is set to YES.
+
+DOCSET_FEEDNAME        = "Doxygen generated docs"
+
+# This tag specifies a string that should uniquely identify the documentation
+# set bundle. This should be a reverse domain-name style string, e.g.
+# com.mycompany.MyDocSet. Doxygen will append .docset to the name.
+# The default value is: org.doxygen.Project.
+# This tag requires that the tag GENERATE_DOCSET is set to YES.
+
+DOCSET_BUNDLE_ID       = org.doxygen.Project
+
+# The DOCSET_PUBLISHER_ID tag specifies a string that should uniquely identify
+# the documentation publisher. This should be a reverse domain-name style
+# string, e.g. com.mycompany.MyDocSet.documentation.
+# The default value is: org.doxygen.Publisher.
+# This tag requires that the tag GENERATE_DOCSET is set to YES.
+
+DOCSET_PUBLISHER_ID    = org.doxygen.Publisher
+
+# The DOCSET_PUBLISHER_NAME tag identifies the documentation publisher.
+# The default value is: Publisher.
+# This tag requires that the tag GENERATE_DOCSET is set to YES.
+
+DOCSET_PUBLISHER_NAME  = Publisher
+
+# If the GENERATE_HTMLHELP tag is set to YES then doxygen generates three
+# additional HTML index files: index.hhp, index.hhc, and index.hhk. The
+# index.hhp is a project file that can be read by Microsoft's HTML Help Workshop
+# (see:
+# https://www.microsoft.com/en-us/download/details.aspx?id=21138) on Windows.
+#
+# The HTML Help Workshop contains a compiler that can convert all HTML output
+# generated by doxygen into a single compiled HTML file (.chm). Compiled HTML
+# files are now used as the Windows 98 help format, and will replace the old
+# Windows help format (.hlp) on all Windows platforms in the future. Compressed
+# HTML files also contain an index, a table of contents, and you can search for
+# words in the documentation. The HTML workshop also contains a viewer for
+# compressed HTML files.
+# The default value is: NO.
+# This tag requires that the tag GENERATE_HTML is set to YES.
+
+GENERATE_HTMLHELP      = NO
+
+# The CHM_FILE tag can be used to specify the file name of the resulting .chm
+# file. You can add a path in front of the file if the result should not be
+# written to the html output directory.
+# This tag requires that the tag GENERATE_HTMLHELP is set to YES.
+
+CHM_FILE               =
+
+# The HHC_LOCATION tag can be used to specify the location (absolute path
+# including file name) of the HTML help compiler (hhc.exe). If non-empty,
+# doxygen will try to run the HTML help compiler on the generated index.hhp.
+# The file has to be specified with full path.
+# This tag requires that the tag GENERATE_HTMLHELP is set to YES.
+
+HHC_LOCATION           =
+
+# The GENERATE_CHI flag controls if a separate .chi index file is generated
+# (YES) or that it should be included in the main .chm file (NO).
+# The default value is: NO.
+# This tag requires that the tag GENERATE_HTMLHELP is set to YES.
+
+GENERATE_CHI           = NO
+
+# The CHM_INDEX_ENCODING is used to encode HtmlHelp index (hhk), content (hhc)
+# and project file content.
+# This tag requires that the tag GENERATE_HTMLHELP is set to YES.
+
+CHM_INDEX_ENCODING     =
+
+# The BINARY_TOC flag controls whether a binary table of contents is generated
+# (YES) or a normal table of contents (NO) in the .chm file. Furthermore it
+# enables the Previous and Next buttons.
+# The default value is: NO.
+# This tag requires that the tag GENERATE_HTMLHELP is set to YES.
+
+BINARY_TOC             = NO
+
+# The TOC_EXPAND flag can be set to YES to add extra items for group members to
+# the table of contents of the HTML help documentation and to the tree view.
+# The default value is: NO.
+# This tag requires that the tag GENERATE_HTMLHELP is set to YES.
+
+TOC_EXPAND             = NO
+
+# If the GENERATE_QHP tag is set to YES and both QHP_NAMESPACE and
+# QHP_VIRTUAL_FOLDER are set, an additional index file will be generated that
+# can be used as input for Qt's qhelpgenerator to generate a Qt Compressed Help
+# (.qch) of the generated HTML documentation.
+# The default value is: NO.
+# This tag requires that the tag GENERATE_HTML is set to YES.
+
+GENERATE_QHP           = NO
+
+# If the QHG_LOCATION tag is specified, the QCH_FILE tag can be used to specify
+# the file name of the resulting .qch file. The path specified is relative to
+# the HTML output folder.
+# This tag requires that the tag GENERATE_QHP is set to YES.
+
+QCH_FILE               =
+
+# The QHP_NAMESPACE tag specifies the namespace to use when generating Qt Help
+# Project output. For more information please see Qt Help Project / Namespace
+# (see:
+# https://doc.qt.io/archives/qt-4.8/qthelpproject.html#namespace).
+# The default value is: org.doxygen.Project.
+# This tag requires that the tag GENERATE_QHP is set to YES.
+
+QHP_NAMESPACE          = org.doxygen.Project
+
+# The QHP_VIRTUAL_FOLDER tag specifies the namespace to use when generating Qt
+# Help Project output. For more information please see Qt Help Project / Virtual
+# Folders (see:
+# https://doc.qt.io/archives/qt-4.8/qthelpproject.html#virtual-folders).
+# The default value is: doc.
+# This tag requires that the tag GENERATE_QHP is set to YES.
+
+QHP_VIRTUAL_FOLDER     = doc
+
+# If the QHP_CUST_FILTER_NAME tag is set, it specifies the name of a custom
+# filter to add. For more information please see Qt Help Project / Custom
+# Filters (see:
+# https://doc.qt.io/archives/qt-4.8/qthelpproject.html#custom-filters).
+# This tag requires that the tag GENERATE_QHP is set to YES.
+
+QHP_CUST_FILTER_NAME   =
+
+# The QHP_CUST_FILTER_ATTRS tag specifies the list of the attributes of the
+# custom filter to add. For more information please see Qt Help Project / Custom
+# Filters (see:
+# https://doc.qt.io/archives/qt-4.8/qthelpproject.html#custom-filters).
+# This tag requires that the tag GENERATE_QHP is set to YES.
+
+QHP_CUST_FILTER_ATTRS  =
+
+# The QHP_SECT_FILTER_ATTRS tag specifies the list of the attributes this
+# project's filter section matches. Qt Help Project / Filter Attributes (see:
+# https://doc.qt.io/archives/qt-4.8/qthelpproject.html#filter-attributes).
+# This tag requires that the tag GENERATE_QHP is set to YES.
+
+QHP_SECT_FILTER_ATTRS  =
+
+# The QHG_LOCATION tag can be used to specify the location (absolute path
+# including file name) of Qt's qhelpgenerator. If non-empty doxygen will try to
+# run qhelpgenerator on the generated .qhp file.
+# This tag requires that the tag GENERATE_QHP is set to YES.
+
+QHG_LOCATION           =
+
+# If the GENERATE_ECLIPSEHELP tag is set to YES, additional index files will be
+# generated, together with the HTML files, they form an Eclipse help plugin. To
+# install this plugin and make it available under the help contents menu in
+# Eclipse, the contents of the directory containing the HTML and XML files needs
+# to be copied into the plugins directory of eclipse. The name of the directory
+# within the plugins directory should be the same as the ECLIPSE_DOC_ID value.
+# After copying Eclipse needs to be restarted before the help appears.
+# The default value is: NO.
+# This tag requires that the tag GENERATE_HTML is set to YES.
+
+GENERATE_ECLIPSEHELP   = NO
+
+# A unique identifier for the Eclipse help plugin. When installing the plugin
+# the directory name containing the HTML and XML files should also have this
+# name. Each documentation set should have its own identifier.
+# The default value is: org.doxygen.Project.
+# This tag requires that the tag GENERATE_ECLIPSEHELP is set to YES.
+
+ECLIPSE_DOC_ID         = org.doxygen.Project
+
+# If you want full control over the layout of the generated HTML pages it might
+# be necessary to disable the index and replace it with your own. The
+# DISABLE_INDEX tag can be used to turn on/off the condensed index (tabs) at top
+# of each HTML page. A value of NO enables the index and the value YES disables
+# it. Since the tabs in the index contain the same information as the navigation
+# tree, you can set this option to YES if you also set GENERATE_TREEVIEW to YES.
+# The default value is: NO.
+# This tag requires that the tag GENERATE_HTML is set to YES.
+
+DISABLE_INDEX          = NO
+
+# The GENERATE_TREEVIEW tag is used to specify whether a tree-like index
+# structure should be generated to display hierarchical information. If the tag
+# value is set to YES, a side panel will be generated containing a tree-like
+# index structure (just like the one that is generated for HTML Help). For this
+# to work a browser that supports JavaScript, DHTML, CSS and frames is required
+# (i.e. any modern browser). Windows users are probably better off using the
+# HTML help feature. Via custom style sheets (see HTML_EXTRA_STYLESHEET) one can
+# further fine-tune the look of the index. As an example, the default style
+# sheet generated by doxygen has an example that shows how to put an image at
+# the root of the tree instead of the PROJECT_NAME. Since the tree basically has
+# the same information as the tab index, you could consider setting
+# DISABLE_INDEX to YES when enabling this option.
+# The default value is: NO.
+# This tag requires that the tag GENERATE_HTML is set to YES.
+
+GENERATE_TREEVIEW      = NO
+
+# The ENUM_VALUES_PER_LINE tag can be used to set the number of enum values that
+# doxygen will group on one line in the generated HTML documentation.
+#
+# Note that a value of 0 will completely suppress the enum values from appearing
+# in the overview section.
+# Minimum value: 0, maximum value: 20, default value: 4.
+# This tag requires that the tag GENERATE_HTML is set to YES.
+
+ENUM_VALUES_PER_LINE   = 4
+
+# If the treeview is enabled (see GENERATE_TREEVIEW) then this tag can be used
+# to set the initial width (in pixels) of the frame in which the tree is shown.
+# Minimum value: 0, maximum value: 1500, default value: 250.
+# This tag requires that the tag GENERATE_HTML is set to YES.
+
+TREEVIEW_WIDTH         = 250
+
+# If the EXT_LINKS_IN_WINDOW option is set to YES, doxygen will open links to
+# external symbols imported via tag files in a separate window.
+# The default value is: NO.
+# This tag requires that the tag GENERATE_HTML is set to YES.
+
+EXT_LINKS_IN_WINDOW    = NO
+
+# If the HTML_FORMULA_FORMAT option is set to svg, doxygen will use the pdf2svg
+# tool (see https://github.com/dawbarton/pdf2svg) or inkscape (see
+# https://inkscape.org) to generate formulas as SVG images instead of PNGs for
+# the HTML output. These images will generally look nicer at scaled resolutions.
+# Possible values are: png (the default) and svg (looks nicer but requires the
+# pdf2svg or inkscape tool).
+# The default value is: png.
+# This tag requires that the tag GENERATE_HTML is set to YES.
+
+HTML_FORMULA_FORMAT    = png
+
+# Use this tag to change the font size of LaTeX formulas included as images in
+# the HTML documentation. When you change the font size after a successful
+# doxygen run you need to manually remove any form_*.png images from the HTML
+# output directory to force them to be regenerated.
+# Minimum value: 8, maximum value: 50, default value: 10.
+# This tag requires that the tag GENERATE_HTML is set to YES.
+
+FORMULA_FONTSIZE       = 10
+
+# Use the FORMULA_TRANSPARENT tag to determine whether or not the images
+# generated for formulas are transparent PNGs. Transparent PNGs are not
+# supported properly for IE 6.0, but are supported on all modern browsers.
+#
+# Note that when changing this option you need to delete any form_*.png files in
+# the HTML output directory before the changes have effect.
+# The default value is: YES.
+# This tag requires that the tag GENERATE_HTML is set to YES.
+
+FORMULA_TRANSPARENT    = YES
+
+# The FORMULA_MACROFILE can contain LaTeX \newcommand and \renewcommand commands
+# to create new LaTeX commands to be used in formulas as building blocks. See
+# the section "Including formulas" for details.
+
+FORMULA_MACROFILE      =
+
+# Enable the USE_MATHJAX option to render LaTeX formulas using MathJax (see
+# https://www.mathjax.org) which uses client side JavaScript for the rendering
+# instead of using pre-rendered bitmaps. Use this if you do not have LaTeX
+# installed or if you want to formulas look prettier in the HTML output. When
+# enabled you may also need to install MathJax separately and configure the path
+# to it using the MATHJAX_RELPATH option.
+# The default value is: NO.
+# This tag requires that the tag GENERATE_HTML is set to YES.
+
+USE_MATHJAX            = NO
+
+# When MathJax is enabled you can set the default output format to be used for
+# the MathJax output. See the MathJax site (see:
+# http://docs.mathjax.org/en/v2.7-latest/output.html) for more details.
+# Possible values are: HTML-CSS (which is slower, but has the best
+# compatibility), NativeMML (i.e. MathML) and SVG.
+# The default value is: HTML-CSS.
+# This tag requires that the tag USE_MATHJAX is set to YES.
+
+MATHJAX_FORMAT         = HTML-CSS
+
+# When MathJax is enabled you need to specify the location relative to the HTML
+# output directory using the MATHJAX_RELPATH option. The destination directory
+# should contain the MathJax.js script. For instance, if the mathjax directory
+# is located at the same level as the HTML output directory, then
+# MATHJAX_RELPATH should be ../mathjax. The default value points to the MathJax
+# Content Delivery Network so you can quickly see the result without installing
+# MathJax. However, it is strongly recommended to install a local copy of
+# MathJax from https://www.mathjax.org before deployment.
+# The default value is: https://cdn.jsdelivr.net/npm/mathjax@2.
+# This tag requires that the tag USE_MATHJAX is set to YES.
+
+MATHJAX_RELPATH        = https://cdn.jsdelivr.net/npm/mathjax@2
+
+# The MATHJAX_EXTENSIONS tag can be used to specify one or more MathJax
+# extension names that should be enabled during MathJax rendering. For example
+# MATHJAX_EXTENSIONS = TeX/AMSmath TeX/AMSsymbols
+# This tag requires that the tag USE_MATHJAX is set to YES.
+
+MATHJAX_EXTENSIONS     =
+
+# The MATHJAX_CODEFILE tag can be used to specify a file with javascript pieces
+# of code that will be used on startup of the MathJax code. See the MathJax site
+# (see:
+# http://docs.mathjax.org/en/v2.7-latest/output.html) for more details. For an
+# example see the documentation.
+# This tag requires that the tag USE_MATHJAX is set to YES.
+
+MATHJAX_CODEFILE       =
+
+# When the SEARCHENGINE tag is enabled doxygen will generate a search box for
+# the HTML output. The underlying search engine uses javascript and DHTML and
+# should work on any modern browser. Note that when using HTML help
+# (GENERATE_HTMLHELP), Qt help (GENERATE_QHP), or docsets (GENERATE_DOCSET)
+# there is already a search function so this one should typically be disabled.
+# For large projects the javascript based search engine can be slow, then
+# enabling SERVER_BASED_SEARCH may provide a better solution. It is possible to
+# search using the keyboard; to jump to the search box use <access key> + S
+# (what the <access key> is depends on the OS and browser, but it is typically
+# <CTRL>, <ALT>/<option>, or both). Inside the search box use the <cursor down
+# key> to jump into the search results window, the results can be navigated
+# using the <cursor keys>. Press <Enter> to select an item or <escape> to cancel
+# the search. The filter options can be selected when the cursor is inside the
+# search box by pressing <Shift>+<cursor down>. Also here use the <cursor keys>
+# to select a filter and <Enter> or <escape> to activate or cancel the filter
+# option.
+# The default value is: YES.
+# This tag requires that the tag GENERATE_HTML is set to YES.
+
+SEARCHENGINE           = YES
+
+# When the SERVER_BASED_SEARCH tag is enabled the search engine will be
+# implemented using a web server instead of a web client using JavaScript. There
+# are two flavors of web server based searching depending on the EXTERNAL_SEARCH
+# setting. When disabled, doxygen will generate a PHP script for searching and
+# an index file used by the script. When EXTERNAL_SEARCH is enabled the indexing
+# and searching needs to be provided by external tools. See the section
+# "External Indexing and Searching" for details.
+# The default value is: NO.
+# This tag requires that the tag SEARCHENGINE is set to YES.
+
+SERVER_BASED_SEARCH    = NO
+
+# When EXTERNAL_SEARCH tag is enabled doxygen will no longer generate the PHP
+# script for searching. Instead the search results are written to an XML file
+# which needs to be processed by an external indexer. Doxygen will invoke an
+# external search engine pointed to by the SEARCHENGINE_URL option to obtain the
+# search results.
+#
+# Doxygen ships with an example indexer (doxyindexer) and search engine
+# (doxysearch.cgi) which are based on the open source search engine library
+# Xapian (see:
+# https://xapian.org/).
+#
+# See the section "External Indexing and Searching" for details.
+# The default value is: NO.
+# This tag requires that the tag SEARCHENGINE is set to YES.
+
+EXTERNAL_SEARCH        = NO
+
+# The SEARCHENGINE_URL should point to a search engine hosted by a web server
+# which will return the search results when EXTERNAL_SEARCH is enabled.
+#
+# Doxygen ships with an example indexer (doxyindexer) and search engine
+# (doxysearch.cgi) which are based on the open source search engine library
+# Xapian (see:
+# https://xapian.org/). See the section "External Indexing and Searching" for
+# details.
+# This tag requires that the tag SEARCHENGINE is set to YES.
+
+SEARCHENGINE_URL       =
+
+# When SERVER_BASED_SEARCH and EXTERNAL_SEARCH are both enabled the unindexed
+# search data is written to a file for indexing by an external tool. With the
+# SEARCHDATA_FILE tag the name of this file can be specified.
+# The default file is: searchdata.xml.
+# This tag requires that the tag SEARCHENGINE is set to YES.
+
+SEARCHDATA_FILE        = searchdata.xml
+
+# When SERVER_BASED_SEARCH and EXTERNAL_SEARCH are both enabled the
+# EXTERNAL_SEARCH_ID tag can be used as an identifier for the project. This is
+# useful in combination with EXTRA_SEARCH_MAPPINGS to search through multiple
+# projects and redirect the results back to the right project.
+# This tag requires that the tag SEARCHENGINE is set to YES.
+
+EXTERNAL_SEARCH_ID     =
+
+# The EXTRA_SEARCH_MAPPINGS tag can be used to enable searching through doxygen
+# projects other than the one defined by this configuration file, but that are
+# all added to the same external search index. Each project needs to have a
+# unique id set via EXTERNAL_SEARCH_ID. The search mapping then maps the id of
+# to a relative location where the documentation can be found. The format is:
+# EXTRA_SEARCH_MAPPINGS = tagname1=loc1 tagname2=loc2 ...
+# This tag requires that the tag SEARCHENGINE is set to YES.
+
+EXTRA_SEARCH_MAPPINGS  =
+
+#---------------------------------------------------------------------------
+# Configuration options related to the LaTeX output
+#---------------------------------------------------------------------------
+
+# If the GENERATE_LATEX tag is set to YES, doxygen will generate LaTeX output.
+# The default value is: YES.
+
+GENERATE_LATEX         = YES
+
+# The LATEX_OUTPUT tag is used to specify where the LaTeX docs will be put. If a
+# relative path is entered the value of OUTPUT_DIRECTORY will be put in front of
+# it.
+# The default directory is: latex.
+# This tag requires that the tag GENERATE_LATEX is set to YES.
+
+LATEX_OUTPUT           = latex
+
+# The LATEX_CMD_NAME tag can be used to specify the LaTeX command name to be
+# invoked.
+#
+# Note that when not enabling USE_PDFLATEX the default is latex when enabling
+# USE_PDFLATEX the default is pdflatex and when in the later case latex is
+# chosen this is overwritten by pdflatex. For specific output languages the
+# default can have been set differently, this depends on the implementation of
+# the output language.
+# This tag requires that the tag GENERATE_LATEX is set to YES.
+
+LATEX_CMD_NAME         =
+
+# The MAKEINDEX_CMD_NAME tag can be used to specify the command name to generate
+# index for LaTeX.
+# Note: This tag is used in the Makefile / make.bat.
+# See also: LATEX_MAKEINDEX_CMD for the part in the generated output file
+# (.tex).
+# The default file is: makeindex.
+# This tag requires that the tag GENERATE_LATEX is set to YES.
+
+MAKEINDEX_CMD_NAME     = makeindex
+
+# The LATEX_MAKEINDEX_CMD tag can be used to specify the command name to
+# generate index for LaTeX. In case there is no backslash (\) as first character
+# it will be automatically added in the LaTeX code.
+# Note: This tag is used in the generated output file (.tex).
+# See also: MAKEINDEX_CMD_NAME for the part in the Makefile / make.bat.
+# The default value is: makeindex.
+# This tag requires that the tag GENERATE_LATEX is set to YES.
+
+LATEX_MAKEINDEX_CMD    = makeindex
+
+# If the COMPACT_LATEX tag is set to YES, doxygen generates more compact LaTeX
+# documents. This may be useful for small projects and may help to save some
+# trees in general.
+# The default value is: NO.
+# This tag requires that the tag GENERATE_LATEX is set to YES.
+
+COMPACT_LATEX          = NO
+
+# The PAPER_TYPE tag can be used to set the paper type that is used by the
+# printer.
+# Possible values are: a4 (210 x 297 mm), letter (8.5 x 11 inches), legal (8.5 x
+# 14 inches) and executive (7.25 x 10.5 inches).
+# The default value is: a4.
+# This tag requires that the tag GENERATE_LATEX is set to YES.
+
+PAPER_TYPE             = a4
+
+# The EXTRA_PACKAGES tag can be used to specify one or more LaTeX package names
+# that should be included in the LaTeX output. The package can be specified just
+# by its name or with the correct syntax as to be used with the LaTeX
+# \usepackage command. To get the times font for instance you can specify :
+# EXTRA_PACKAGES=times or EXTRA_PACKAGES={times}
+# To use the option intlimits with the amsmath package you can specify:
+# EXTRA_PACKAGES=[intlimits]{amsmath}
+# If left blank no extra packages will be included.
+# This tag requires that the tag GENERATE_LATEX is set to YES.
+
+EXTRA_PACKAGES         =
+
+# The LATEX_HEADER tag can be used to specify a personal LaTeX header for the
+# generated LaTeX document. The header should contain everything until the first
+# chapter. If it is left blank doxygen will generate a standard header. See
+# section "Doxygen usage" for information on how to let doxygen write the
+# default header to a separate file.
+#
+# Note: Only use a user-defined header if you know what you are doing! The
+# following commands have a special meaning inside the header: $title,
+# $datetime, $date, $doxygenversion, $projectname, $projectnumber,
+# $projectbrief, $projectlogo. Doxygen will replace $title with the empty
+# string, for the replacement values of the other commands the user is referred
+# to HTML_HEADER.
+# This tag requires that the tag GENERATE_LATEX is set to YES.
+
+LATEX_HEADER           =
+
+# The LATEX_FOOTER tag can be used to specify a personal LaTeX footer for the
+# generated LaTeX document. The footer should contain everything after the last
+# chapter. If it is left blank doxygen will generate a standard footer. See
+# LATEX_HEADER for more information on how to generate a default footer and what
+# special commands can be used inside the footer.
+#
+# Note: Only use a user-defined footer if you know what you are doing!
+# This tag requires that the tag GENERATE_LATEX is set to YES.
+
+LATEX_FOOTER           =
+
+# The LATEX_EXTRA_STYLESHEET tag can be used to specify additional user-defined
+# LaTeX style sheets that are included after the standard style sheets created
+# by doxygen. Using this option one can overrule certain style aspects. Doxygen
+# will copy the style sheet files to the output directory.
+# Note: The order of the extra style sheet files is of importance (e.g. the last
+# style sheet in the list overrules the setting of the previous ones in the
+# list).
+# This tag requires that the tag GENERATE_LATEX is set to YES.
+
+LATEX_EXTRA_STYLESHEET =
+
+# The LATEX_EXTRA_FILES tag can be used to specify one or more extra images or
+# other source files which should be copied to the LATEX_OUTPUT output
+# directory. Note that the files will be copied as-is; there are no commands or
+# markers available.
+# This tag requires that the tag GENERATE_LATEX is set to YES.
+
+LATEX_EXTRA_FILES      =
+
+# If the PDF_HYPERLINKS tag is set to YES, the LaTeX that is generated is
+# prepared for conversion to PDF (using ps2pdf or pdflatex). The PDF file will
+# contain links (just like the HTML output) instead of page references. This
+# makes the output suitable for online browsing using a PDF viewer.
+# The default value is: YES.
+# This tag requires that the tag GENERATE_LATEX is set to YES.
+
+PDF_HYPERLINKS         = YES
+
+# If the USE_PDFLATEX tag is set to YES, doxygen will use the engine as
+# specified with LATEX_CMD_NAME to generate the PDF file directly from the LaTeX
+# files. Set this option to YES, to get a higher quality PDF documentation.
+#
+# See also section LATEX_CMD_NAME for selecting the engine.
+# The default value is: YES.
+# This tag requires that the tag GENERATE_LATEX is set to YES.
+
+USE_PDFLATEX           = YES
+
+# If the LATEX_BATCHMODE tag is set to YES, doxygen will add the \batchmode
+# command to the generated LaTeX files. This will instruct LaTeX to keep running
+# if errors occur, instead of asking the user for help. This option is also used
+# when generating formulas in HTML.
+# The default value is: NO.
+# This tag requires that the tag GENERATE_LATEX is set to YES.
+
+LATEX_BATCHMODE        = NO
+
+# If the LATEX_HIDE_INDICES tag is set to YES then doxygen will not include the
+# index chapters (such as File Index, Compound Index, etc.) in the output.
+# The default value is: NO.
+# This tag requires that the tag GENERATE_LATEX is set to YES.
+
+LATEX_HIDE_INDICES     = NO
+
+# If the LATEX_SOURCE_CODE tag is set to YES then doxygen will include source
+# code with syntax highlighting in the LaTeX output.
+#
+# Note that which sources are shown also depends on other settings such as
+# SOURCE_BROWSER.
+# The default value is: NO.
+# This tag requires that the tag GENERATE_LATEX is set to YES.
+
+LATEX_SOURCE_CODE      = NO
+
+# The LATEX_BIB_STYLE tag can be used to specify the style to use for the
+# bibliography, e.g. plainnat, or ieeetr. See
+# https://en.wikipedia.org/wiki/BibTeX and \cite for more info.
+# The default value is: plain.
+# This tag requires that the tag GENERATE_LATEX is set to YES.
+
+LATEX_BIB_STYLE        = plain
+
+# If the LATEX_TIMESTAMP tag is set to YES then the footer of each generated
+# page will contain the date and time when the page was generated. Setting this
+# to NO can help when comparing the output of multiple runs.
+# The default value is: NO.
+# This tag requires that the tag GENERATE_LATEX is set to YES.
+
+LATEX_TIMESTAMP        = NO
+
+# The LATEX_EMOJI_DIRECTORY tag is used to specify the (relative or absolute)
+# path from which the emoji images will be read. If a relative path is entered,
+# it will be relative to the LATEX_OUTPUT directory. If left blank the
+# LATEX_OUTPUT directory will be used.
+# This tag requires that the tag GENERATE_LATEX is set to YES.
+
+LATEX_EMOJI_DIRECTORY  =
+
+#---------------------------------------------------------------------------
+# Configuration options related to the RTF output
+#---------------------------------------------------------------------------
+
+# If the GENERATE_RTF tag is set to YES, doxygen will generate RTF output. The
+# RTF output is optimized for Word 97 and may not look too pretty with other RTF
+# readers/editors.
+# The default value is: NO.
+
+GENERATE_RTF           = NO
+
+# The RTF_OUTPUT tag is used to specify where the RTF docs will be put. If a
+# relative path is entered the value of OUTPUT_DIRECTORY will be put in front of
+# it.
+# The default directory is: rtf.
+# This tag requires that the tag GENERATE_RTF is set to YES.
+
+RTF_OUTPUT             = rtf
+
+# If the COMPACT_RTF tag is set to YES, doxygen generates more compact RTF
+# documents. This may be useful for small projects and may help to save some
+# trees in general.
+# The default value is: NO.
+# This tag requires that the tag GENERATE_RTF is set to YES.
+
+COMPACT_RTF            = NO
+
+# If the RTF_HYPERLINKS tag is set to YES, the RTF that is generated will
+# contain hyperlink fields. The RTF file will contain links (just like the HTML
+# output) instead of page references. This makes the output suitable for online
+# browsing using Word or some other Word compatible readers that support those
+# fields.
+#
+# Note: WordPad (write) and others do not support links.
+# The default value is: NO.
+# This tag requires that the tag GENERATE_RTF is set to YES.
+
+RTF_HYPERLINKS         = NO
+
+# Load stylesheet definitions from file. Syntax is similar to doxygen's
+# configuration file, i.e. a series of assignments. You only have to provide
+# replacements, missing definitions are set to their default value.
+#
+# See also section "Doxygen usage" for information on how to generate the
+# default style sheet that doxygen normally uses.
+# This tag requires that the tag GENERATE_RTF is set to YES.
+
+RTF_STYLESHEET_FILE    =
+
+# Set optional variables used in the generation of an RTF document. Syntax is
+# similar to doxygen's configuration file. A template extensions file can be
+# generated using doxygen -e rtf extensionFile.
+# This tag requires that the tag GENERATE_RTF is set to YES.
+
+RTF_EXTENSIONS_FILE    =
+
+# If the RTF_SOURCE_CODE tag is set to YES then doxygen will include source code
+# with syntax highlighting in the RTF output.
+#
+# Note that which sources are shown also depends on other settings such as
+# SOURCE_BROWSER.
+# The default value is: NO.
+# This tag requires that the tag GENERATE_RTF is set to YES.
+
+RTF_SOURCE_CODE        = NO
+
+#---------------------------------------------------------------------------
+# Configuration options related to the man page output
+#---------------------------------------------------------------------------
+
+# If the GENERATE_MAN tag is set to YES, doxygen will generate man pages for
+# classes and files.
+# The default value is: NO.
+
+GENERATE_MAN           = NO
+
+# The MAN_OUTPUT tag is used to specify where the man pages will be put. If a
+# relative path is entered the value of OUTPUT_DIRECTORY will be put in front of
+# it. A directory man3 will be created inside the directory specified by
+# MAN_OUTPUT.
+# The default directory is: man.
+# This tag requires that the tag GENERATE_MAN is set to YES.
+
+MAN_OUTPUT             = man
+
+# The MAN_EXTENSION tag determines the extension that is added to the generated
+# man pages. In case the manual section does not start with a number, the number
+# 3 is prepended. The dot (.) at the beginning of the MAN_EXTENSION tag is
+# optional.
+# The default value is: .3.
+# This tag requires that the tag GENERATE_MAN is set to YES.
+
+MAN_EXTENSION          = .3
+
+# The MAN_SUBDIR tag determines the name of the directory created within
+# MAN_OUTPUT in which the man pages are placed. If defaults to man followed by
+# MAN_EXTENSION with the initial . removed.
+# This tag requires that the tag GENERATE_MAN is set to YES.
+
+MAN_SUBDIR             =
+
+# If the MAN_LINKS tag is set to YES and doxygen generates man output, then it
+# will generate one additional man file for each entity documented in the real
+# man page(s). These additional files only source the real man page, but without
+# them the man command would be unable to find the correct page.
+# The default value is: NO.
+# This tag requires that the tag GENERATE_MAN is set to YES.
+
+MAN_LINKS              = NO
+
+#---------------------------------------------------------------------------
+# Configuration options related to the XML output
+#---------------------------------------------------------------------------
+
+# If the GENERATE_XML tag is set to YES, doxygen will generate an XML file that
+# captures the structure of the code including all documentation.
+# The default value is: NO.
+
+GENERATE_XML           = NO
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new file mode 100644
index 0000000..e335dc8
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+   <div id="projectname">DCAITI Robot Hardware
+   &#160;<span id="projectnumber">1.0</span>
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+</div>
+</div><!-- top -->
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+  <div class="summary">
+<a href="#nested-classes">Classes</a> &#124;
+<a href="#define-members">Macros</a>  </div>
+  <div class="headertitle">
+<div class="title">MotorWheel.h File Reference</div>  </div>
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+<div class="contents">
+<div class="textblock"><code>#include &lt;<a class="el" href="PID__Beta6_8h_source.html">PID_Beta6.h</a>&gt;</code><br />
+<code>#include &lt;<a class="el" href="PinChangeInt_8h_source.html">PinChangeInt.h</a>&gt;</code><br />
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+<p><a href="MotorWheel_8h_source.html">Go to the source code of this file.</a></p>
+<table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="nested-classes"></a>
+Classes</h2></td></tr>
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+<tr class="separator:a73c066690ee81cb3f9c801205a237acd"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="separator:a75450bf317fb4edd6c44dbe6b2ff7673"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a755b9528bf80376f0476829e8078a0da"><td class="memItemLeft" align="right" valign="top">#define&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="MotorWheel_8h.html#a755b9528bf80376f0476829e8078a0da">SAMPLETIME</a>&#160;&#160;&#160;5</td></tr>
+<tr class="separator:a755b9528bf80376f0476829e8078a0da"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="separator:ab201ec4c4f600966de3779313f08d2c3"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:aa8f0efe0d1ee33354f41f8898d0ee8dd"><td class="memItemLeft" align="right" valign="top">#define&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="MotorWheel_8h.html#aa8f0efe0d1ee33354f41f8898d0ee8dd">debug</a>()&#160;&#160;&#160;{}</td></tr>
+<tr class="separator:aa8f0efe0d1ee33354f41f8898d0ee8dd"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a9812ffc02e34cfd1b5809ba2811a98ae"><td class="memItemLeft" align="right" valign="top">#define&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="MotorWheel_8h.html#a9812ffc02e34cfd1b5809ba2811a98ae">irqISR</a>(y,  x)</td></tr>
+<tr class="separator:a9812ffc02e34cfd1b5809ba2811a98ae"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a598a3330b3c21701223ee0ca14316eca"><td class="memItemLeft" align="right" valign="top">#define&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="MotorWheel_8h.html#a598a3330b3c21701223ee0ca14316eca">PI</a>&#160;&#160;&#160;3.1416</td></tr>
+<tr class="separator:a598a3330b3c21701223ee0ca14316eca"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a557b8031c21a790194ec252c281dc404"><td class="memItemLeft" align="right" valign="top">#define&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="MotorWheel_8h.html#a557b8031c21a790194ec252c281dc404">CIRMM</a>&#160;&#160;&#160;314</td></tr>
+<tr class="separator:a557b8031c21a790194ec252c281dc404"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<h2 class="groupheader">Macro Definition Documentation</h2>
+<a id="ab201ec4c4f600966de3779313f08d2c3"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ab201ec4c4f600966de3779313f08d2c3">&#9670;&nbsp;</a></span>Baudrate</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">#define Baudrate&#160;&#160;&#160;19200</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a557b8031c21a790194ec252c281dc404"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a557b8031c21a790194ec252c281dc404">&#9670;&nbsp;</a></span>CIRMM</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">#define CIRMM&#160;&#160;&#160;314</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="ad8f1771d4051eafad228df4d397d7e47"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ad8f1771d4051eafad228df4d397d7e47">&#9670;&nbsp;</a></span>CPR</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">#define CPR&#160;&#160;&#160;24</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="aa8f0efe0d1ee33354f41f8898d0ee8dd"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#aa8f0efe0d1ee33354f41f8898d0ee8dd">&#9670;&nbsp;</a></span>debug</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">#define debug</td>
+          <td>(</td>
+          <td class="paramname"></td><td>)</td>
+          <td>&#160;&#160;&#160;{}</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a4ba93a34cdd9c7b4d1f72021b449906e"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a4ba93a34cdd9c7b4d1f72021b449906e">&#9670;&nbsp;</a></span>DIR_ADVANCE</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">#define DIR_ADVANCE&#160;&#160;&#160;HIGH</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="ad52f8b2bf56da6fe72ca2bf9da935ee7"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ad52f8b2bf56da6fe72ca2bf9da935ee7">&#9670;&nbsp;</a></span>DIR_BACKOFF</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">#define DIR_BACKOFF&#160;&#160;&#160;LOW</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a37aea0c86f1a366a15e54142dbcd0f45"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a37aea0c86f1a366a15e54142dbcd0f45">&#9670;&nbsp;</a></span>DIR_INVERSE</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">#define DIR_INVERSE&#160;&#160;&#160;!</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a9812ffc02e34cfd1b5809ba2811a98ae"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a9812ffc02e34cfd1b5809ba2811a98ae">&#9670;&nbsp;</a></span>irqISR</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">#define irqISR</td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname">y, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname">x&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<b>Value:</b><div class="fragment"><div class="line">    <span class="keywordtype">void</span> x(); \</div>
+<div class="line">    struct <a class="code" href="structISRVars.html">ISRVars</a> y={x}; \</div>
+<div class="line">    void x() { \</div>
+<div class="line">        static <span class="keywordtype">bool</span> first_pulse=<span class="keyword">true</span>; \</div>
+<div class="line">        y.<a class="code" href="structISRVars.html#a935b7a7cfe9c5a33902ce56256980846">pulseEndMicros</a>=micros(); \</div>
+<div class="line">        if(first_pulse==<span class="keyword">false</span> &amp;&amp; y.pulseEndMicros&gt;y.pulseStartMicros) { \</div>
+<div class="line">            y.speedPPS=<a class="code" href="MotorWheel_8h.html#a81bcea712b48d6bf8f7193e3de40404b">MICROS_PER_SEC</a>/(y.pulseEndMicros-y.pulseStartMicros); \</div>
+<div class="line">            <span class="comment">/* y.accPPSS=(y.speedPPS-y.lastSpeedPPS)*y.speedPPS; */</span> \</div>
+<div class="line">        } <span class="keywordflow">else</span> first_pulse=<span class="keyword">false</span>; \</div>
+<div class="line">        y.pulseStartMicros=y.pulseEndMicros; \</div>
+<div class="line">        <span class="comment">/* y.lastSpeedPPS=y.speedPPS; */</span> \</div>
+<div class="line">        if(y.pinIRQB!=<a class="code" href="MotorWheel_8h.html#adf4d6e9fc5cbf047c65ce74b4fa14117">PIN_UNDEFINED</a>) \</div>
+<div class="line">            y.currDirection=<a class="code" href="MotorWheel_8h.html#a37aea0c86f1a366a15e54142dbcd0f45">DIR_INVERSE</a>(digitalRead(y.pinIRQ)^digitalRead(y.pinIRQB)); \</div>
+<div class="line">        y.currDirection==<a class="code" href="MotorWheel_8h.html#a4ba93a34cdd9c7b4d1f72021b449906e">DIR_ADVANCE</a>?++y.pulses:--y.pulses; \</div>
+<div class="line">    }</div>
+<div class="ttc" id="aMotorWheel_8h_html_a37aea0c86f1a366a15e54142dbcd0f45"><div class="ttname"><a href="MotorWheel_8h.html#a37aea0c86f1a366a15e54142dbcd0f45">DIR_INVERSE</a></div><div class="ttdeci">#define DIR_INVERSE</div><div class="ttdef"><b>Definition:</b> MotorWheel.h:76</div></div>
+<div class="ttc" id="aMotorWheel_8h_html_a4ba93a34cdd9c7b4d1f72021b449906e"><div class="ttname"><a href="MotorWheel_8h.html#a4ba93a34cdd9c7b4d1f72021b449906e">DIR_ADVANCE</a></div><div class="ttdeci">#define DIR_ADVANCE</div><div class="ttdef"><b>Definition:</b> MotorWheel.h:53</div></div>
+<div class="ttc" id="aMotorWheel_8h_html_a81bcea712b48d6bf8f7193e3de40404b"><div class="ttname"><a href="MotorWheel_8h.html#a81bcea712b48d6bf8f7193e3de40404b">MICROS_PER_SEC</a></div><div class="ttdeci">#define MICROS_PER_SEC</div><div class="ttdef"><b>Definition:</b> MotorWheel.h:86</div></div>
+<div class="ttc" id="aMotorWheel_8h_html_adf4d6e9fc5cbf047c65ce74b4fa14117"><div class="ttname"><a href="MotorWheel_8h.html#adf4d6e9fc5cbf047c65ce74b4fa14117">PIN_UNDEFINED</a></div><div class="ttdeci">#define PIN_UNDEFINED</div><div class="ttdef"><b>Definition:</b> MotorWheel.h:56</div></div>
+<div class="ttc" id="astructISRVars_html"><div class="ttname"><a href="structISRVars.html">ISRVars</a></div><div class="ttdef"><b>Definition:</b> MotorWheel.h:131</div></div>
+<div class="ttc" id="astructISRVars_html_a935b7a7cfe9c5a33902ce56256980846"><div class="ttname"><a href="structISRVars.html#a935b7a7cfe9c5a33902ce56256980846">ISRVars::pulseEndMicros</a></div><div class="ttdeci">volatile unsigned long pulseEndMicros</div><div class="ttdef"><b>Definition:</b> MotorWheel.h:136</div></div>
+</div><!-- fragment -->
+</div>
+</div>
+<a id="a73764abcca0b8bbf6bf355d9f1bab0b9"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a73764abcca0b8bbf6bf355d9f1bab0b9">&#9670;&nbsp;</a></span>KC</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">#define KC&#160;&#160;&#160;0.31</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a1df990f1a1fc97b95e8d53f719968026"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a1df990f1a1fc97b95e8d53f719968026">&#9670;&nbsp;</a></span>MAX_PWM</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">#define MAX_PWM&#160;&#160;&#160;255</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a81d84c8ab20039cad6024ab239ee4086"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a81d84c8ab20039cad6024ab239ee4086">&#9670;&nbsp;</a></span>MAX_SPEEDRPM</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">#define MAX_SPEEDRPM&#160;&#160;&#160;8000</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a81bcea712b48d6bf8f7193e3de40404b"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a81bcea712b48d6bf8f7193e3de40404b">&#9670;&nbsp;</a></span>MICROS_PER_SEC</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">#define MICROS_PER_SEC&#160;&#160;&#160;1000000</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a598a3330b3c21701223ee0ca14316eca"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a598a3330b3c21701223ee0ca14316eca">&#9670;&nbsp;</a></span>PI</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">#define PI&#160;&#160;&#160;3.1416</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="adf4d6e9fc5cbf047c65ce74b4fa14117"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#adf4d6e9fc5cbf047c65ce74b4fa14117">&#9670;&nbsp;</a></span>PIN_UNDEFINED</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">#define PIN_UNDEFINED&#160;&#160;&#160;255</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a545c3d33941dafc6ffd8cd9a61f6fca4"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a545c3d33941dafc6ffd8cd9a61f6fca4">&#9670;&nbsp;</a></span>REDUCTION_RATIO</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">#define REDUCTION_RATIO&#160;&#160;&#160;64</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a2d979268f4539332ee9b1abc5b58e974"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a2d979268f4539332ee9b1abc5b58e974">&#9670;&nbsp;</a></span>REF_VOLT</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">#define REF_VOLT&#160;&#160;&#160;12</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a755b9528bf80376f0476829e8078a0da"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a755b9528bf80376f0476829e8078a0da">&#9670;&nbsp;</a></span>SAMPLETIME</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">#define SAMPLETIME&#160;&#160;&#160;5</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="ac47b302f1b8d2a7a9c035c417247be76"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ac47b302f1b8d2a7a9c035c417247be76">&#9670;&nbsp;</a></span>SEC_PER_MIN</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">#define SEC_PER_MIN&#160;&#160;&#160;60</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a2ab9b66762dd6eb975292a7e83116bec"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a2ab9b66762dd6eb975292a7e83116bec">&#9670;&nbsp;</a></span>SPEEDPPS2SPEEDRPM</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">#define SPEEDPPS2SPEEDRPM</td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname">freq</td><td>)</td>
+          <td>&#160;&#160;&#160;((unsigned long)(freq)*(<a class="el" href="MotorWheel_8h.html#ac47b302f1b8d2a7a9c035c417247be76">SEC_PER_MIN</a>)/(<a class="el" href="MotorWheel_8h.html#ad8f1771d4051eafad228df4d397d7e47">CPR</a>))</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a75450bf317fb4edd6c44dbe6b2ff7673"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a75450bf317fb4edd6c44dbe6b2ff7673">&#9670;&nbsp;</a></span>TAUD</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">#define TAUD&#160;&#160;&#160;0.00</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a73c066690ee81cb3f9c801205a237acd"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a73c066690ee81cb3f9c801205a237acd">&#9670;&nbsp;</a></span>TAUI</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">#define TAUI&#160;&#160;&#160;0.02</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a86de85f5177dabb5ff712bf180db43aa"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a86de85f5177dabb5ff712bf180db43aa">&#9670;&nbsp;</a></span>TRIGGER</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">#define TRIGGER&#160;&#160;&#160;CHANGE</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+</div><!-- contents -->
+<!-- start footer part -->
+<hr class="footer"/><address class="footer"><small>
+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.1
+</small></address>
+</body>
+</html>
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new file mode 100644
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diff --git a/src/dcaitirobot/embedded/docs/html/MotorWheel_8h__incl.md5 b/src/dcaitirobot/embedded/docs/html/MotorWheel_8h__incl.md5
new file mode 100644
index 0000000..b4e77ef
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diff --git a/src/dcaitirobot/embedded/docs/html/MotorWheel_8h__incl.png b/src/dcaitirobot/embedded/docs/html/MotorWheel_8h__incl.png
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+<div class="title">MotorWheel.h</div>  </div>
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+<div class="contents">
+<a href="MotorWheel_8h.html">Go to the documentation of this file.</a><div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160; </div>
+<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment">/*</span></div>
+<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="comment">V1.1    201104</span></div>
+<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="comment">1. motorwheel library version 1.1,compatible with maple.</span></div>
+<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="comment"></span> </div>
+<div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="comment">V1.1.1  201110</span></div>
+<div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="comment">1. Add Acceleration</span></div>
+<div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="comment"></span> </div>
+<div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="comment">V1.2    201207</span></div>
+<div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;<span class="comment">1. Double CPR from 12 to 24, Interrupt Type from RISING to CHANGE.</span></div>
+<div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;<span class="comment">2. Reduce default sample time from 10ms to 5ms.</span></div>
+<div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;<span class="comment">3. Compatible with Namiki 22CL-3501PG80:1, by &quot;#define _NAMIKI_MOTOR&quot; before &quot;#include ...&quot;.</span></div>
+<div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;<span class="comment"></span> </div>
+<div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;<span class="comment">V1.3    201209</span></div>
+<div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;<span class="comment">1. R2WD::delayMS(), Omni3WD::delayMS(), Omni4WD::delayMS() are re-implemented, more exactly.</span></div>
+<div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160;<span class="comment">2. getSpeedRPM(), setSpeedRPM(), getSpeedMMPS(), setSpeedMMPS() are plug-minus/direction sensitive now.</span></div>
+<div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160;<span class="comment">3. Acceleration is disabled.</span></div>
+<div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160;<span class="comment"></span> </div>
+<div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160;<span class="comment">V1.4    201209  Not Released</span></div>
+<div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160;<span class="comment">1. Increase CPR from 24 to 48 for Faulhaber 2342.</span></div>
+<div class="line"><a name="l00021"></a><span class="lineno">   21</span>&#160;<span class="comment"></span> </div>
+<div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160;<span class="comment">V1.5    201209  Omni4WD is re-implemented, and now return value of Omni4WD::getSpeedMMPS() is correct.</span></div>
+<div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160;<span class="comment"></span> </div>
+<div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160;<span class="comment"> */</span></div>
+<div class="line"><a name="l00025"></a><span class="lineno">   25</span>&#160; </div>
+<div class="line"><a name="l00026"></a><span class="lineno">   26</span>&#160;<span class="comment">/*for maple*/</span></div>
+<div class="line"><a name="l00027"></a><span class="lineno">   27</span>&#160;<span class="preprocessor">#if defined(BOARD_maple) || defined(BOARD_maple_native) || defined(BOARD_maple_mini)</span></div>
+<div class="line"><a name="l00028"></a><span class="lineno">   28</span>&#160;<span class="preprocessor">    #include &quot;wirish.h&quot;</span> </div>
+<div class="line"><a name="l00029"></a><span class="lineno">   29</span>&#160;<span class="preprocessor">    #include &quot;./../PID_Beta6/PID_Beta6.h&quot;</span></div>
+<div class="line"><a name="l00030"></a><span class="lineno">   30</span>&#160;<span class="preprocessor">    #include &quot;ext_interrupts.h&quot;</span></div>
+<div class="line"><a name="l00031"></a><span class="lineno">   31</span>&#160; </div>
+<div class="line"><a name="l00032"></a><span class="lineno">   32</span>&#160;<span class="comment">/*for arduino*/</span> </div>
+<div class="line"><a name="l00033"></a><span class="lineno">   33</span>&#160;<span class="preprocessor">#else</span></div>
+<div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160;    <span class="comment">//#include&lt;Arduino.h&gt;</span></div>
+<div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160;    <span class="comment">//#include&lt;WProgram.h&gt;</span></div>
+<div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;<span class="preprocessor">    #include&lt;<a class="code" href="PID__Beta6_8h.html">PID_Beta6.h</a>&gt;</span></div>
+<div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160;<span class="preprocessor">    #include&lt;<a class="code" href="PinChangeInt_8h.html">PinChangeInt.h</a>&gt;</span></div>
+<div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;    </div>
+<div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;<span class="preprocessor">#endif</span></div>
+<div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160; </div>
+<div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;<span class="comment">/*</span></div>
+<div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;<span class="comment"></span> </div>
+<div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;<span class="comment">    class PID</span></div>
+<div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;<span class="comment">    class Motor</span></div>
+<div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;<span class="comment">    class GearedMotor</span></div>
+<div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;<span class="comment">    class MotorWheel</span></div>
+<div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;<span class="comment"></span> </div>
+<div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;<span class="comment"> */</span></div>
+<div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160; </div>
+<div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160;<span class="preprocessor">#ifndef MotorWheel_H</span></div>
+<div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160;<span class="preprocessor">#define MotorWheel_H</span></div>
+<div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160; </div>
+<div class="line"><a name="l00053"></a><span class="lineno"><a class="line" href="MotorWheel_8h.html#a4ba93a34cdd9c7b4d1f72021b449906e">   53</a></span>&#160;<span class="preprocessor">#define DIR_ADVANCE HIGH</span></div>
+<div class="line"><a name="l00054"></a><span class="lineno"><a class="line" href="MotorWheel_8h.html#ad52f8b2bf56da6fe72ca2bf9da935ee7">   54</a></span>&#160;<span class="preprocessor">#define DIR_BACKOFF LOW</span></div>
+<div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160; </div>
+<div class="line"><a name="l00056"></a><span class="lineno"><a class="line" href="MotorWheel_8h.html#adf4d6e9fc5cbf047c65ce74b4fa14117">   56</a></span>&#160;<span class="preprocessor">#define  PIN_UNDEFINED 255</span></div>
+<div class="line"><a name="l00057"></a><span class="lineno"><a class="line" href="MotorWheel_8h.html#a2d979268f4539332ee9b1abc5b58e974">   57</a></span>&#160;<span class="preprocessor">#define  REF_VOLT 12</span></div>
+<div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160;<span class="comment">/*for maple*/</span></div>
+<div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160;<span class="preprocessor">#if defined(BOARD_maple) || defined(BOARD_maple_native) || defined(BOARD_maple_mini)</span></div>
+<div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160;<span class="preprocessor">    #define  MAX_PWM  3599</span></div>
+<div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160; </div>
+<div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160;<span class="comment">/*for arduino*/</span> </div>
+<div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160;<span class="preprocessor">#else</span></div>
+<div class="line"><a name="l00064"></a><span class="lineno"><a class="line" href="MotorWheel_8h.html#a1df990f1a1fc97b95e8d53f719968026">   64</a></span>&#160;<span class="preprocessor">    #define  MAX_PWM 255</span></div>
+<div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160;    </div>
+<div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;<span class="preprocessor">#endif</span></div>
+<div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160; </div>
+<div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160;<span class="preprocessor">#ifdef _NAMIKI_MOTOR</span></div>
+<div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160;<span class="preprocessor">    #define  TRIGGER CHANGE</span></div>
+<div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160;<span class="preprocessor">    #define  CPR 4  </span><span class="comment">// Namiki motor</span></div>
+<div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160;<span class="preprocessor">    #define  DIR_INVERSE</span></div>
+<div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160;<span class="preprocessor">    #define  REDUCTION_RATIO 80</span></div>
+<div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160;<span class="preprocessor">#else</span></div>
+<div class="line"><a name="l00074"></a><span class="lineno"><a class="line" href="MotorWheel_8h.html#a86de85f5177dabb5ff712bf180db43aa">   74</a></span>&#160;<span class="preprocessor">    #define  TRIGGER CHANGE</span></div>
+<div class="line"><a name="l00075"></a><span class="lineno"><a class="line" href="MotorWheel_8h.html#ad8f1771d4051eafad228df4d397d7e47">   75</a></span>&#160;<span class="preprocessor">    #define  CPR 24 </span><span class="comment">// Faulhaber motor</span></div>
+<div class="line"><a name="l00076"></a><span class="lineno"><a class="line" href="MotorWheel_8h.html#a37aea0c86f1a366a15e54142dbcd0f45">   76</a></span>&#160;<span class="preprocessor">    #define  DIR_INVERSE !</span></div>
+<div class="line"><a name="l00077"></a><span class="lineno"><a class="line" href="MotorWheel_8h.html#a545c3d33941dafc6ffd8cd9a61f6fca4">   77</a></span>&#160;<span class="preprocessor">    #define  REDUCTION_RATIO 64</span></div>
+<div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160;<span class="preprocessor">#endif</span></div>
+<div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160; </div>
+<div class="line"><a name="l00080"></a><span class="lineno"><a class="line" href="MotorWheel_8h.html#a81d84c8ab20039cad6024ab239ee4086">   80</a></span>&#160;<span class="preprocessor">#define  MAX_SPEEDRPM 8000</span></div>
+<div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160;<span class="comment">//#define  DESIRED_SPEEDRPM 3000</span></div>
+<div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160;<span class="comment">//#define  SPEED_CONSTANT_RPM 713</span></div>
+<div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160;<span class="comment">//#define  PWM2SPEED_RESOLUTION 143 //713 * 0.2</span></div>
+<div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160; </div>
+<div class="line"><a name="l00085"></a><span class="lineno"><a class="line" href="MotorWheel_8h.html#ac47b302f1b8d2a7a9c035c417247be76">   85</a></span>&#160;<span class="preprocessor">#define  SEC_PER_MIN 60</span></div>
+<div class="line"><a name="l00086"></a><span class="lineno"><a class="line" href="MotorWheel_8h.html#a81bcea712b48d6bf8f7193e3de40404b">   86</a></span>&#160;<span class="preprocessor">#define  MICROS_PER_SEC 1000000</span></div>
+<div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160;<span class="comment">//#define  SPEEDPPS2SPEEDRPM(freq) ((freq)*((SEC_PER_MIN)/(CPR))) //(freq*SEC_PER_MIN/CPR)</span></div>
+<div class="line"><a name="l00088"></a><span class="lineno"><a class="line" href="MotorWheel_8h.html#a2ab9b66762dd6eb975292a7e83116bec">   88</a></span>&#160;<span class="preprocessor">#define  SPEEDPPS2SPEEDRPM(freq) ((unsigned long)(freq)*(SEC_PER_MIN)/(CPR)) </span><span class="comment">//(freq*SEC_PER_MIN/CPR)</span></div>
+<div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160;<span class="comment">//#define  SPEEDPPS2SPEED2VOLT(spd) ((spd)/SPEED_CONSTANT_RPM)</span></div>
+<div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160;<span class="comment">//#define  MAX_SPEEDPPS ((MAX_SPEEDRPM*CPR)/SEC_PER_MIN)</span></div>
+<div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160;<span class="comment">//#define  MIN_SPEEDPPS 0</span></div>
+<div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160; </div>
+<div class="line"><a name="l00093"></a><span class="lineno"><a class="line" href="MotorWheel_8h.html#a73764abcca0b8bbf6bf355d9f1bab0b9">   93</a></span>&#160;<span class="preprocessor">#define  KC           0.31</span></div>
+<div class="line"><a name="l00094"></a><span class="lineno"><a class="line" href="MotorWheel_8h.html#a73c066690ee81cb3f9c801205a237acd">   94</a></span>&#160;<span class="preprocessor">#define  TAUI         0.02</span></div>
+<div class="line"><a name="l00095"></a><span class="lineno"><a class="line" href="MotorWheel_8h.html#a75450bf317fb4edd6c44dbe6b2ff7673">   95</a></span>&#160;<span class="preprocessor">#define  TAUD         0.00</span></div>
+<div class="line"><a name="l00096"></a><span class="lineno"><a class="line" href="MotorWheel_8h.html#a755b9528bf80376f0476829e8078a0da">   96</a></span>&#160;<span class="preprocessor">#define  SAMPLETIME   5</span></div>
+<div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160; </div>
+<div class="line"><a name="l00098"></a><span class="lineno"><a class="line" href="MotorWheel_8h.html#ab201ec4c4f600966de3779313f08d2c3">   98</a></span>&#160;<span class="preprocessor">#define Baudrate    19200</span></div>
+<div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160;<span class="comment">/*</span></div>
+<div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160;<span class="comment">#ifndef DEBUG</span></div>
+<div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160;<span class="comment">#define DEBUG</span></div>
+<div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160;<span class="comment">#endif</span></div>
+<div class="line"><a name="l00103"></a><span class="lineno">  103</span>&#160;<span class="comment"> */</span></div>
+<div class="line"><a name="l00104"></a><span class="lineno">  104</span>&#160;<span class="preprocessor">#ifdef DEBUG</span></div>
+<div class="line"><a name="l00105"></a><span class="lineno">  105</span>&#160;<span class="preprocessor">#define debug() { \</span></div>
+<div class="line"><a name="l00106"></a><span class="lineno">  106</span>&#160;<span class="preprocessor">    if(!Serial.available()) Serial.begin(Baudrate); \</span></div>
+<div class="line"><a name="l00107"></a><span class="lineno">  107</span>&#160;<span class="preprocessor">    Serial.println(__func__);}</span></div>
+<div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160;<span class="preprocessor">#else</span></div>
+<div class="line"><a name="l00109"></a><span class="lineno"><a class="line" href="MotorWheel_8h.html#aa8f0efe0d1ee33354f41f8898d0ee8dd">  109</a></span>&#160;<span class="preprocessor">#define debug() {}</span></div>
+<div class="line"><a name="l00110"></a><span class="lineno">  110</span>&#160;<span class="preprocessor">#endif</span></div>
+<div class="line"><a name="l00111"></a><span class="lineno">  111</span>&#160; </div>
+<div class="line"><a name="l00112"></a><span class="lineno">  112</span>&#160; </div>
+<div class="line"><a name="l00113"></a><span class="lineno">  113</span>&#160;<span class="comment">// Interrupt Type: RISING --&gt; CHANGE    201207</span></div>
+<div class="line"><a name="l00114"></a><span class="lineno"><a class="line" href="MotorWheel_8h.html#a9812ffc02e34cfd1b5809ba2811a98ae">  114</a></span>&#160;<span class="preprocessor">#define irqISR(y,x) \</span></div>
+<div class="line"><a name="l00115"></a><span class="lineno">  115</span>&#160;<span class="preprocessor">    void x(); \</span></div>
+<div class="line"><a name="l00116"></a><span class="lineno">  116</span>&#160;<span class="preprocessor">    struct ISRVars y={x}; \</span></div>
+<div class="line"><a name="l00117"></a><span class="lineno">  117</span>&#160;<span class="preprocessor">    void x() { \</span></div>
+<div class="line"><a name="l00118"></a><span class="lineno">  118</span>&#160;<span class="preprocessor">        static bool first_pulse=true; \</span></div>
+<div class="line"><a name="l00119"></a><span class="lineno">  119</span>&#160;<span class="preprocessor">        y.pulseEndMicros=micros(); \</span></div>
+<div class="line"><a name="l00120"></a><span class="lineno">  120</span>&#160;<span class="preprocessor">        if(first_pulse==false &amp;&amp; y.pulseEndMicros&gt;y.pulseStartMicros) { \</span></div>
+<div class="line"><a name="l00121"></a><span class="lineno">  121</span>&#160;<span class="preprocessor">            y.speedPPS=MICROS_PER_SEC/(y.pulseEndMicros-y.pulseStartMicros); \</span></div>
+<div class="line"><a name="l00122"></a><span class="lineno">  122</span>&#160;<span class="preprocessor">            </span><span class="comment">/* y.accPPSS=(y.speedPPS-y.lastSpeedPPS)*y.speedPPS; */</span><span class="preprocessor"> \</span></div>
+<div class="line"><a name="l00123"></a><span class="lineno">  123</span>&#160;<span class="preprocessor">        } else first_pulse=false; \</span></div>
+<div class="line"><a name="l00124"></a><span class="lineno">  124</span>&#160;<span class="preprocessor">        y.pulseStartMicros=y.pulseEndMicros; \</span></div>
+<div class="line"><a name="l00125"></a><span class="lineno">  125</span>&#160;<span class="preprocessor">        </span><span class="comment">/* y.lastSpeedPPS=y.speedPPS; */</span><span class="preprocessor"> \</span></div>
+<div class="line"><a name="l00126"></a><span class="lineno">  126</span>&#160;<span class="preprocessor">        if(y.pinIRQB!=PIN_UNDEFINED) \</span></div>
+<div class="line"><a name="l00127"></a><span class="lineno">  127</span>&#160;<span class="preprocessor">            y.currDirection=DIR_INVERSE(digitalRead(y.pinIRQ)^digitalRead(y.pinIRQB)); \</span></div>
+<div class="line"><a name="l00128"></a><span class="lineno">  128</span>&#160;<span class="preprocessor">        y.currDirection==DIR_ADVANCE?++y.pulses:--y.pulses; \</span></div>
+<div class="line"><a name="l00129"></a><span class="lineno">  129</span>&#160;<span class="preprocessor">    } </span></div>
+<div class="line"><a name="l00130"></a><span class="lineno">  130</span>&#160; </div>
+<div class="line"><a name="l00131"></a><span class="lineno"><a class="line" href="structISRVars.html">  131</a></span>&#160;<span class="keyword">struct </span><a class="code" href="structISRVars.html">ISRVars</a> {</div>
+<div class="line"><a name="l00132"></a><span class="lineno"><a class="line" href="structISRVars.html#a38f71602d525494877c66159cf704309">  132</a></span>&#160;    void (*<a class="code" href="structISRVars.html#a38f71602d525494877c66159cf704309">ISRfunc</a>)();</div>
+<div class="line"><a name="l00133"></a><span class="lineno">  133</span>&#160;    <span class="comment">//volatile unsigned long pulses;</span></div>
+<div class="line"><a name="l00134"></a><span class="lineno"><a class="line" href="structISRVars.html#a5fb13f185745e43667ba30d2c0481f74">  134</a></span>&#160;    <span class="keyword">volatile</span> <span class="keywordtype">long</span> <a class="code" href="structISRVars.html#a5fb13f185745e43667ba30d2c0481f74">pulses</a>;   <span class="comment">// 201104, direction sensitive</span></div>
+<div class="line"><a name="l00135"></a><span class="lineno"><a class="line" href="structISRVars.html#aad94840301dc39f51a918b556df8fc11">  135</a></span>&#160;    <span class="keyword">volatile</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">long</span> <a class="code" href="structISRVars.html#aad94840301dc39f51a918b556df8fc11">pulseStartMicros</a>;</div>
+<div class="line"><a name="l00136"></a><span class="lineno"><a class="line" href="structISRVars.html#a935b7a7cfe9c5a33902ce56256980846">  136</a></span>&#160;    <span class="keyword">volatile</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">long</span> <a class="code" href="structISRVars.html#a935b7a7cfe9c5a33902ce56256980846">pulseEndMicros</a>;</div>
+<div class="line"><a name="l00137"></a><span class="lineno"><a class="line" href="structISRVars.html#af6857712234eae5709feba7c699e0ac7">  137</a></span>&#160;    <span class="keyword">volatile</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span>  <a class="code" href="structISRVars.html#af6857712234eae5709feba7c699e0ac7">speedPPS</a>;</div>
+<div class="line"><a name="l00138"></a><span class="lineno">  138</span>&#160;    <span class="comment">//volatile unsigned int  lastSpeedPPS;</span></div>
+<div class="line"><a name="l00139"></a><span class="lineno">  139</span>&#160;    <span class="comment">//volatile int accPPSS; // acceleration, Pulse Per Sec^2</span></div>
+<div class="line"><a name="l00140"></a><span class="lineno"><a class="line" href="structISRVars.html#a9db372787f75f20b71f24706af08878e">  140</a></span>&#160;    <span class="keyword">volatile</span> <span class="keywordtype">bool</span> <a class="code" href="structISRVars.html#a9db372787f75f20b71f24706af08878e">currDirection</a>;</div>
+<div class="line"><a name="l00141"></a><span class="lineno"><a class="line" href="structISRVars.html#a24a642bb0d154409a0c7799c6e79552a">  141</a></span>&#160;    <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> <a class="code" href="structISRVars.html#a24a642bb0d154409a0c7799c6e79552a">pinIRQB</a>;</div>
+<div class="line"><a name="l00142"></a><span class="lineno"><a class="line" href="structISRVars.html#ac1eba4ab5f07f4751a050d9cbcedc797">  142</a></span>&#160;    <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> <a class="code" href="structISRVars.html#ac1eba4ab5f07f4751a050d9cbcedc797">pinIRQ</a>;   <span class="comment">// pinIRQA 201207</span></div>
+<div class="line"><a name="l00143"></a><span class="lineno">  143</span>&#160;};</div>
+<div class="line"><a name="l00144"></a><span class="lineno">  144</span>&#160; </div>
+<div class="line"><a name="l00145"></a><span class="lineno"><a class="line" href="classMotor.html">  145</a></span>&#160;<span class="keyword">class </span><a class="code" href="classMotor.html">Motor</a>: <span class="keyword">public</span> <a class="code" href="classPID.html">PID</a> {</div>
+<div class="line"><a name="l00146"></a><span class="lineno">  146</span>&#160;<span class="keyword">public</span>:</div>
+<div class="line"><a name="l00147"></a><span class="lineno">  147</span>&#160;    <a class="code" href="classMotor.html">Motor</a>(<span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> _pinPWM,<span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> _pinDir,</div>
+<div class="line"><a name="l00148"></a><span class="lineno">  148</span>&#160;            <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> _pinIRQ,<span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> _pinIRQB,</div>
+<div class="line"><a name="l00149"></a><span class="lineno">  149</span>&#160;            <span class="keyword">struct</span> <a class="code" href="structISRVars.html">ISRVars</a>* _isr);</div>
+<div class="line"><a name="l00150"></a><span class="lineno">  150</span>&#160;    </div>
+<div class="line"><a name="l00151"></a><span class="lineno">  151</span>&#160;    <span class="keywordtype">void</span> <a class="code" href="classMotor.html#a826a3f1ffd48fd6f49d74caf7ad68dad">setupInterrupt</a>();</div>
+<div class="line"><a name="l00152"></a><span class="lineno">  152</span>&#160; </div>
+<div class="line"><a name="l00153"></a><span class="lineno">  153</span>&#160;    <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> <a class="code" href="classMotor.html#ad02c1db58f8f247f4e8becc19d1c7054">getPinPWM</a>() <span class="keyword">const</span>;</div>
+<div class="line"><a name="l00154"></a><span class="lineno">  154</span>&#160;    <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> <a class="code" href="classMotor.html#af085804880a48840dc3d1d088911695e">getPinDir</a>() <span class="keyword">const</span>;</div>
+<div class="line"><a name="l00155"></a><span class="lineno">  155</span>&#160;    <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> <a class="code" href="classMotor.html#a785eadb656e31e62b1f1515004344ae0">getPinIRQ</a>() <span class="keyword">const</span>;</div>
+<div class="line"><a name="l00156"></a><span class="lineno">  156</span>&#160;    <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> <a class="code" href="classMotor.html#a3a1771db56274e5c06625d33a098932f">getPinIRQB</a>() <span class="keyword">const</span>;</div>
+<div class="line"><a name="l00157"></a><span class="lineno">  157</span>&#160;    </div>
+<div class="line"><a name="l00158"></a><span class="lineno">  158</span>&#160;    <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> <a class="code" href="classMotor.html#ad4e09298c4c8b99ab467a4262d8a3207">runPWM</a>(<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> PWM,<span class="keywordtype">bool</span> dir,<span class="keywordtype">bool</span> saveDir=<span class="keyword">true</span>);</div>
+<div class="line"><a name="l00159"></a><span class="lineno">  159</span>&#160;    <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> <a class="code" href="classMotor.html#aa41934a55ada6dabb95b6741b6d964d3">getPWM</a>() <span class="keyword">const</span>;</div>
+<div class="line"><a name="l00160"></a><span class="lineno">  160</span>&#160;    <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> <a class="code" href="classMotor.html#a17f9e1e193961edc117026f80e806d49">advancePWM</a>(<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> PWM);</div>
+<div class="line"><a name="l00161"></a><span class="lineno">  161</span>&#160;    <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> <a class="code" href="classMotor.html#aefe7b72985f51315c7ffe81fbf66869c">backoffPWM</a>(<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> PWM);</div>
+<div class="line"><a name="l00162"></a><span class="lineno">  162</span>&#160; </div>
+<div class="line"><a name="l00163"></a><span class="lineno">  163</span>&#160;    <span class="keywordtype">bool</span> <a class="code" href="classMotor.html#a2aaead147c8cb1a712db027f9cb70e33">setDesiredDir</a>(<span class="keywordtype">bool</span> dir);</div>
+<div class="line"><a name="l00164"></a><span class="lineno">  164</span>&#160;    <span class="keywordtype">bool</span> <a class="code" href="classMotor.html#aa813d431c39937e90e91f3ad2fbf625d">getDesiredDir</a>() <span class="keyword">const</span>;</div>
+<div class="line"><a name="l00165"></a><span class="lineno">  165</span>&#160;    <span class="keywordtype">bool</span> <a class="code" href="classMotor.html#aeddf9353baeaa0ad9e6de0df5d3e73e8">reverseDesiredDir</a>();</div>
+<div class="line"><a name="l00166"></a><span class="lineno">  166</span>&#160; </div>
+<div class="line"><a name="l00167"></a><span class="lineno">  167</span>&#160;    <span class="keywordtype">bool</span> <a class="code" href="classMotor.html#a9462d1a9af69941100f422ce1a0faeff">setCurrDir</a>();</div>
+<div class="line"><a name="l00168"></a><span class="lineno">  168</span>&#160;    <span class="keywordtype">bool</span> <a class="code" href="classMotor.html#aaedede5ddae28b6926204dc7a47e0612">getCurrDir</a>() <span class="keyword">const</span>;</div>
+<div class="line"><a name="l00169"></a><span class="lineno">  169</span>&#160; </div>
+<div class="line"><a name="l00170"></a><span class="lineno">  170</span>&#160;    <span class="comment">//int getAccRPMM() const;       // Acceleration, Round Per Min^2</span></div>
+<div class="line"><a name="l00171"></a><span class="lineno">  171</span>&#160;    <span class="comment">//unsigned int getSpeedRPM() const;</span></div>
+<div class="line"><a name="l00172"></a><span class="lineno">  172</span>&#160;    <span class="comment">//unsigned int setSpeedRPM(int speedRPM,bool dir);</span></div>
+<div class="line"><a name="l00173"></a><span class="lineno">  173</span>&#160;    <span class="comment">// direction sensitive 201208</span></div>
+<div class="line"><a name="l00174"></a><span class="lineno">  174</span>&#160;    <span class="keywordtype">int</span> <a class="code" href="classMotor.html#ada15a2f02a7945a458b48e829b6a5d6b">getSpeedRPM</a>() <span class="keyword">const</span>;</div>
+<div class="line"><a name="l00175"></a><span class="lineno">  175</span>&#160;    <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> <a class="code" href="classMotor.html#a8d707212e2395830a9064712df1c4f68">setSpeedRPM</a>(<span class="keywordtype">int</span> speedRPM,<span class="keywordtype">bool</span> dir);    <span class="comment">// preserve</span></div>
+<div class="line"><a name="l00176"></a><span class="lineno">  176</span>&#160;    <span class="keywordtype">int</span> <a class="code" href="classMotor.html#a8d707212e2395830a9064712df1c4f68">setSpeedRPM</a>(<span class="keywordtype">int</span> speedRPM);</div>
+<div class="line"><a name="l00177"></a><span class="lineno">  177</span>&#160;    </div>
+<div class="line"><a name="l00178"></a><span class="lineno">  178</span>&#160;    <span class="comment">//void simpleRegulate();</span></div>
+<div class="line"><a name="l00179"></a><span class="lineno">  179</span>&#160; </div>
+<div class="line"><a name="l00180"></a><span class="lineno">  180</span>&#160;    <span class="keywordtype">bool</span> <a class="code" href="classMotor.html#a0555b6c2a33c373d3a9e33f174a2b5aa">PIDSetup</a>(<span class="keywordtype">float</span> kc=<a class="code" href="MotorWheel_8h.html#a73764abcca0b8bbf6bf355d9f1bab0b9">KC</a>,<span class="keywordtype">float</span> taui=<a class="code" href="MotorWheel_8h.html#a73c066690ee81cb3f9c801205a237acd">TAUI</a>,<span class="keywordtype">float</span> taud=<a class="code" href="MotorWheel_8h.html#a75450bf317fb4edd6c44dbe6b2ff7673">TAUD</a>,<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> sampleTime=1000);</div>
+<div class="line"><a name="l00181"></a><span class="lineno">  181</span>&#160;    <span class="keywordtype">bool</span> <a class="code" href="classMotor.html#a1bc02b7e0da3aca6e724d2755d42eaab">PIDGetStatus</a>() <span class="keyword">const</span>;</div>
+<div class="line"><a name="l00182"></a><span class="lineno">  182</span>&#160;    <span class="keywordtype">bool</span> <a class="code" href="classMotor.html#ad6ee53cd8570f60ae5dd83b8604b00fe">PIDEnable</a>(<span class="keywordtype">float</span> kc=<a class="code" href="MotorWheel_8h.html#a73764abcca0b8bbf6bf355d9f1bab0b9">KC</a>,<span class="keywordtype">float</span> taui=<a class="code" href="MotorWheel_8h.html#a73c066690ee81cb3f9c801205a237acd">TAUI</a>,<span class="keywordtype">float</span> taud=<a class="code" href="MotorWheel_8h.html#a75450bf317fb4edd6c44dbe6b2ff7673">TAUD</a>,<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> sampleTime=1000);</div>
+<div class="line"><a name="l00183"></a><span class="lineno">  183</span>&#160;    <span class="keywordtype">bool</span> <a class="code" href="classMotor.html#a6358811a51b7636b06199972b7fae417">PIDDisable</a>();</div>
+<div class="line"><a name="l00184"></a><span class="lineno">  184</span>&#160;    <span class="keywordtype">bool</span> <a class="code" href="classMotor.html#ae14f43483f26152d92c88aa4c6a7a471">PIDReset</a>();</div>
+<div class="line"><a name="l00185"></a><span class="lineno">  185</span>&#160;    <span class="keywordtype">bool</span> <a class="code" href="classMotor.html#aa44fc307611e45eeb5e6fb50c79f375b">PIDRegulate</a>(<span class="keywordtype">bool</span> doRegulate=<span class="keyword">true</span>);</div>
+<div class="line"><a name="l00186"></a><span class="lineno">  186</span>&#160;    <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> <a class="code" href="classMotor.html#a3377631cff641d41a50b7f1c5b30fc1f">PIDSetSpeedRPMDesired</a>(<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> speedRPM);</div>
+<div class="line"><a name="l00187"></a><span class="lineno">  187</span>&#160;    <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> <a class="code" href="classMotor.html#a9ca625db156da95bc5f4500c294f8e83">PIDGetSpeedRPMDesired</a>() <span class="keyword">const</span>;</div>
+<div class="line"><a name="l00188"></a><span class="lineno">  188</span>&#160; </div>
+<div class="line"><a name="l00189"></a><span class="lineno">  189</span>&#160;    <span class="keywordtype">void</span> <a class="code" href="classMotor.html#a0a420be82fa25f5b62b96f6805835d71">delayMS</a>(<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> ms,<span class="keywordtype">bool</span> <a class="code" href="MotorWheel_8h.html#aa8f0efe0d1ee33354f41f8898d0ee8dd">debug</a>=<span class="keyword">false</span>);</div>
+<div class="line"><a name="l00190"></a><span class="lineno">  190</span>&#160;    <span class="keywordtype">void</span> <a class="code" href="classMotor.html#a55a0ba922517197fd01caac36c84c682">debugger</a>() <span class="keyword">const</span>;</div>
+<div class="line"><a name="l00191"></a><span class="lineno">  191</span>&#160; </div>
+<div class="line"><a name="l00192"></a><span class="lineno">  192</span>&#160;    <span class="comment">//int getAccPPSS() const;</span></div>
+<div class="line"><a name="l00193"></a><span class="lineno">  193</span>&#160;    <span class="keywordtype">int</span> <a class="code" href="classMotor.html#a5e5d272254ecd37a082fc467e9cd2610">getSpeedPPS</a>() <span class="keyword">const</span>;</div>
+<div class="line"><a name="l00194"></a><span class="lineno">  194</span>&#160;    <span class="keywordtype">long</span> <a class="code" href="classMotor.html#a54f6cdff2ab028fdd2724fbf40c3f641">getCurrPulse</a>() <span class="keyword">const</span>;</div>
+<div class="line"><a name="l00195"></a><span class="lineno">  195</span>&#160;    <span class="keywordtype">long</span> <a class="code" href="classMotor.html#a653642c0cba985a85204fbfe81cf3c8a">setCurrPulse</a>(<span class="keywordtype">long</span> _pulse);</div>
+<div class="line"><a name="l00196"></a><span class="lineno">  196</span>&#160;    <span class="keywordtype">long</span> <a class="code" href="classMotor.html#a190bda1f77605d10bcbacceb2e465bf0">resetCurrPulse</a>();</div>
+<div class="line"><a name="l00197"></a><span class="lineno">  197</span>&#160;    </div>
+<div class="line"><a name="l00198"></a><span class="lineno"><a class="line" href="classMotor.html#acab1e83ffdd286821aa69af770294fae">  198</a></span>&#160;    <span class="keyword">struct </span><a class="code" href="structISRVars.html">ISRVars</a>* <a class="code" href="classMotor.html#acab1e83ffdd286821aa69af770294fae">isr</a>;</div>
+<div class="line"><a name="l00199"></a><span class="lineno">  199</span>&#160; </div>
+<div class="line"><a name="l00200"></a><span class="lineno">  200</span>&#160;<span class="keyword">private</span>:</div>
+<div class="line"><a name="l00201"></a><span class="lineno">  201</span>&#160;    <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> pinPWM;</div>
+<div class="line"><a name="l00202"></a><span class="lineno">  202</span>&#160;    <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> pinDir;</div>
+<div class="line"><a name="l00203"></a><span class="lineno">  203</span>&#160;    <span class="comment">//unsigned char pinIRQ;     // moved to isr</span></div>
+<div class="line"><a name="l00204"></a><span class="lineno">  204</span>&#160;    <span class="comment">//unsigned char pinIRQB;</span></div>
+<div class="line"><a name="l00205"></a><span class="lineno">  205</span>&#160; </div>
+<div class="line"><a name="l00206"></a><span class="lineno">  206</span>&#160;    <span class="comment">//bool currDirection;       // current direction</span></div>
+<div class="line"><a name="l00207"></a><span class="lineno">  207</span>&#160;    <span class="keywordtype">bool</span> desiredDirection;  <span class="comment">// desired direction</span></div>
+<div class="line"><a name="l00208"></a><span class="lineno">  208</span>&#160;    <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> speedPWM;  <span class="comment">// current PWM</span></div>
+<div class="line"><a name="l00209"></a><span class="lineno">  209</span>&#160; </div>
+<div class="line"><a name="l00210"></a><span class="lineno">  210</span>&#160;    <span class="keywordtype">int</span> speedRPMInput;      <span class="comment">// RPM: Round Per Minute</span></div>
+<div class="line"><a name="l00211"></a><span class="lineno">  211</span>&#160;    <span class="keywordtype">int</span> speedRPMOutput;     <span class="comment">// RPM</span></div>
+<div class="line"><a name="l00212"></a><span class="lineno">  212</span>&#160;    <span class="keywordtype">int</span> speedRPMDesired;    <span class="comment">// RPM</span></div>
+<div class="line"><a name="l00213"></a><span class="lineno">  213</span>&#160;    <span class="comment">//float PWMEC;</span></div>
+<div class="line"><a name="l00214"></a><span class="lineno">  214</span>&#160;    <span class="keywordtype">float</span> speed2DutyCycle;</div>
+<div class="line"><a name="l00215"></a><span class="lineno">  215</span>&#160;<span class="comment">/*</span></div>
+<div class="line"><a name="l00216"></a><span class="lineno">  216</span>&#160;<span class="comment">    // the followings are defined in struct ISRvars, </span></div>
+<div class="line"><a name="l00217"></a><span class="lineno">  217</span>&#160;<span class="comment">    // because ISR must be a global function, without parameters and no return value</span></div>
+<div class="line"><a name="l00218"></a><span class="lineno">  218</span>&#160;<span class="comment"></span> </div>
+<div class="line"><a name="l00219"></a><span class="lineno">  219</span>&#160;<span class="comment">    volatile unsigned int speedPPS; // PPS: Pulses Per Second</span></div>
+<div class="line"><a name="l00220"></a><span class="lineno">  220</span>&#160;<span class="comment">    volatile unsigned long pulseStartMicros;</span></div>
+<div class="line"><a name="l00221"></a><span class="lineno">  221</span>&#160;<span class="comment">    volatile unsigned long pulseEndMicros;</span></div>
+<div class="line"><a name="l00222"></a><span class="lineno">  222</span>&#160;<span class="comment"> */</span></div>
+<div class="line"><a name="l00223"></a><span class="lineno">  223</span>&#160;    <span class="keywordtype">bool</span> pidCtrl;</div>
+<div class="line"><a name="l00224"></a><span class="lineno">  224</span>&#160; </div>
+<div class="line"><a name="l00225"></a><span class="lineno">  225</span>&#160;    <a class="code" href="classMotor.html">Motor</a>();</div>
+<div class="line"><a name="l00226"></a><span class="lineno">  226</span>&#160; </div>
+<div class="line"><a name="l00227"></a><span class="lineno">  227</span>&#160;};</div>
+<div class="line"><a name="l00228"></a><span class="lineno">  228</span>&#160; </div>
+<div class="line"><a name="l00229"></a><span class="lineno">  229</span>&#160; </div>
+<div class="line"><a name="l00230"></a><span class="lineno">  230</span>&#160;<span class="preprocessor">#ifndef REDUCTION_RATIO</span></div>
+<div class="line"><a name="l00231"></a><span class="lineno">  231</span>&#160;<span class="preprocessor">#define  REDUCTION_RATIO 64</span></div>
+<div class="line"><a name="l00232"></a><span class="lineno">  232</span>&#160;<span class="preprocessor">#endif</span></div>
+<div class="line"><a name="l00233"></a><span class="lineno"><a class="line" href="classGearedMotor.html">  233</a></span>&#160;<span class="keyword">class </span><a class="code" href="classGearedMotor.html">GearedMotor</a>: <span class="keyword">public</span> <a class="code" href="classMotor.html">Motor</a> {   <span class="comment">// RPM</span></div>
+<div class="line"><a name="l00234"></a><span class="lineno">  234</span>&#160;<span class="keyword">public</span>:</div>
+<div class="line"><a name="l00235"></a><span class="lineno">  235</span>&#160;    <a class="code" href="classGearedMotor.html#aa91e4c0799d41b33495cac9c805333e2">GearedMotor</a>(<span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> _pinPWM,<span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> _pinDir,</div>
+<div class="line"><a name="l00236"></a><span class="lineno">  236</span>&#160;                    <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> _pinIRQ,<span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> _pinIRQB,</div>
+<div class="line"><a name="l00237"></a><span class="lineno">  237</span>&#160;                    <span class="keyword">struct</span> <a class="code" href="structISRVars.html">ISRVars</a>* _isr,</div>
+<div class="line"><a name="l00238"></a><span class="lineno">  238</span>&#160;                    <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> _ratio=<a class="code" href="MotorWheel_8h.html#a545c3d33941dafc6ffd8cd9a61f6fca4">REDUCTION_RATIO</a>);</div>
+<div class="line"><a name="l00239"></a><span class="lineno">  239</span>&#160;    <span class="comment">//float getGearedAccRPMM() const;       // Acceleration, Round Per Min^2</span></div>
+<div class="line"><a name="l00240"></a><span class="lineno">  240</span>&#160;    <span class="keywordtype">float</span> <a class="code" href="classGearedMotor.html#a13b6c99ef8713b5333f98a9ba844ba8b">getGearedSpeedRPM</a>() <span class="keyword">const</span>;</div>
+<div class="line"><a name="l00241"></a><span class="lineno">  241</span>&#160;    <span class="keywordtype">float</span> <a class="code" href="classGearedMotor.html#a0aa18eb91d0313f4bf64cc5e3d43c4cf">setGearedSpeedRPM</a>(<span class="keywordtype">float</span> gearedSpeedRPM,<span class="keywordtype">bool</span> dir);</div>
+<div class="line"><a name="l00242"></a><span class="lineno">  242</span>&#160;    <span class="comment">// direction sensitive 201208</span></div>
+<div class="line"><a name="l00243"></a><span class="lineno">  243</span>&#160;    <span class="keywordtype">float</span> <a class="code" href="classGearedMotor.html#a0aa18eb91d0313f4bf64cc5e3d43c4cf">setGearedSpeedRPM</a>(<span class="keywordtype">float</span> gearedSpeedRPM);</div>
+<div class="line"><a name="l00244"></a><span class="lineno">  244</span>&#160;    <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> <a class="code" href="classGearedMotor.html#aff9f697effb8c62667a32942ae154053">getRatio</a>() <span class="keyword">const</span>;</div>
+<div class="line"><a name="l00245"></a><span class="lineno">  245</span>&#160;    <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> <a class="code" href="classGearedMotor.html#a347d79fb74710a1a82410d0b14a84f25">setRatio</a>(<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> ratio=<a class="code" href="MotorWheel_8h.html#a545c3d33941dafc6ffd8cd9a61f6fca4">REDUCTION_RATIO</a>);</div>
+<div class="line"><a name="l00246"></a><span class="lineno">  246</span>&#160;    <span class="keywordtype">float</span> <a class="code" href="classGearedMotor.html#a36d9fc91b484c923d3f6c92d05c17b56">getPosition</a>();</div>
+<div class="line"><a name="l00247"></a><span class="lineno">  247</span>&#160;<span class="keyword">private</span>:</div>
+<div class="line"><a name="l00248"></a><span class="lineno">  248</span>&#160;    <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> _ratio;</div>
+<div class="line"><a name="l00249"></a><span class="lineno">  249</span>&#160;};</div>
+<div class="line"><a name="l00250"></a><span class="lineno">  250</span>&#160; </div>
+<div class="line"><a name="l00251"></a><span class="lineno">  251</span>&#160; </div>
+<div class="line"><a name="l00252"></a><span class="lineno">  252</span>&#160;<span class="preprocessor">#ifndef PI</span></div>
+<div class="line"><a name="l00253"></a><span class="lineno"><a class="line" href="MotorWheel_8h.html#a598a3330b3c21701223ee0ca14316eca">  253</a></span>&#160;<span class="preprocessor">#define PI 3.1416</span></div>
+<div class="line"><a name="l00254"></a><span class="lineno">  254</span>&#160;<span class="preprocessor">#endif</span></div>
+<div class="line"><a name="l00255"></a><span class="lineno">  255</span>&#160;<span class="comment">//#define CIR 31.4  // cm</span></div>
+<div class="line"><a name="l00256"></a><span class="lineno">  256</span>&#160;<span class="comment">//#define CIRMM 150 // mm</span></div>
+<div class="line"><a name="l00257"></a><span class="lineno">  257</span>&#160;<span class="comment">//#define CIRMM 188</span></div>
+<div class="line"><a name="l00258"></a><span class="lineno"><a class="line" href="MotorWheel_8h.html#a557b8031c21a790194ec252c281dc404">  258</a></span>&#160;<span class="preprocessor">#define CIRMM 314</span></div>
+<div class="line"><a name="l00259"></a><span class="lineno"><a class="line" href="classMotorWheel.html">  259</a></span>&#160;<span class="keyword">class </span><a class="code" href="classMotorWheel.html">MotorWheel</a>: <span class="keyword">public</span> <a class="code" href="classGearedMotor.html">GearedMotor</a> {  <span class="comment">// </span></div>
+<div class="line"><a name="l00260"></a><span class="lineno">  260</span>&#160;<span class="keyword">public</span>:</div>
+<div class="line"><a name="l00261"></a><span class="lineno">  261</span>&#160;    <a class="code" href="classMotorWheel.html#a51b83bdbd1880690814b3febb790484b">MotorWheel</a>(<span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> _pinPWM,<span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> _pinDir,</div>
+<div class="line"><a name="l00262"></a><span class="lineno">  262</span>&#160;                <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> _pinIRQ,<span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> _pinIRQB,</div>
+<div class="line"><a name="l00263"></a><span class="lineno">  263</span>&#160;                <span class="keyword">struct</span> <a class="code" href="structISRVars.html">ISRVars</a>* _isr,</div>
+<div class="line"><a name="l00264"></a><span class="lineno">  264</span>&#160;                <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> ratio=<a class="code" href="MotorWheel_8h.html#a545c3d33941dafc6ffd8cd9a61f6fca4">REDUCTION_RATIO</a>,<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> cirMM=<a class="code" href="MotorWheel_8h.html#a557b8031c21a790194ec252c281dc404">CIRMM</a>);</div>
+<div class="line"><a name="l00265"></a><span class="lineno">  265</span>&#160; </div>
+<div class="line"><a name="l00266"></a><span class="lineno">  266</span>&#160;    <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> <a class="code" href="classMotorWheel.html#ae3ceed8768efd5e263e1b897b14b6a6b">getCirMM</a>() <span class="keyword">const</span>;</div>
+<div class="line"><a name="l00267"></a><span class="lineno">  267</span>&#160;    <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> <a class="code" href="classMotorWheel.html#a6f2191d032f70f43cf60818d1e9c6b66">setCirMM</a>(<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> cirMM=<a class="code" href="MotorWheel_8h.html#a557b8031c21a790194ec252c281dc404">CIRMM</a>);</div>
+<div class="line"><a name="l00268"></a><span class="lineno">  268</span>&#160;<span class="comment">/*</span></div>
+<div class="line"><a name="l00269"></a><span class="lineno">  269</span>&#160;<span class="comment">    int getAccCMPMM() const;    // Acceleration, CM Per Min^2</span></div>
+<div class="line"><a name="l00270"></a><span class="lineno">  270</span>&#160;<span class="comment">    unsigned int getSpeedCMPM() const;  // cm/min</span></div>
+<div class="line"><a name="l00271"></a><span class="lineno">  271</span>&#160;<span class="comment">    unsigned int setSpeedCMPM(unsigned int cm,bool dir);</span></div>
+<div class="line"><a name="l00272"></a><span class="lineno">  272</span>&#160;<span class="comment">    int getAccMMPSS() const;    // Acceleration, MM Per Sec^2</span></div>
+<div class="line"><a name="l00273"></a><span class="lineno">  273</span>&#160;<span class="comment">    unsigned int getSpeedMMPS() const; // mm/s</span></div>
+<div class="line"><a name="l00274"></a><span class="lineno">  274</span>&#160;<span class="comment">    unsigned int setSpeedMMPS(unsigned int mm,bool dir);</span></div>
+<div class="line"><a name="l00275"></a><span class="lineno">  275</span>&#160;<span class="comment"> */</span></div>
+<div class="line"><a name="l00276"></a><span class="lineno">  276</span>&#160;    <span class="comment">// direction sensitive 201208</span></div>
+<div class="line"><a name="l00277"></a><span class="lineno">  277</span>&#160;    <span class="comment">//int getAccCMPMM() const;  // Acceleration, CM Per Min^2</span></div>
+<div class="line"><a name="l00278"></a><span class="lineno">  278</span>&#160;    <span class="keywordtype">int</span> <a class="code" href="classMotorWheel.html#a8c38bc7d114f802169562d32d1f1bbaa">getSpeedCMPM</a>() <span class="keyword">const</span>;   <span class="comment">// cm/min</span></div>
+<div class="line"><a name="l00279"></a><span class="lineno">  279</span>&#160;    <span class="keywordtype">int</span> <a class="code" href="classMotorWheel.html#a9f2e423db798c68453624aba49c368e1">setSpeedCMPM</a>(<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> cm,<span class="keywordtype">bool</span> dir); <span class="comment">// preserve</span></div>
+<div class="line"><a name="l00280"></a><span class="lineno">  280</span>&#160;    <span class="keywordtype">int</span> <a class="code" href="classMotorWheel.html#a9f2e423db798c68453624aba49c368e1">setSpeedCMPM</a>(<span class="keywordtype">int</span> cm);</div>
+<div class="line"><a name="l00281"></a><span class="lineno">  281</span>&#160;    <span class="comment">//int getAccMMPSS() const;  // Acceleration, MM Per Sec^2</span></div>
+<div class="line"><a name="l00282"></a><span class="lineno">  282</span>&#160;    <span class="keywordtype">int</span> <a class="code" href="classMotorWheel.html#a6cec55acabda4ae12a8d66d4b50a7e39">getSpeedMMPS</a>() <span class="keyword">const</span>; <span class="comment">// mm/s</span></div>
+<div class="line"><a name="l00283"></a><span class="lineno">  283</span>&#160;    <span class="keywordtype">int</span> <a class="code" href="classMotorWheel.html#a41d7f56c8abd6e75ae9df4f015e7873d">setSpeedMMPS</a>(<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> mm,<span class="keywordtype">bool</span> dir); <span class="comment">// preserve</span></div>
+<div class="line"><a name="l00284"></a><span class="lineno">  284</span>&#160;    <span class="keywordtype">int</span> <a class="code" href="classMotorWheel.html#a41d7f56c8abd6e75ae9df4f015e7873d">setSpeedMMPS</a>(<span class="keywordtype">int</span> mm);</div>
+<div class="line"><a name="l00285"></a><span class="lineno">  285</span>&#160;    <span class="keywordtype">void</span> <a class="code" href="classMotorWheel.html#a1ce67716650175c1be697fc7932b9937">setGearedRPM</a>(<span class="keywordtype">float</span> rpm, <span class="keywordtype">bool</span> dir);</div>
+<div class="line"><a name="l00286"></a><span class="lineno">  286</span>&#160; </div>
+<div class="line"><a name="l00287"></a><span class="lineno">  287</span>&#160;    <span class="comment">//unsigned int runTime(unsigned int speedMMPS,bool dir,unsigned int TimeMS);</span></div>
+<div class="line"><a name="l00288"></a><span class="lineno">  288</span>&#160;    <span class="comment">//unsigned int runDistance(unsigned int speedMMPS,bool dir,unsigned int distanceMM);</span></div>
+<div class="line"><a name="l00289"></a><span class="lineno">  289</span>&#160; </div>
+<div class="line"><a name="l00290"></a><span class="lineno">  290</span>&#160;<span class="keyword">private</span>:</div>
+<div class="line"><a name="l00291"></a><span class="lineno">  291</span>&#160;    <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> _cirMM;</div>
+<div class="line"><a name="l00292"></a><span class="lineno">  292</span>&#160;};</div>
+<div class="line"><a name="l00293"></a><span class="lineno">  293</span>&#160; </div>
+<div class="line"><a name="l00294"></a><span class="lineno">  294</span>&#160;<span class="comment">/*</span></div>
+<div class="line"><a name="l00295"></a><span class="lineno">  295</span>&#160;<span class="comment">class samePID: public PID {</span></div>
+<div class="line"><a name="l00296"></a><span class="lineno">  296</span>&#160;<span class="comment">public:</span></div>
+<div class="line"><a name="l00297"></a><span class="lineno">  297</span>&#160;<span class="comment">    samePID(int* input,int* output,int* setPoint,float kc,float taui,float taud)</span></div>
+<div class="line"><a name="l00298"></a><span class="lineno">  298</span>&#160;<span class="comment">    :PID(input,output,setPoint,kc,taui,taud) { }</span></div>
+<div class="line"><a name="l00299"></a><span class="lineno">  299</span>&#160;<span class="comment">};</span></div>
+<div class="line"><a name="l00300"></a><span class="lineno">  300</span>&#160;<span class="comment"></span> </div>
+<div class="line"><a name="l00301"></a><span class="lineno">  301</span>&#160;<span class="comment">class servoMotor: public Motor,public samePID {</span></div>
+<div class="line"><a name="l00302"></a><span class="lineno">  302</span>&#160;<span class="comment">public:</span></div>
+<div class="line"><a name="l00303"></a><span class="lineno">  303</span>&#160;<span class="comment">    servoMotor(unsigned char _pinPWM,unsigned char _pinDir,</span></div>
+<div class="line"><a name="l00304"></a><span class="lineno">  304</span>&#160;<span class="comment">            unsigned char _pinIRQ,unsigned char _pinIRQB,</span></div>
+<div class="line"><a name="l00305"></a><span class="lineno">  305</span>&#160;<span class="comment">            struct ISRVars* _isr);</span></div>
+<div class="line"><a name="l00306"></a><span class="lineno">  306</span>&#160;<span class="comment"></span> </div>
+<div class="line"><a name="l00307"></a><span class="lineno">  307</span>&#160;<span class="comment">    int SPIDSetPulseBoundary(int min,int max);</span></div>
+<div class="line"><a name="l00308"></a><span class="lineno">  308</span>&#160;<span class="comment">    bool SPIDSetup(float kc=KC,float taui=TAUI,float taud=TAUD,unsigned int sampleTime=10);</span></div>
+<div class="line"><a name="l00309"></a><span class="lineno">  309</span>&#160;<span class="comment">    bool PIDRegulate(bool doRegulate=true);</span></div>
+<div class="line"><a name="l00310"></a><span class="lineno">  310</span>&#160;<span class="comment"></span> </div>
+<div class="line"><a name="l00311"></a><span class="lineno">  311</span>&#160;<span class="comment">    enum {</span></div>
+<div class="line"><a name="l00312"></a><span class="lineno">  312</span>&#160;<span class="comment">        SPIDMODE_UNKNOWN,</span></div>
+<div class="line"><a name="l00313"></a><span class="lineno">  313</span>&#160;<span class="comment">        SPIDMODE_SPEED,</span></div>
+<div class="line"><a name="l00314"></a><span class="lineno">  314</span>&#160;<span class="comment">        SPIDMODE_STOP,</span></div>
+<div class="line"><a name="l00315"></a><span class="lineno">  315</span>&#160;<span class="comment">        SPIDMODE_PULSE,</span></div>
+<div class="line"><a name="l00316"></a><span class="lineno">  316</span>&#160;<span class="comment">    };</span></div>
+<div class="line"><a name="l00317"></a><span class="lineno">  317</span>&#160;<span class="comment">    unsigned char getSPIDMode() const;</span></div>
+<div class="line"><a name="l00318"></a><span class="lineno">  318</span>&#160;<span class="comment">    unsigned char setSPIDMode(unsigned char _mode);</span></div>
+<div class="line"><a name="l00319"></a><span class="lineno">  319</span>&#160;<span class="comment"></span> </div>
+<div class="line"><a name="l00320"></a><span class="lineno">  320</span>&#160;<span class="comment">    int getPulseDesired() const;</span></div>
+<div class="line"><a name="l00321"></a><span class="lineno">  321</span>&#160;<span class="comment">    int setPulseDesired(int _pulse);</span></div>
+<div class="line"><a name="l00322"></a><span class="lineno">  322</span>&#160;<span class="comment">    int incPulseDesired();</span></div>
+<div class="line"><a name="l00323"></a><span class="lineno">  323</span>&#160;<span class="comment">    int decPulseDesired();</span></div>
+<div class="line"><a name="l00324"></a><span class="lineno">  324</span>&#160;<span class="comment"></span> </div>
+<div class="line"><a name="l00325"></a><span class="lineno">  325</span>&#160;<span class="comment">    bool backToZero();</span></div>
+<div class="line"><a name="l00326"></a><span class="lineno">  326</span>&#160;<span class="comment">    bool scanZero();</span></div>
+<div class="line"><a name="l00327"></a><span class="lineno">  327</span>&#160;<span class="comment"></span> </div>
+<div class="line"><a name="l00328"></a><span class="lineno">  328</span>&#160;<span class="comment">    void debugger() const;</span></div>
+<div class="line"><a name="l00329"></a><span class="lineno">  329</span>&#160;<span class="comment"></span> </div>
+<div class="line"><a name="l00330"></a><span class="lineno">  330</span>&#160;<span class="comment">private:</span></div>
+<div class="line"><a name="l00331"></a><span class="lineno">  331</span>&#160;<span class="comment">    int pulseInput;     //</span></div>
+<div class="line"><a name="l00332"></a><span class="lineno">  332</span>&#160;<span class="comment">    int pulseOutput;    //</span></div>
+<div class="line"><a name="l00333"></a><span class="lineno">  333</span>&#160;<span class="comment">    int pulseDesired;   //</span></div>
+<div class="line"><a name="l00334"></a><span class="lineno">  334</span>&#160;<span class="comment"></span> </div>
+<div class="line"><a name="l00335"></a><span class="lineno">  335</span>&#160;<span class="comment">    int pulse2SpeedRPM;</span></div>
+<div class="line"><a name="l00336"></a><span class="lineno">  336</span>&#160;<span class="comment"></span> </div>
+<div class="line"><a name="l00337"></a><span class="lineno">  337</span>&#160;<span class="comment">    unsigned char SPIDMode;</span></div>
+<div class="line"><a name="l00338"></a><span class="lineno">  338</span>&#160;<span class="comment"></span> </div>
+<div class="line"><a name="l00339"></a><span class="lineno">  339</span>&#160;<span class="comment">    bool SPIDRegulateSpeed(bool doRegulate=true);   // 201104</span></div>
+<div class="line"><a name="l00340"></a><span class="lineno">  340</span>&#160;<span class="comment">    bool SPIDRegulateStop(bool doRegulate=true);</span></div>
+<div class="line"><a name="l00341"></a><span class="lineno">  341</span>&#160;<span class="comment">    bool SPIDRegulatePulse(bool doRegulate=true);</span></div>
+<div class="line"><a name="l00342"></a><span class="lineno">  342</span>&#160;<span class="comment"></span> </div>
+<div class="line"><a name="l00343"></a><span class="lineno">  343</span>&#160;<span class="comment">};</span></div>
+<div class="line"><a name="l00344"></a><span class="lineno">  344</span>&#160;<span class="comment"> */</span></div>
+<div class="line"><a name="l00345"></a><span class="lineno">  345</span>&#160; </div>
+<div class="line"><a name="l00346"></a><span class="lineno">  346</span>&#160; </div>
+<div class="line"><a name="l00347"></a><span class="lineno">  347</span>&#160; </div>
+<div class="line"><a name="l00348"></a><span class="lineno">  348</span>&#160;<span class="preprocessor">#endif</span></div>
+<div class="line"><a name="l00349"></a><span class="lineno">  349</span>&#160; </div>
+<div class="ttc" id="aMotorWheel_8h_html_a545c3d33941dafc6ffd8cd9a61f6fca4"><div class="ttname"><a href="MotorWheel_8h.html#a545c3d33941dafc6ffd8cd9a61f6fca4">REDUCTION_RATIO</a></div><div class="ttdeci">#define REDUCTION_RATIO</div><div class="ttdef"><b>Definition:</b> MotorWheel.h:77</div></div>
+<div class="ttc" id="aMotorWheel_8h_html_a557b8031c21a790194ec252c281dc404"><div class="ttname"><a href="MotorWheel_8h.html#a557b8031c21a790194ec252c281dc404">CIRMM</a></div><div class="ttdeci">#define CIRMM</div><div class="ttdef"><b>Definition:</b> MotorWheel.h:258</div></div>
+<div class="ttc" id="aMotorWheel_8h_html_a73764abcca0b8bbf6bf355d9f1bab0b9"><div class="ttname"><a href="MotorWheel_8h.html#a73764abcca0b8bbf6bf355d9f1bab0b9">KC</a></div><div class="ttdeci">#define KC</div><div class="ttdef"><b>Definition:</b> MotorWheel.h:93</div></div>
+<div class="ttc" id="aMotorWheel_8h_html_a73c066690ee81cb3f9c801205a237acd"><div class="ttname"><a href="MotorWheel_8h.html#a73c066690ee81cb3f9c801205a237acd">TAUI</a></div><div class="ttdeci">#define TAUI</div><div class="ttdef"><b>Definition:</b> MotorWheel.h:94</div></div>
+<div class="ttc" id="aMotorWheel_8h_html_a75450bf317fb4edd6c44dbe6b2ff7673"><div class="ttname"><a href="MotorWheel_8h.html#a75450bf317fb4edd6c44dbe6b2ff7673">TAUD</a></div><div class="ttdeci">#define TAUD</div><div class="ttdef"><b>Definition:</b> MotorWheel.h:95</div></div>
+<div class="ttc" id="aMotorWheel_8h_html_aa8f0efe0d1ee33354f41f8898d0ee8dd"><div class="ttname"><a href="MotorWheel_8h.html#aa8f0efe0d1ee33354f41f8898d0ee8dd">debug</a></div><div class="ttdeci">#define debug()</div><div class="ttdef"><b>Definition:</b> MotorWheel.h:109</div></div>
+<div class="ttc" id="aPID__Beta6_8h_html"><div class="ttname"><a href="PID__Beta6_8h.html">PID_Beta6.h</a></div></div>
+<div class="ttc" id="aPinChangeInt_8h_html"><div class="ttname"><a href="PinChangeInt_8h.html">PinChangeInt.h</a></div></div>
+<div class="ttc" id="aclassGearedMotor_html"><div class="ttname"><a href="classGearedMotor.html">GearedMotor</a></div><div class="ttdef"><b>Definition:</b> MotorWheel.h:233</div></div>
+<div class="ttc" id="aclassGearedMotor_html_a0aa18eb91d0313f4bf64cc5e3d43c4cf"><div class="ttname"><a href="classGearedMotor.html#a0aa18eb91d0313f4bf64cc5e3d43c4cf">GearedMotor::setGearedSpeedRPM</a></div><div class="ttdeci">float setGearedSpeedRPM(float gearedSpeedRPM, bool dir)</div><div class="ttdef"><b>Definition:</b> MotorWheel.cpp:309</div></div>
+<div class="ttc" id="aclassGearedMotor_html_a13b6c99ef8713b5333f98a9ba844ba8b"><div class="ttname"><a href="classGearedMotor.html#a13b6c99ef8713b5333f98a9ba844ba8b">GearedMotor::getGearedSpeedRPM</a></div><div class="ttdeci">float getGearedSpeedRPM() const</div><div class="ttdef"><b>Definition:</b> MotorWheel.cpp:303</div></div>
+<div class="ttc" id="aclassGearedMotor_html_a347d79fb74710a1a82410d0b14a84f25"><div class="ttname"><a href="classGearedMotor.html#a347d79fb74710a1a82410d0b14a84f25">GearedMotor::setRatio</a></div><div class="ttdeci">unsigned int setRatio(unsigned int ratio=REDUCTION_RATIO)</div><div class="ttdef"><b>Definition:</b> MotorWheel.cpp:293</div></div>
+<div class="ttc" id="aclassGearedMotor_html_a36d9fc91b484c923d3f6c92d05c17b56"><div class="ttname"><a href="classGearedMotor.html#a36d9fc91b484c923d3f6c92d05c17b56">GearedMotor::getPosition</a></div><div class="ttdeci">float getPosition()</div><div class="ttdef"><b>Definition:</b> MotorWheel.cpp:323</div></div>
+<div class="ttc" id="aclassGearedMotor_html_aa91e4c0799d41b33495cac9c805333e2"><div class="ttname"><a href="classGearedMotor.html#aa91e4c0799d41b33495cac9c805333e2">GearedMotor::GearedMotor</a></div><div class="ttdeci">GearedMotor(unsigned char _pinPWM, unsigned char _pinDir, unsigned char _pinIRQ, unsigned char _pinIRQB, struct ISRVars *_isr, unsigned int _ratio=REDUCTION_RATIO)</div><div class="ttdef"><b>Definition:</b> MotorWheel.cpp:284</div></div>
+<div class="ttc" id="aclassGearedMotor_html_aff9f697effb8c62667a32942ae154053"><div class="ttname"><a href="classGearedMotor.html#aff9f697effb8c62667a32942ae154053">GearedMotor::getRatio</a></div><div class="ttdeci">unsigned int getRatio() const</div><div class="ttdef"><b>Definition:</b> MotorWheel.cpp:290</div></div>
+<div class="ttc" id="aclassMotorWheel_html"><div class="ttname"><a href="classMotorWheel.html">MotorWheel</a></div><div class="ttdef"><b>Definition:</b> MotorWheel.h:259</div></div>
+<div class="ttc" id="aclassMotorWheel_html_a1ce67716650175c1be697fc7932b9937"><div class="ttname"><a href="classMotorWheel.html#a1ce67716650175c1be697fc7932b9937">MotorWheel::setGearedRPM</a></div><div class="ttdeci">void setGearedRPM(float rpm, bool dir)</div><div class="ttdef"><b>Definition:</b> MotorWheel.cpp:364</div></div>
+<div class="ttc" id="aclassMotorWheel_html_a41d7f56c8abd6e75ae9df4f015e7873d"><div class="ttname"><a href="classMotorWheel.html#a41d7f56c8abd6e75ae9df4f015e7873d">MotorWheel::setSpeedMMPS</a></div><div class="ttdeci">int setSpeedMMPS(unsigned int mm, bool dir)</div><div class="ttdef"><b>Definition:</b> MotorWheel.cpp:375</div></div>
+<div class="ttc" id="aclassMotorWheel_html_a51b83bdbd1880690814b3febb790484b"><div class="ttname"><a href="classMotorWheel.html#a51b83bdbd1880690814b3febb790484b">MotorWheel::MotorWheel</a></div><div class="ttdeci">MotorWheel(unsigned char _pinPWM, unsigned char _pinDir, unsigned char _pinIRQ, unsigned char _pinIRQB, struct ISRVars *_isr, unsigned int ratio=REDUCTION_RATIO, unsigned int cirMM=CIRMM)</div><div class="ttdef"><b>Definition:</b> MotorWheel.cpp:329</div></div>
+<div class="ttc" id="aclassMotorWheel_html_a6cec55acabda4ae12a8d66d4b50a7e39"><div class="ttname"><a href="classMotorWheel.html#a6cec55acabda4ae12a8d66d4b50a7e39">MotorWheel::getSpeedMMPS</a></div><div class="ttdeci">int getSpeedMMPS() const</div><div class="ttdef"><b>Definition:</b> MotorWheel.cpp:370</div></div>
+<div class="ttc" id="aclassMotorWheel_html_a6f2191d032f70f43cf60818d1e9c6b66"><div class="ttname"><a href="classMotorWheel.html#a6f2191d032f70f43cf60818d1e9c6b66">MotorWheel::setCirMM</a></div><div class="ttdeci">unsigned int setCirMM(unsigned int cirMM=CIRMM)</div><div class="ttdef"><b>Definition:</b> MotorWheel.cpp:340</div></div>
+<div class="ttc" id="aclassMotorWheel_html_a8c38bc7d114f802169562d32d1f1bbaa"><div class="ttname"><a href="classMotorWheel.html#a8c38bc7d114f802169562d32d1f1bbaa">MotorWheel::getSpeedCMPM</a></div><div class="ttdeci">int getSpeedCMPM() const</div><div class="ttdef"><b>Definition:</b> MotorWheel.cpp:345</div></div>
+<div class="ttc" id="aclassMotorWheel_html_a9f2e423db798c68453624aba49c368e1"><div class="ttname"><a href="classMotorWheel.html#a9f2e423db798c68453624aba49c368e1">MotorWheel::setSpeedCMPM</a></div><div class="ttdeci">int setSpeedCMPM(unsigned int cm, bool dir)</div><div class="ttdef"><b>Definition:</b> MotorWheel.cpp:350</div></div>
+<div class="ttc" id="aclassMotorWheel_html_ae3ceed8768efd5e263e1b897b14b6a6b"><div class="ttname"><a href="classMotorWheel.html#ae3ceed8768efd5e263e1b897b14b6a6b">MotorWheel::getCirMM</a></div><div class="ttdeci">unsigned int getCirMM() const</div><div class="ttdef"><b>Definition:</b> MotorWheel.cpp:337</div></div>
+<div class="ttc" id="aclassMotor_html"><div class="ttname"><a href="classMotor.html">Motor</a></div><div class="ttdef"><b>Definition:</b> MotorWheel.h:145</div></div>
+<div class="ttc" id="aclassMotor_html_a0555b6c2a33c373d3a9e33f174a2b5aa"><div class="ttname"><a href="classMotor.html#a0555b6c2a33c373d3a9e33f174a2b5aa">Motor::PIDSetup</a></div><div class="ttdeci">bool PIDSetup(float kc=KC, float taui=TAUI, float taud=TAUD, unsigned int sampleTime=1000)</div><div class="ttdef"><b>Definition:</b> MotorWheel.cpp:171</div></div>
+<div class="ttc" id="aclassMotor_html_a0a420be82fa25f5b62b96f6805835d71"><div class="ttname"><a href="classMotor.html#a0a420be82fa25f5b62b96f6805835d71">Motor::delayMS</a></div><div class="ttdeci">void delayMS(unsigned int ms, bool debug=false)</div><div class="ttdef"><b>Definition:</b> MotorWheel.cpp:230</div></div>
+<div class="ttc" id="aclassMotor_html_a17f9e1e193961edc117026f80e806d49"><div class="ttname"><a href="classMotor.html#a17f9e1e193961edc117026f80e806d49">Motor::advancePWM</a></div><div class="ttdeci">unsigned int advancePWM(unsigned int PWM)</div><div class="ttdef"><b>Definition:</b> MotorWheel.cpp:80</div></div>
+<div class="ttc" id="aclassMotor_html_a190bda1f77605d10bcbacceb2e465bf0"><div class="ttname"><a href="classMotor.html#a190bda1f77605d10bcbacceb2e465bf0">Motor::resetCurrPulse</a></div><div class="ttdeci">long resetCurrPulse()</div><div class="ttdef"><b>Definition:</b> MotorWheel.cpp:226</div></div>
+<div class="ttc" id="aclassMotor_html_a1bc02b7e0da3aca6e724d2755d42eaab"><div class="ttname"><a href="classMotor.html#a1bc02b7e0da3aca6e724d2755d42eaab">Motor::PIDGetStatus</a></div><div class="ttdeci">bool PIDGetStatus() const</div><div class="ttdef"><b>Definition:</b> MotorWheel.cpp:149</div></div>
+<div class="ttc" id="aclassMotor_html_a2aaead147c8cb1a712db027f9cb70e33"><div class="ttname"><a href="classMotor.html#a2aaead147c8cb1a712db027f9cb70e33">Motor::setDesiredDir</a></div><div class="ttdeci">bool setDesiredDir(bool dir)</div><div class="ttdef"><b>Definition:</b> MotorWheel.cpp:92</div></div>
+<div class="ttc" id="aclassMotor_html_a3377631cff641d41a50b7f1c5b30fc1f"><div class="ttname"><a href="classMotor.html#a3377631cff641d41a50b7f1c5b30fc1f">Motor::PIDSetSpeedRPMDesired</a></div><div class="ttdeci">unsigned int PIDSetSpeedRPMDesired(unsigned int speedRPM)</div><div class="ttdef"><b>Definition:</b> MotorWheel.cpp:180</div></div>
+<div class="ttc" id="aclassMotor_html_a3a1771db56274e5c06625d33a098932f"><div class="ttname"><a href="classMotor.html#a3a1771db56274e5c06625d33a098932f">Motor::getPinIRQB</a></div><div class="ttdeci">unsigned char getPinIRQB() const</div><div class="ttdef"><b>Definition:</b> MotorWheel.cpp:67</div></div>
+<div class="ttc" id="aclassMotor_html_a54f6cdff2ab028fdd2724fbf40c3f641"><div class="ttname"><a href="classMotor.html#a54f6cdff2ab028fdd2724fbf40c3f641">Motor::getCurrPulse</a></div><div class="ttdeci">long getCurrPulse() const</div><div class="ttdef"><b>Definition:</b> MotorWheel.cpp:219</div></div>
+<div class="ttc" id="aclassMotor_html_a55a0ba922517197fd01caac36c84c682"><div class="ttname"><a href="classMotor.html#a55a0ba922517197fd01caac36c84c682">Motor::debugger</a></div><div class="ttdeci">void debugger() const</div><div class="ttdef"><b>Definition:</b> MotorWheel.cpp:240</div></div>
+<div class="ttc" id="aclassMotor_html_a5e5d272254ecd37a082fc467e9cd2610"><div class="ttname"><a href="classMotor.html#a5e5d272254ecd37a082fc467e9cd2610">Motor::getSpeedPPS</a></div><div class="ttdeci">int getSpeedPPS() const</div><div class="ttdef"><b>Definition:</b> MotorWheel.cpp:216</div></div>
+<div class="ttc" id="aclassMotor_html_a6358811a51b7636b06199972b7fae417"><div class="ttname"><a href="classMotor.html#a6358811a51b7636b06199972b7fae417">Motor::PIDDisable</a></div><div class="ttdeci">bool PIDDisable()</div><div class="ttdef"><b>Definition:</b> MotorWheel.cpp:159</div></div>
+<div class="ttc" id="aclassMotor_html_a653642c0cba985a85204fbfe81cf3c8a"><div class="ttname"><a href="classMotor.html#a653642c0cba985a85204fbfe81cf3c8a">Motor::setCurrPulse</a></div><div class="ttdeci">long setCurrPulse(long _pulse)</div><div class="ttdef"><b>Definition:</b> MotorWheel.cpp:222</div></div>
+<div class="ttc" id="aclassMotor_html_a785eadb656e31e62b1f1515004344ae0"><div class="ttname"><a href="classMotor.html#a785eadb656e31e62b1f1515004344ae0">Motor::getPinIRQ</a></div><div class="ttdeci">unsigned char getPinIRQ() const</div><div class="ttdef"><b>Definition:</b> MotorWheel.cpp:63</div></div>
+<div class="ttc" id="aclassMotor_html_a826a3f1ffd48fd6f49d74caf7ad68dad"><div class="ttname"><a href="classMotor.html#a826a3f1ffd48fd6f49d74caf7ad68dad">Motor::setupInterrupt</a></div><div class="ttdeci">void setupInterrupt()</div><div class="ttdef"><b>Definition:</b> MotorWheel.cpp:33</div></div>
+<div class="ttc" id="aclassMotor_html_a8d707212e2395830a9064712df1c4f68"><div class="ttname"><a href="classMotor.html#a8d707212e2395830a9064712df1c4f68">Motor::setSpeedRPM</a></div><div class="ttdeci">unsigned int setSpeedRPM(int speedRPM, bool dir)</div><div class="ttdef"><b>Definition:</b> MotorWheel.cpp:129</div></div>
+<div class="ttc" id="aclassMotor_html_a9462d1a9af69941100f422ce1a0faeff"><div class="ttname"><a href="classMotor.html#a9462d1a9af69941100f422ce1a0faeff">Motor::setCurrDir</a></div><div class="ttdeci">bool setCurrDir()</div><div class="ttdef"><b>Definition:</b> MotorWheel.cpp:111</div></div>
+<div class="ttc" id="aclassMotor_html_a9ca625db156da95bc5f4500c294f8e83"><div class="ttname"><a href="classMotor.html#a9ca625db156da95bc5f4500c294f8e83">Motor::PIDGetSpeedRPMDesired</a></div><div class="ttdeci">unsigned int PIDGetSpeedRPMDesired() const</div><div class="ttdef"><b>Definition:</b> MotorWheel.cpp:186</div></div>
+<div class="ttc" id="aclassMotor_html_aa41934a55ada6dabb95b6741b6d964d3"><div class="ttname"><a href="classMotor.html#aa41934a55ada6dabb95b6741b6d964d3">Motor::getPWM</a></div><div class="ttdeci">unsigned int getPWM() const</div><div class="ttdef"><b>Definition:</b> MotorWheel.cpp:88</div></div>
+<div class="ttc" id="aclassMotor_html_aa44fc307611e45eeb5e6fb50c79f375b"><div class="ttname"><a href="classMotor.html#aa44fc307611e45eeb5e6fb50c79f375b">Motor::PIDRegulate</a></div><div class="ttdeci">bool PIDRegulate(bool doRegulate=true)</div><div class="ttdef"><b>Definition:</b> MotorWheel.cpp:191</div></div>
+<div class="ttc" id="aclassMotor_html_aa813d431c39937e90e91f3ad2fbf625d"><div class="ttname"><a href="classMotor.html#aa813d431c39937e90e91f3ad2fbf625d">Motor::getDesiredDir</a></div><div class="ttdeci">bool getDesiredDir() const</div><div class="ttdef"><b>Definition:</b> MotorWheel.cpp:98</div></div>
+<div class="ttc" id="aclassMotor_html_aaedede5ddae28b6926204dc7a47e0612"><div class="ttname"><a href="classMotor.html#aaedede5ddae28b6926204dc7a47e0612">Motor::getCurrDir</a></div><div class="ttdeci">bool getCurrDir() const</div><div class="ttdef"><b>Definition:</b> MotorWheel.cpp:108</div></div>
+<div class="ttc" id="aclassMotor_html_acab1e83ffdd286821aa69af770294fae"><div class="ttname"><a href="classMotor.html#acab1e83ffdd286821aa69af770294fae">Motor::isr</a></div><div class="ttdeci">struct ISRVars * isr</div><div class="ttdef"><b>Definition:</b> MotorWheel.h:198</div></div>
+<div class="ttc" id="aclassMotor_html_ad02c1db58f8f247f4e8becc19d1c7054"><div class="ttname"><a href="classMotor.html#ad02c1db58f8f247f4e8becc19d1c7054">Motor::getPinPWM</a></div><div class="ttdeci">unsigned char getPinPWM() const</div><div class="ttdef"><b>Definition:</b> MotorWheel.cpp:55</div></div>
+<div class="ttc" id="aclassMotor_html_ad4e09298c4c8b99ab467a4262d8a3207"><div class="ttname"><a href="classMotor.html#ad4e09298c4c8b99ab467a4262d8a3207">Motor::runPWM</a></div><div class="ttdeci">unsigned int runPWM(unsigned int PWM, bool dir, bool saveDir=true)</div><div class="ttdef"><b>Definition:</b> MotorWheel.cpp:72</div></div>
+<div class="ttc" id="aclassMotor_html_ad6ee53cd8570f60ae5dd83b8604b00fe"><div class="ttname"><a href="classMotor.html#ad6ee53cd8570f60ae5dd83b8604b00fe">Motor::PIDEnable</a></div><div class="ttdeci">bool PIDEnable(float kc=KC, float taui=TAUI, float taud=TAUD, unsigned int sampleTime=1000)</div><div class="ttdef"><b>Definition:</b> MotorWheel.cpp:153</div></div>
+<div class="ttc" id="aclassMotor_html_ada15a2f02a7945a458b48e829b6a5d6b"><div class="ttname"><a href="classMotor.html#ada15a2f02a7945a458b48e829b6a5d6b">Motor::getSpeedRPM</a></div><div class="ttdeci">int getSpeedRPM() const</div><div class="ttdef"><b>Definition:</b> MotorWheel.cpp:136</div></div>
+<div class="ttc" id="aclassMotor_html_ae14f43483f26152d92c88aa4c6a7a471"><div class="ttname"><a href="classMotor.html#ae14f43483f26152d92c88aa4c6a7a471">Motor::PIDReset</a></div><div class="ttdeci">bool PIDReset()</div><div class="ttdef"><b>Definition:</b> MotorWheel.cpp:164</div></div>
+<div class="ttc" id="aclassMotor_html_aeddf9353baeaa0ad9e6de0df5d3e73e8"><div class="ttname"><a href="classMotor.html#aeddf9353baeaa0ad9e6de0df5d3e73e8">Motor::reverseDesiredDir</a></div><div class="ttdeci">bool reverseDesiredDir()</div><div class="ttdef"><b>Definition:</b> MotorWheel.cpp:102</div></div>
+<div class="ttc" id="aclassMotor_html_aefe7b72985f51315c7ffe81fbf66869c"><div class="ttname"><a href="classMotor.html#aefe7b72985f51315c7ffe81fbf66869c">Motor::backoffPWM</a></div><div class="ttdeci">unsigned int backoffPWM(unsigned int PWM)</div><div class="ttdef"><b>Definition:</b> MotorWheel.cpp:84</div></div>
+<div class="ttc" id="aclassMotor_html_af085804880a48840dc3d1d088911695e"><div class="ttname"><a href="classMotor.html#af085804880a48840dc3d1d088911695e">Motor::getPinDir</a></div><div class="ttdeci">unsigned char getPinDir() const</div><div class="ttdef"><b>Definition:</b> MotorWheel.cpp:59</div></div>
+<div class="ttc" id="aclassPID_html"><div class="ttname"><a href="classPID.html">PID</a></div><div class="ttdef"><b>Definition:</b> PID_Beta6.h:5</div></div>
+<div class="ttc" id="astructISRVars_html"><div class="ttname"><a href="structISRVars.html">ISRVars</a></div><div class="ttdef"><b>Definition:</b> MotorWheel.h:131</div></div>
+<div class="ttc" id="astructISRVars_html_a24a642bb0d154409a0c7799c6e79552a"><div class="ttname"><a href="structISRVars.html#a24a642bb0d154409a0c7799c6e79552a">ISRVars::pinIRQB</a></div><div class="ttdeci">unsigned char pinIRQB</div><div class="ttdef"><b>Definition:</b> MotorWheel.h:141</div></div>
+<div class="ttc" id="astructISRVars_html_a38f71602d525494877c66159cf704309"><div class="ttname"><a href="structISRVars.html#a38f71602d525494877c66159cf704309">ISRVars::ISRfunc</a></div><div class="ttdeci">void(* ISRfunc)()</div><div class="ttdef"><b>Definition:</b> MotorWheel.h:132</div></div>
+<div class="ttc" id="astructISRVars_html_a5fb13f185745e43667ba30d2c0481f74"><div class="ttname"><a href="structISRVars.html#a5fb13f185745e43667ba30d2c0481f74">ISRVars::pulses</a></div><div class="ttdeci">volatile long pulses</div><div class="ttdef"><b>Definition:</b> MotorWheel.h:134</div></div>
+<div class="ttc" id="astructISRVars_html_a935b7a7cfe9c5a33902ce56256980846"><div class="ttname"><a href="structISRVars.html#a935b7a7cfe9c5a33902ce56256980846">ISRVars::pulseEndMicros</a></div><div class="ttdeci">volatile unsigned long pulseEndMicros</div><div class="ttdef"><b>Definition:</b> MotorWheel.h:136</div></div>
+<div class="ttc" id="astructISRVars_html_a9db372787f75f20b71f24706af08878e"><div class="ttname"><a href="structISRVars.html#a9db372787f75f20b71f24706af08878e">ISRVars::currDirection</a></div><div class="ttdeci">volatile bool currDirection</div><div class="ttdef"><b>Definition:</b> MotorWheel.h:140</div></div>
+<div class="ttc" id="astructISRVars_html_aad94840301dc39f51a918b556df8fc11"><div class="ttname"><a href="structISRVars.html#aad94840301dc39f51a918b556df8fc11">ISRVars::pulseStartMicros</a></div><div class="ttdeci">volatile unsigned long pulseStartMicros</div><div class="ttdef"><b>Definition:</b> MotorWheel.h:135</div></div>
+<div class="ttc" id="astructISRVars_html_ac1eba4ab5f07f4751a050d9cbcedc797"><div class="ttname"><a href="structISRVars.html#ac1eba4ab5f07f4751a050d9cbcedc797">ISRVars::pinIRQ</a></div><div class="ttdeci">unsigned char pinIRQ</div><div class="ttdef"><b>Definition:</b> MotorWheel.h:142</div></div>
+<div class="ttc" id="astructISRVars_html_af6857712234eae5709feba7c699e0ac7"><div class="ttname"><a href="structISRVars.html#af6857712234eae5709feba7c699e0ac7">ISRVars::speedPPS</a></div><div class="ttdeci">volatile unsigned int speedPPS</div><div class="ttdef"><b>Definition:</b> MotorWheel.h:137</div></div>
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+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.1
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+   <div id="projectname">DCAITI Robot Hardware
+   &#160;<span id="projectnumber">1.0</span>
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+<li class="navelem"><a class="el" href="dir_97aefd0d527b934f1d99a682da8fe6a9.html">lib</a></li><li class="navelem"><a class="el" href="dir_20ba189d08eafd7afd9a71ede3a1ee33.html">PID_Beta6</a></li>  </ul>
+</div>
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+  <div class="headertitle">
+<div class="title">PID_Beta6.cpp File Reference</div>  </div>
+</div><!--header-->
+<div class="contents">
+<div class="textblock"><code>#include &quot;wiring.h&quot;</code><br />
+<code>#include &lt;<a class="el" href="PID__Beta6_8h_source.html">PID_Beta6.h</a>&gt;</code><br />
+<code>#include &quot;<a class="el" href="fuzzy__table_8h_source.html">fuzzy_table.h</a>&quot;</code><br />
+<code>#include &lt;wiring_private.h&gt;</code><br />
+<code>#include &lt;HardwareSerial.h&gt;</code><br />
+</div><div class="textblock"><div class="dynheader">
+Include dependency graph for PID_Beta6.cpp:</div>
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+<div class="header">
+  <div class="summary">
+<a href="#nested-classes">Classes</a> &#124;
+<a href="#define-members">Macros</a>  </div>
+  <div class="headertitle">
+<div class="title">PID_Beta6.h File Reference</div>  </div>
+</div><!--header-->
+<div class="contents">
+<div class="textblock"><div class="dynheader">
+This graph shows which files directly or indirectly include this file:</div>
+<div class="dyncontent">
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+</div>
+<p><a href="PID__Beta6_8h_source.html">Go to the source code of this file.</a></p>
+<table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="nested-classes"></a>
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+<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">class &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classPID.html">PID</a></td></tr>
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+<tr class="memitem:a8187a9af791c0a44ba67edd9cf266961"><td class="memItemLeft" align="right" valign="top">#define&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="PID__Beta6_8h.html#a8187a9af791c0a44ba67edd9cf266961">MANUAL</a>&#160;&#160;&#160;0</td></tr>
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+<tr class="separator:a8650e6793d46032c617bb7b824f90bfd"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<h2 class="groupheader">Macro Definition Documentation</h2>
+<a id="a0cc6f7717df9fbdc0f33efb88720a639"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a0cc6f7717df9fbdc0f33efb88720a639">&#9670;&nbsp;</a></span>AUTO</h2>
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+          <td class="memname">#define AUTO&#160;&#160;&#160;1</td>
+        </tr>
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+</div><div class="memdoc">
+
+</div>
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+   &#160;<span id="projectnumber">1.0</span>
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+<li class="navelem"><a class="el" href="dir_97aefd0d527b934f1d99a682da8fe6a9.html">lib</a></li><li class="navelem"><a class="el" href="dir_20ba189d08eafd7afd9a71ede3a1ee33.html">PID_Beta6</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="headertitle">
+<div class="title">PID_Beta6.h</div>  </div>
+</div><!--header-->
+<div class="contents">
+<a href="PID__Beta6_8h.html">Go to the documentation of this file.</a><div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="preprocessor">#ifndef PID_Beta6_h</span></div>
+<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="preprocessor">#define PID_Beta6_h</span></div>
+<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160; </div>
+<div class="line"><a name="l00004"></a><span class="lineno"><a class="line" href="classPID.html">    4</a></span>&#160;<span class="keyword">class </span><a class="code" href="classPID.html">PID</a></div>
+<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;{</div>
+<div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160; </div>
+<div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160; </div>
+<div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;  <span class="keyword">public</span>:</div>
+<div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160; </div>
+<div class="line"><a name="l00010"></a><span class="lineno"><a class="line" href="PID__Beta6_8h.html#a0cc6f7717df9fbdc0f33efb88720a639">   10</a></span>&#160;<span class="preprocessor">  #define AUTO  1</span></div>
+<div class="line"><a name="l00011"></a><span class="lineno"><a class="line" href="PID__Beta6_8h.html#a8187a9af791c0a44ba67edd9cf266961">   11</a></span>&#160;<span class="preprocessor">  #define MANUAL    0</span></div>
+<div class="line"><a name="l00012"></a><span class="lineno"><a class="line" href="PID__Beta6_8h.html#a8650e6793d46032c617bb7b824f90bfd">   12</a></span>&#160;<span class="preprocessor">  #define LIBRARY_VERSION   0.6</span></div>
+<div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160; </div>
+<div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;  <span class="comment">//commonly used functions **************************************************************************</span></div>
+<div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;    <a class="code" href="classPID.html#a70a457a8b2d0f2306923c30282567af6">PID</a>(<span class="keywordtype">int</span>*, <span class="keywordtype">int</span>*, <span class="keywordtype">int</span>*,               <span class="comment">// * constructor.  links the PID to the Input, Output, and </span></div>
+<div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160;        <span class="keywordtype">float</span>, <span class="keywordtype">float</span>, <span class="keywordtype">float</span>);           <span class="comment">//   Setpoint.  Initial tuning parameters are also set here</span></div>
+<div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160; </div>
+<div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160;    <a class="code" href="classPID.html#a70a457a8b2d0f2306923c30282567af6">PID</a>(<span class="keywordtype">int</span>*, <span class="keywordtype">int</span>*, <span class="keywordtype">int</span>*,               <span class="comment">// * Overloaded Constructor.  if the user wants to implement</span></div>
+<div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160;        <span class="keywordtype">int</span>*, <span class="keywordtype">float</span>, <span class="keywordtype">float</span>, <span class="keywordtype">float</span>);     <span class="comment">//   feed-forward</span></div>
+<div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160; </div>
+<div class="line"><a name="l00021"></a><span class="lineno">   21</span>&#160;    <span class="keywordtype">void</span> <a class="code" href="classPID.html#a68074bad88a8cc442ee03a036073d5d5">SetMode</a>(<span class="keywordtype">int</span> Mode);         <span class="comment">// * sets PID to either Manual (0) or Auto (non-0)</span></div>
+<div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160; </div>
+<div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160;    <span class="keywordtype">void</span> <a class="code" href="classPID.html#a05a3258d4b553e7a121f7360ffe88065">Compute</a>();                 <span class="comment">// * performs the PID calculation.  it should be</span></div>
+<div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160;                                        <span class="comment">//   called every time loop() cycles. ON/OFF and</span></div>
+<div class="line"><a name="l00025"></a><span class="lineno">   25</span>&#160;                                        <span class="comment">//   calculation frequency can be set using SetMode</span></div>
+<div class="line"><a name="l00026"></a><span class="lineno">   26</span>&#160;                                        <span class="comment">//   SetSampleTime respectively</span></div>
+<div class="line"><a name="l00027"></a><span class="lineno">   27</span>&#160; </div>
+<div class="line"><a name="l00028"></a><span class="lineno">   28</span>&#160;    <span class="keywordtype">void</span> <a class="code" href="classPID.html#aa84bd27695ea7b6f80a0a6170abb410f">SetInputLimits</a>(<span class="keywordtype">int</span>, <span class="keywordtype">int</span>);  <span class="comment">//Tells the PID what 0-100% are for the Input</span></div>
+<div class="line"><a name="l00029"></a><span class="lineno">   29</span>&#160; </div>
+<div class="line"><a name="l00030"></a><span class="lineno">   30</span>&#160;    <span class="keywordtype">void</span> <a class="code" href="classPID.html#a7a1fbe9bbf606557cef3fcf07f04d3f6">SetOutputLimits</a>(<span class="keywordtype">int</span>, <span class="keywordtype">int</span>); <span class="comment">//Tells the PID what 0-100% are for the Output</span></div>
+<div class="line"><a name="l00031"></a><span class="lineno">   31</span>&#160; </div>
+<div class="line"><a name="l00032"></a><span class="lineno">   32</span>&#160; </div>
+<div class="line"><a name="l00033"></a><span class="lineno">   33</span>&#160;  <span class="comment">//available but not commonly used functions ********************************************************</span></div>
+<div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160;    <span class="keywordtype">void</span> <a class="code" href="classPID.html#aa51d6ef0803413fd0da475406a5ae6ad">SetTunings</a>(<span class="keywordtype">float</span>, <span class="keywordtype">float</span>,   <span class="comment">// * While most users will set the tunings once in the </span></div>
+<div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160;                    <span class="keywordtype">float</span>);             <span class="comment">//   constructor, this function gives the user the option</span></div>
+<div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;                                        <span class="comment">//   of changing tunings during runtime for Adaptive control</span></div>
+<div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160; </div>
+<div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;    <span class="keywordtype">void</span> <a class="code" href="classPID.html#aaa1e0e67a0c97571bd62b326e6cf3b2e">SetSampleTime</a>(<span class="keywordtype">int</span>);        <span class="comment">// * sets the frequency, in Milliseconds, with which </span></div>
+<div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;                                        <span class="comment">//   the PID calculation is performed.  default is 1000 </span></div>
+<div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160; </div>
+<div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;    <span class="keywordtype">void</span> <a class="code" href="classPID.html#a9f949fd4445477ee9bf1af2bfa3e1a84">Reset</a>();                       <span class="comment">// * reinitializes controller internals.  automatically</span></div>
+<div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;                                        <span class="comment">//   called on a manual to auto transition</span></div>
+<div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160; </div>
+<div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;    <span class="keywordtype">bool</span> <a class="code" href="classPID.html#a34178c5110d89a8029e403f6ef5d003d">JustCalculated</a>();          <span class="comment">// * in certain situations, it helps to know when the PID has</span></div>
+<div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;                                        <span class="comment">//   computed this bit will be true for one cycle after the</span></div>
+<div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;                                        <span class="comment">//   pid calculation has occurred</span></div>
+<div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;    </div>
+<div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160; </div>
+<div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;   <span class="comment">//Status functions allow you to query current PID constants ***************************************</span></div>
+<div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160;    <span class="keywordtype">int</span> <a class="code" href="classPID.html#acc325db5e6a140b92c8199a66e03491b">GetMode</a>();</div>
+<div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160;    <span class="keywordtype">int</span> <a class="code" href="classPID.html#a7c6fb1d00b7ceb89f833c85a10425a99">GetINMin</a>();</div>
+<div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160;    <span class="keywordtype">int</span> <a class="code" href="classPID.html#aada1bd2d75fc4cfb8d4e8b3bb7d6efb3">GetINMax</a>();</div>
+<div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160;    <span class="keywordtype">int</span> <a class="code" href="classPID.html#a3d18162a81fab3b59b66f2398c2f55da">GetOUTMin</a>();</div>
+<div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160;    <span class="keywordtype">int</span> <a class="code" href="classPID.html#afca76f72062cde15b4d738b693215bf6">GetOUTMax</a>();</div>
+<div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160;    <span class="keywordtype">int</span> <a class="code" href="classPID.html#aefa4318e7ab26fbdfd7a2f6870d694e8">GetSampleTime</a>();</div>
+<div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160;    <span class="keywordtype">float</span> <a class="code" href="classPID.html#a44a5a23e5ab0ebc59ac56cd6e63a74e9">GetP_Param</a>();</div>
+<div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160;    <span class="keywordtype">float</span> <a class="code" href="classPID.html#a5dcf844aec5142d13f0e1a9af2eac237">GetI_Param</a>();</div>
+<div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160;    <span class="keywordtype">float</span> <a class="code" href="classPID.html#a752d07a63dd8d90191a28d24ea85861c">GetD_Param</a>();</div>
+<div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160; </div>
+<div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160; </div>
+<div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160;  <span class="keyword">private</span>:</div>
+<div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160; </div>
+<div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160;    <span class="keywordtype">void</span> ConstructorCommon(<span class="keywordtype">int</span>*, <span class="keywordtype">int</span>*, <span class="keywordtype">int</span>*,           <span class="comment">// * code that is shared by the constructors</span></div>
+<div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160;        <span class="keywordtype">float</span>, <span class="keywordtype">float</span>, <span class="keywordtype">float</span>);</div>
+<div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160; </div>
+<div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;   <span class="comment">//scaled, tweaked parameters we&#39;ll actually be using</span></div>
+<div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160;    <span class="keywordtype">float</span> kc;                    <span class="comment">// * (P)roportional Tuning Parameter</span></div>
+<div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160;    <span class="keywordtype">float</span> taur;                  <span class="comment">// * (I)ntegral Tuning Parameter</span></div>
+<div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160;    <span class="keywordtype">float</span> taud;                  <span class="comment">// * (D)erivative Tuning Parameter</span></div>
+<div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160; </div>
+<div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160;    <span class="keywordtype">float</span> cof_A;</div>
+<div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160;    <span class="keywordtype">float</span> cof_B;</div>
+<div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160;    <span class="keywordtype">float</span> cof_C;</div>
+<div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160; </div>
+<div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160;   <span class="comment">//nice, pretty parameters we&#39;ll give back to the user if they ask what the tunings are</span></div>
+<div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160;    <span class="keywordtype">float</span> P_Param;</div>
+<div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160;    <span class="keywordtype">float</span> I_Param;</div>
+<div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160;    <span class="keywordtype">float</span> D_Param;</div>
+<div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160; </div>
+<div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160; </div>
+<div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160;    <span class="keywordtype">int</span> *myInput;               <span class="comment">// * Pointers to the Input, Output, and Setpoint variables</span></div>
+<div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160;    <span class="keywordtype">int</span> *myOutput;              <span class="comment">//   This creates a hard link between the variables and the </span></div>
+<div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160;    <span class="keywordtype">int</span> *mySetpoint;            <span class="comment">//   PID, freeing the user from having to constantly tell us</span></div>
+<div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160;                                <span class="comment">//   what these values are.  with pointers we&#39;ll just know.</span></div>
+<div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160; </div>
+<div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160;    <span class="keywordtype">int</span> *myBias;                <span class="comment">// * Pointer to the External FeedForward bias, only used </span></div>
+<div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160;                                <span class="comment">//   if the advanced constructor is used</span></div>
+<div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160;    <span class="keywordtype">bool</span> UsingFeedForward;      <span class="comment">// * internal flag that tells us if we&#39;re using FeedForward or not</span></div>
+<div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160; </div>
+<div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160;    <span class="keywordtype">unsigned</span> <span class="keywordtype">long</span> nextCompTime;    <span class="comment">// * Helps us figure out when the PID Calculation needs to</span></div>
+<div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160;                                  <span class="comment">//   be performed next</span></div>
+<div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160;                                  <span class="comment">//   to determine when to compute next</span></div>
+<div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160;    <span class="keywordtype">unsigned</span> <span class="keywordtype">long</span> tSample;       <span class="comment">// * the frequency, in milliseconds, with which we want the</span></div>
+<div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160;                                  <span class="comment">//   the PID calculation to occur.</span></div>
+<div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160;    <span class="keywordtype">bool</span> inAuto;                  <span class="comment">// * Flag letting us know if we are in Automatic or not</span></div>
+<div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160; </div>
+<div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160;                                  <span class="comment">//   the derivative required for the D term</span></div>
+<div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160;    <span class="comment">//float accError;              // * the (I)ntegral term is based on the sum of error over</span></div>
+<div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160;                                  <span class="comment">//   time.  this variable keeps track of that</span></div>
+<div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160;    <span class="keywordtype">float</span> bias;                  <span class="comment">// * the base output from which the PID operates</span></div>
+<div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160;    </div>
+<div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160;    <span class="keywordtype">int</span> Err;</div>
+<div class="line"><a name="l00103"></a><span class="lineno">  103</span>&#160;    <span class="keywordtype">int</span> lastErr;</div>
+<div class="line"><a name="l00104"></a><span class="lineno">  104</span>&#160;    <span class="keywordtype">int</span> prevErr;</div>
+<div class="line"><a name="l00105"></a><span class="lineno">  105</span>&#160;    </div>
+<div class="line"><a name="l00106"></a><span class="lineno">  106</span>&#160;    <span class="keywordtype">float</span> inMin, inSpan;         <span class="comment">// * input and output limits, and spans.  used convert</span></div>
+<div class="line"><a name="l00107"></a><span class="lineno">  107</span>&#160;    <span class="keywordtype">float</span> outMin, outSpan;       <span class="comment">//   real world numbers into percent span, with which</span></div>
+<div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160;                                 <span class="comment">//   the PID algorithm is more comfortable.</span></div>
+<div class="line"><a name="l00109"></a><span class="lineno">  109</span>&#160; </div>
+<div class="line"><a name="l00110"></a><span class="lineno">  110</span>&#160;    <span class="keywordtype">bool</span> justCalced;            <span class="comment">// * flag gets set for one cycle after the pid calculates</span></div>
+<div class="line"><a name="l00111"></a><span class="lineno">  111</span>&#160;};</div>
+<div class="line"><a name="l00112"></a><span class="lineno">  112</span>&#160;<span class="preprocessor">#endif</span></div>
+<div class="line"><a name="l00113"></a><span class="lineno">  113</span>&#160; </div>
+<div class="ttc" id="aclassPID_html"><div class="ttname"><a href="classPID.html">PID</a></div><div class="ttdef"><b>Definition:</b> PID_Beta6.h:5</div></div>
+<div class="ttc" id="aclassPID_html_a05a3258d4b553e7a121f7360ffe88065"><div class="ttname"><a href="classPID.html#a05a3258d4b553e7a121f7360ffe88065">PID::Compute</a></div><div class="ttdeci">void Compute()</div><div class="ttdef"><b>Definition:</b> PID_Beta6.cpp:207</div></div>
+<div class="ttc" id="aclassPID_html_a34178c5110d89a8029e403f6ef5d003d"><div class="ttname"><a href="classPID.html#a34178c5110d89a8029e403f6ef5d003d">PID::JustCalculated</a></div><div class="ttdeci">bool JustCalculated()</div><div class="ttdef"><b>Definition:</b> PID_Beta6.cpp:266</div></div>
+<div class="ttc" id="aclassPID_html_a3d18162a81fab3b59b66f2398c2f55da"><div class="ttname"><a href="classPID.html#a3d18162a81fab3b59b66f2398c2f55da">PID::GetOUTMin</a></div><div class="ttdeci">int GetOUTMin()</div><div class="ttdef"><b>Definition:</b> PID_Beta6.cpp:284</div></div>
+<div class="ttc" id="aclassPID_html_a44a5a23e5ab0ebc59ac56cd6e63a74e9"><div class="ttname"><a href="classPID.html#a44a5a23e5ab0ebc59ac56cd6e63a74e9">PID::GetP_Param</a></div><div class="ttdeci">float GetP_Param()</div><div class="ttdef"><b>Definition:</b> PID_Beta6.cpp:296</div></div>
+<div class="ttc" id="aclassPID_html_a5dcf844aec5142d13f0e1a9af2eac237"><div class="ttname"><a href="classPID.html#a5dcf844aec5142d13f0e1a9af2eac237">PID::GetI_Param</a></div><div class="ttdeci">float GetI_Param()</div><div class="ttdef"><b>Definition:</b> PID_Beta6.cpp:300</div></div>
+<div class="ttc" id="aclassPID_html_a68074bad88a8cc442ee03a036073d5d5"><div class="ttname"><a href="classPID.html#a68074bad88a8cc442ee03a036073d5d5">PID::SetMode</a></div><div class="ttdeci">void SetMode(int Mode)</div><div class="ttdef"><b>Definition:</b> PID_Beta6.cpp:156</div></div>
+<div class="ttc" id="aclassPID_html_a70a457a8b2d0f2306923c30282567af6"><div class="ttname"><a href="classPID.html#a70a457a8b2d0f2306923c30282567af6">PID::PID</a></div><div class="ttdeci">PID(int *, int *, int *, float, float, float)</div><div class="ttdef"><b>Definition:</b> PID_Beta6.cpp:18</div></div>
+<div class="ttc" id="aclassPID_html_a752d07a63dd8d90191a28d24ea85861c"><div class="ttname"><a href="classPID.html#a752d07a63dd8d90191a28d24ea85861c">PID::GetD_Param</a></div><div class="ttdeci">float GetD_Param()</div><div class="ttdef"><b>Definition:</b> PID_Beta6.cpp:305</div></div>
+<div class="ttc" id="aclassPID_html_a7a1fbe9bbf606557cef3fcf07f04d3f6"><div class="ttname"><a href="classPID.html#a7a1fbe9bbf606557cef3fcf07f04d3f6">PID::SetOutputLimits</a></div><div class="ttdeci">void SetOutputLimits(int, int)</div><div class="ttdef"><b>Definition:</b> PID_Beta6.cpp:91</div></div>
+<div class="ttc" id="aclassPID_html_a7c6fb1d00b7ceb89f833c85a10425a99"><div class="ttname"><a href="classPID.html#a7c6fb1d00b7ceb89f833c85a10425a99">PID::GetINMin</a></div><div class="ttdeci">int GetINMin()</div><div class="ttdef"><b>Definition:</b> PID_Beta6.cpp:276</div></div>
+<div class="ttc" id="aclassPID_html_a9f949fd4445477ee9bf1af2bfa3e1a84"><div class="ttname"><a href="classPID.html#a9f949fd4445477ee9bf1af2bfa3e1a84">PID::Reset</a></div><div class="ttdeci">void Reset()</div><div class="ttdef"><b>Definition:</b> PID_Beta6.cpp:141</div></div>
+<div class="ttc" id="aclassPID_html_aa51d6ef0803413fd0da475406a5ae6ad"><div class="ttname"><a href="classPID.html#aa51d6ef0803413fd0da475406a5ae6ad">PID::SetTunings</a></div><div class="ttdeci">void SetTunings(float, float, float)</div><div class="ttdef"><b>Definition:</b> PID_Beta6.cpp:105</div></div>
+<div class="ttc" id="aclassPID_html_aa84bd27695ea7b6f80a0a6170abb410f"><div class="ttname"><a href="classPID.html#aa84bd27695ea7b6f80a0a6170abb410f">PID::SetInputLimits</a></div><div class="ttdeci">void SetInputLimits(int, int)</div><div class="ttdef"><b>Definition:</b> PID_Beta6.cpp:73</div></div>
+<div class="ttc" id="aclassPID_html_aaa1e0e67a0c97571bd62b326e6cf3b2e"><div class="ttname"><a href="classPID.html#aaa1e0e67a0c97571bd62b326e6cf3b2e">PID::SetSampleTime</a></div><div class="ttdeci">void SetSampleTime(int)</div><div class="ttdef"><b>Definition:</b> PID_Beta6.cpp:169</div></div>
+<div class="ttc" id="aclassPID_html_aada1bd2d75fc4cfb8d4e8b3bb7d6efb3"><div class="ttname"><a href="classPID.html#aada1bd2d75fc4cfb8d4e8b3bb7d6efb3">PID::GetINMax</a></div><div class="ttdeci">int GetINMax()</div><div class="ttdef"><b>Definition:</b> PID_Beta6.cpp:280</div></div>
+<div class="ttc" id="aclassPID_html_acc325db5e6a140b92c8199a66e03491b"><div class="ttname"><a href="classPID.html#acc325db5e6a140b92c8199a66e03491b">PID::GetMode</a></div><div class="ttdeci">int GetMode()</div><div class="ttdef"><b>Definition:</b> PID_Beta6.cpp:270</div></div>
+<div class="ttc" id="aclassPID_html_aefa4318e7ab26fbdfd7a2f6870d694e8"><div class="ttname"><a href="classPID.html#aefa4318e7ab26fbdfd7a2f6870d694e8">PID::GetSampleTime</a></div><div class="ttdeci">int GetSampleTime()</div><div class="ttdef"><b>Definition:</b> PID_Beta6.cpp:292</div></div>
+<div class="ttc" id="aclassPID_html_afca76f72062cde15b4d738b693215bf6"><div class="ttname"><a href="classPID.html#afca76f72062cde15b4d738b693215bf6">PID::GetOUTMax</a></div><div class="ttdeci">int GetOUTMax()</div><div class="ttdef"><b>Definition:</b> PID_Beta6.cpp:288</div></div>
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+<div class="title">PinChangeIntConfig.h</div>  </div>
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+<div class="contents">
+<a href="PinChangeIntConfig_8h.html">Go to the documentation of this file.</a><div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160; </div>
+<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment">// This file is used to separate the changes you make to personalize the </span></div>
+<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="comment">// Pin Change Interrupt library from any future changes to the library itself.</span></div>
+<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="comment">// Ideally it would reside in the folder of the current sketch, but I have not </span></div>
+<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="comment">// figured out how such a file can be included from a library.</span></div>
+<div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="comment">// Nothing is required to be defined within this file since default values are</span></div>
+<div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="comment">// defined in the primary PinChangeInt.h file.</span></div>
+<div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160; </div>
+<div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="comment">// Uncomment the line below to limit the handler to servicing a single interrupt per invocation.</span></div>
+<div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;<span class="comment">//#define   DISABLE_PCINT_MULTI_SERVICE</span></div>
+<div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160; </div>
+<div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;<span class="comment">// Define the value MAX_PIN_CHANGE_PINS to limit the number of pins that may be </span></div>
+<div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;<span class="comment">// used for pin change interrupts. This value determines the number of pin change </span></div>
+<div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;<span class="comment">// interrupts supported for all ports.</span></div>
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+<li class="navelem"><a class="el" href="dir_97aefd0d527b934f1d99a682da8fe6a9.html">lib</a></li><li class="navelem"><a class="el" href="dir_0f386e5012f166522d8afb320f99104b.html">PinChangeInt</a></li>  </ul>
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+  <div class="summary">
+<a href="#nested-classes">Classes</a> &#124;
+<a href="#define-members">Macros</a> &#124;
+<a href="#typedef-members">Typedefs</a>  </div>
+  <div class="headertitle">
+<div class="title">PinChangeInt.h File Reference</div>  </div>
+</div><!--header-->
+<div class="contents">
+<div class="textblock"><code>#include &quot;WProgram.h&quot;</code><br />
+<code>#include &quot;<a class="el" href="PinChangeIntConfig_8h_source.html">PinChangeIntConfig.h</a>&quot;</code><br />
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+<p><a href="PinChangeInt_8h_source.html">Go to the source code of this file.</a></p>
+<table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="nested-classes"></a>
+Classes</h2></td></tr>
+<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">class &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classPCintPort.html">PCintPort</a></td></tr>
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+<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">class &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classPCintPort_1_1PCintPin.html">PCintPort::PCintPin</a></td></tr>
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+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="define-members"></a>
+Macros</h2></td></tr>
+<tr class="memitem:adc5e9b3687e8ad666a52ec695a69081c"><td class="memItemLeft" align="right" valign="top">#define&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="PinChangeInt_8h.html#adc5e9b3687e8ad666a52ec695a69081c">MAX_PIN_CHANGE_PINS</a>&#160;&#160;&#160;8</td></tr>
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+<tr class="memitem:a6b21b6a0a033a5a5c0ae3c07aa899a9f"><td class="memItemLeft" align="right" valign="top">#define&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="PinChangeInt_8h.html#a6b21b6a0a033a5a5c0ae3c07aa899a9f">PCdetachInterrupt</a>(pin)&#160;&#160;&#160;<a class="el" href="classPCintPort.html#a7787c29d639bc6c1a30a14acb0f9fb9a">PCintPort::detachInterrupt</a>(pin)</td></tr>
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+<tr class="memitem:a40b7734100b16d4ac170f568c7914d0a"><td class="memItemLeft" align="right" valign="top">typedef void(*&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="PinChangeInt_8h.html#a40b7734100b16d4ac170f568c7914d0a">PCIntvoidFuncPtr</a>) (void)</td></tr>
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+<h2 class="groupheader">Macro Definition Documentation</h2>
+<a id="affe455978cc6fe5b0cff09a1b93202c7"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#affe455978cc6fe5b0cff09a1b93202c7">&#9670;&nbsp;</a></span>INLINE_PCINT</h2>
+
+<div class="memitem">
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+          <td class="memname">#define INLINE_PCINT</td>
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+
+</div>
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+<a id="adc5e9b3687e8ad666a52ec695a69081c"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#adc5e9b3687e8ad666a52ec695a69081c">&#9670;&nbsp;</a></span>MAX_PIN_CHANGE_PINS</h2>
+
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+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">#define MAX_PIN_CHANGE_PINS&#160;&#160;&#160;8</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="aa5908a22250605213e3874e2b0288a5d"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#aa5908a22250605213e3874e2b0288a5d">&#9670;&nbsp;</a></span>PCattachInterrupt</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">#define PCattachInterrupt</td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname">pin, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname">userFunc, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname">mode&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td>&#160;&#160;&#160;<a class="el" href="classPCintPort.html#a8e6c9a8a860c39f6840a8b986c00e8d7">PCintPort::attachInterrupt</a>(pin, userFunc,mode)</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a6b21b6a0a033a5a5c0ae3c07aa899a9f"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a6b21b6a0a033a5a5c0ae3c07aa899a9f">&#9670;&nbsp;</a></span>PCdetachInterrupt</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">#define PCdetachInterrupt</td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname">pin</td><td>)</td>
+          <td>&#160;&#160;&#160;<a class="el" href="classPCintPort.html#a7787c29d639bc6c1a30a14acb0f9fb9a">PCintPort::detachInterrupt</a>(pin)</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<h2 class="groupheader">Typedef Documentation</h2>
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+<h2 class="memtitle"><span class="permalink"><a href="#a40b7734100b16d4ac170f568c7914d0a">&#9670;&nbsp;</a></span>PCIntvoidFuncPtr</h2>
+
+<div class="memitem">
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+          <td class="memname">typedef void(* PCIntvoidFuncPtr) (void)</td>
+        </tr>
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+
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+<li class="navelem"><a class="el" href="dir_97aefd0d527b934f1d99a682da8fe6a9.html">lib</a></li><li class="navelem"><a class="el" href="dir_0f386e5012f166522d8afb320f99104b.html">PinChangeInt</a></li>  </ul>
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+<div class="title">PinChangeInt.h</div>  </div>
+</div><!--header-->
+<div class="contents">
+<a href="PinChangeInt_8h.html">Go to the documentation of this file.</a><div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">/*</span></div>
+<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment">    PinChangeInt.h</span></div>
+<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="comment">*/</span></div>
+<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160; </div>
+<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160; </div>
+<div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="preprocessor">#ifndef PinChangeInt_h</span></div>
+<div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="preprocessor">#define PinChangeInt_h</span></div>
+<div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160; </div>
+<div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="preprocessor">#if defined(ARDUINO) &amp;&amp; ARDUINO &gt;= 100</span></div>
+<div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;<span class="preprocessor">#include &quot;Arduino.h&quot;</span></div>
+<div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;<span class="preprocessor">#else</span></div>
+<div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;<span class="preprocessor">#include &quot;WProgram.h&quot;</span></div>
+<div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;<span class="preprocessor">#endif</span></div>
+<div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160; </div>
+<div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;<span class="preprocessor">#include &quot;<a class="code" href="PinChangeIntConfig_8h.html">PinChangeIntConfig.h</a>&quot;</span></div>
+<div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160;<span class="preprocessor">#ifndef Pins_Arduino_h</span></div>
+<div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160;<span class="preprocessor">#include &quot;pins_arduino.h&quot;</span></div>
+<div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160;<span class="preprocessor">#endif</span></div>
+<div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160;<span class="comment">// This library was inspired by and derived from &quot;johnboiles&quot; (it seems) Main.PCInt Arduino Playground example</span></div>
+<div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160;<span class="comment">// see: http://www.arduino.cc/playground/Main/PcInt</span></div>
+<div class="line"><a name="l00021"></a><span class="lineno">   21</span>&#160; </div>
+<div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160; </div>
+<div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160;<span class="comment">// Interrupt management for PCI</span></div>
+<div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160;<span class="comment">/*</span></div>
+<div class="line"><a name="l00025"></a><span class="lineno">   25</span>&#160;<span class="comment"> * an extension to the interrupt support for arduino.</span></div>
+<div class="line"><a name="l00026"></a><span class="lineno">   26</span>&#160;<span class="comment"> * add pin change interrupts to the external interrupts, giving a way</span></div>
+<div class="line"><a name="l00027"></a><span class="lineno">   27</span>&#160;<span class="comment"> * for users to have interrupts drive off of any pin.</span></div>
+<div class="line"><a name="l00028"></a><span class="lineno">   28</span>&#160;<span class="comment"> * Refer to avr-gcc header files, arduino source and atmega datasheet.</span></div>
+<div class="line"><a name="l00029"></a><span class="lineno">   29</span>&#160;<span class="comment"> */</span></div>
+<div class="line"><a name="l00030"></a><span class="lineno">   30</span>&#160; </div>
+<div class="line"><a name="l00031"></a><span class="lineno">   31</span>&#160;<span class="comment">/*</span></div>
+<div class="line"><a name="l00032"></a><span class="lineno">   32</span>&#160;<span class="comment"> * Theory: all IO pins on AtmegaX(168/328/1280/2560) are covered by Pin Change Interrupts.</span></div>
+<div class="line"><a name="l00033"></a><span class="lineno">   33</span>&#160;<span class="comment"> * The PCINT corresponding to the pin must be enabled and masked, and</span></div>
+<div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160;<span class="comment"> * an ISR routine provided.  Since PCINTs are per port, not per pin, the ISR</span></div>
+<div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160;<span class="comment"> * must use some logic to actually implement a per-pin interrupt service.</span></div>
+<div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;<span class="comment"> */</span></div>
+<div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160; </div>
+<div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;<span class="comment">/* Pin to interrupt map ON ATmega168/328:</span></div>
+<div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;<span class="comment"> * D0-D7 = PCINT 16-23 = PCIR2 = PD = PCIE2 = pcmsk2</span></div>
+<div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160;<span class="comment"> * D8-D13 = PCINT 0-5 = PCIR0 = PB = PCIE0 = pcmsk0</span></div>
+<div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;<span class="comment"> * A0-A5 (D14-D19) = PCINT 8-13 = PCIR1 = PC = PCIE1 = pcmsk1</span></div>
+<div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;<span class="comment"> */</span></div>
+<div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160; </div>
+<div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160; </div>
+<div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;<span class="comment">/* Pin to interrupt map ON ATmega1280/2560:</span></div>
+<div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;<span class="comment"> * D50-D53 = PCINT 3-0 = PCIR0 = PB = PCIE0 = pcmsk0</span></div>
+<div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;<span class="comment"> * D10-D13 = PCINT 4-7 = PCIR0 = PB = PCIE0 = pcmsk0</span></div>
+<div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;<span class="comment"> * A8-A15 (D62-D69) = PCINT 16-23 = PCIR2 = Pk = PCIE2 = pcmsk2</span></div>
+<div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;<span class="comment"> </span></div>
+<div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160;<span class="comment">  * *******D0 = PCINT 8 = PCIR1 = PE = PCIE1 = pcmsk1**********</span></div>
+<div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160;<span class="comment"> * *******D14-D15 = PCINT 10-9 = PJ = PCIE1 = pcmsk1*********</span></div>
+<div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160;<span class="comment"> ********NOTE:PCINT 8-15 does NOT available in this library******</span></div>
+<div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160;<span class="comment"> */</span></div>
+<div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160; </div>
+<div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160; </div>
+<div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160;<span class="comment">/*</span></div>
+<div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160;<span class="comment">    Please make any configuration changes in the accompanying PinChangeIntConfig.h file.</span></div>
+<div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160;<span class="comment">    This will help avoid having to reset your config in the event of changes to the </span></div>
+<div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160;<span class="comment">    library code (just don&#39;t replace that file when you update).</span></div>
+<div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160;<span class="comment"></span> </div>
+<div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160;<span class="comment">*/</span></div>
+<div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160; </div>
+<div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160; </div>
+<div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160;<span class="preprocessor">#ifndef MAX_PIN_CHANGE_PINS</span></div>
+<div class="line"><a name="l00065"></a><span class="lineno"><a class="line" href="PinChangeInt_8h.html#adc5e9b3687e8ad666a52ec695a69081c">   65</a></span>&#160;<span class="preprocessor">#define MAX_PIN_CHANGE_PINS 8</span></div>
+<div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;<span class="preprocessor">#endif</span></div>
+<div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160; </div>
+<div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160;<span class="comment">// You can reduce the memory footprint of this handler by declaring that there will be no pin change interrupts</span></div>
+<div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160;<span class="comment">// on any of the three ports.</span></div>
+<div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160;<span class="comment">// define NO_PORTB_PINCHANGES to indicate that port b will not be used for pin change interrupts</span></div>
+<div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160;<span class="comment">// define NO_PORTC_PINCHANGES to indicate that port c will not be used for pin change interrupts</span></div>
+<div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160;<span class="comment">// define NO_PORTD_PINCHANGES to indicate that port d will not be used for pin change interrupts</span></div>
+<div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160;<span class="comment">// If only a single port remains, the handler will be declared inline reducing the size and latency </span></div>
+<div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160;<span class="comment">// of the handler.</span></div>
+<div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160; </div>
+<div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160;<span class="comment">// if their is only one PCInt vector in use the code can be inlined</span></div>
+<div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160;<span class="comment">// reducing latecncy and code size</span></div>
+<div class="line"><a name="l00078"></a><span class="lineno"><a class="line" href="PinChangeInt_8h.html#affe455978cc6fe5b0cff09a1b93202c7">   78</a></span>&#160;<span class="preprocessor">#define INLINE_PCINT</span></div>
+<div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160;<span class="preprocessor">#if ((defined(NO_PORTB_PINCHANGES) &amp;&amp; defined(NO_PORTC_PINCHANGES)) || \</span></div>
+<div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160;<span class="preprocessor">    (defined(NO_PORTC_PINCHANGES) &amp;&amp; defined(NO_PORTD_PINCHANGES)) || \</span></div>
+<div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160;<span class="preprocessor">    (defined(NO_PORTD_PINCHANGES) &amp;&amp; defined(NO_PORTB_PINCHANGES)))</span></div>
+<div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160;<span class="preprocessor">#undef INLINE_PCINT</span></div>
+<div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160;<span class="preprocessor">#define INLINE_PCINT inline</span></div>
+<div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160;<span class="preprocessor">#endif</span></div>
+<div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160; </div>
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+<div class="line"><a name="l00132"></a><span class="lineno"><a class="line" href="classPCintPort.html#ab817a0637b722922c5d3cafc0dfd52d7">  132</a></span>&#160;    <span class="keyword">const</span>       uint8_t         <a class="code" href="classPCintPort.html#ab817a0637b722922c5d3cafc0dfd52d7">PCICRbit</a>;</div>
+<div class="line"><a name="l00133"></a><span class="lineno"><a class="line" href="classPCintPort.html#a955b8648c929952a8444656276e1b6ef">  133</a></span>&#160;                uint8_t         <a class="code" href="classPCintPort.html#a955b8648c929952a8444656276e1b6ef">PCintLast</a>;</div>
+<div class="line"><a name="l00134"></a><span class="lineno"><a class="line" href="classPCintPort.html#a068bde359af5d3567e4d031d9ac9c655">  134</a></span>&#160;                <a class="code" href="classPCintPort_1_1PCintPin.html">PCintPin</a>*   <a class="code" href="classPCintPort.html#a068bde359af5d3567e4d031d9ac9c655">pcIntPins</a>[9];   <span class="comment">// extra entry is a barrier</span></div>
+<div class="line"><a name="l00135"></a><span class="lineno">  135</span>&#160;};</div>
+<div class="line"><a name="l00136"></a><span class="lineno">  136</span>&#160;<span class="preprocessor">#endif</span></div>
+<div class="ttc" id="aPinChangeIntConfig_8h_html"><div class="ttname"><a href="PinChangeIntConfig_8h.html">PinChangeIntConfig.h</a></div></div>
+<div class="ttc" id="aPinChangeInt_8h_html_a40b7734100b16d4ac170f568c7914d0a"><div class="ttname"><a href="PinChangeInt_8h.html#a40b7734100b16d4ac170f568c7914d0a">PCIntvoidFuncPtr</a></div><div class="ttdeci">void(* PCIntvoidFuncPtr)(void)</div><div class="ttdef"><b>Definition:</b> PinChangeInt.h:93</div></div>
+<div class="ttc" id="aPinChangeInt_8h_html_adc5e9b3687e8ad666a52ec695a69081c"><div class="ttname"><a href="PinChangeInt_8h.html#adc5e9b3687e8ad666a52ec695a69081c">MAX_PIN_CHANGE_PINS</a></div><div class="ttdeci">#define MAX_PIN_CHANGE_PINS</div><div class="ttdef"><b>Definition:</b> PinChangeInt.h:65</div></div>
+<div class="ttc" id="aPinChangeInt_8h_html_affe455978cc6fe5b0cff09a1b93202c7"><div class="ttname"><a href="PinChangeInt_8h.html#affe455978cc6fe5b0cff09a1b93202c7">INLINE_PCINT</a></div><div class="ttdeci">#define INLINE_PCINT</div><div class="ttdef"><b>Definition:</b> PinChangeInt.h:78</div></div>
+<div class="ttc" id="aclassPCintPort_1_1PCintPin_html"><div class="ttname"><a href="classPCintPort_1_1PCintPin.html">PCintPort::PCintPin</a></div><div class="ttdef"><b>Definition:</b> PinChangeInt.h:118</div></div>
+<div class="ttc" id="aclassPCintPort_1_1PCintPin_html_a042bb6da7549a825e4c0231af7079533"><div class="ttname"><a href="classPCintPort_1_1PCintPin.html#a042bb6da7549a825e4c0231af7079533">PCintPort::PCintPin::PCintPin</a></div><div class="ttdeci">PCintPin()</div><div class="ttdef"><b>Definition:</b> PinChangeInt.h:120</div></div>
+<div class="ttc" id="aclassPCintPort_1_1PCintPin_html_a5f1750440a39afc1e0b7ec885bd90282"><div class="ttname"><a href="classPCintPort_1_1PCintPin.html#a5f1750440a39afc1e0b7ec885bd90282">PCintPort::PCintPin::PCintFunc</a></div><div class="ttdeci">PCIntvoidFuncPtr PCintFunc</div><div class="ttdef"><b>Definition:</b> PinChangeInt.h:123</div></div>
+<div class="ttc" id="aclassPCintPort_1_1PCintPin_html_a934bbc672c5e9faa448477ecb93c7955"><div class="ttname"><a href="classPCintPort_1_1PCintPin.html#a934bbc672c5e9faa448477ecb93c7955">PCintPort::PCintPin::pinDataAlloc</a></div><div class="ttdeci">static PCintPin pinDataAlloc[MAX_PIN_CHANGE_PINS]</div><div class="ttdef"><b>Definition:</b> PinChangeInt.h:126</div></div>
+<div class="ttc" id="aclassPCintPort_1_1PCintPin_html_aded6dbbea2aa1ebd77133332b3c98556"><div class="ttname"><a href="classPCintPort_1_1PCintPin.html#aded6dbbea2aa1ebd77133332b3c98556">PCintPort::PCintPin::PCintMode</a></div><div class="ttdeci">uint8_t PCintMode</div><div class="ttdef"><b>Definition:</b> PinChangeInt.h:124</div></div>
+<div class="ttc" id="aclassPCintPort_1_1PCintPin_html_aec2baaa5bc8af4f7f3310bae39e8304c"><div class="ttname"><a href="classPCintPort_1_1PCintPin.html#aec2baaa5bc8af4f7f3310bae39e8304c">PCintPort::PCintPin::PCIntMask</a></div><div class="ttdeci">uint8_t PCIntMask</div><div class="ttdef"><b>Definition:</b> PinChangeInt.h:125</div></div>
+<div class="ttc" id="aclassPCintPort_html"><div class="ttname"><a href="classPCintPort.html">PCintPort</a></div><div class="ttdef"><b>Definition:</b> PinChangeInt.h:95</div></div>
+<div class="ttc" id="aclassPCintPort_html_a068bde359af5d3567e4d031d9ac9c655"><div class="ttname"><a href="classPCintPort.html#a068bde359af5d3567e4d031d9ac9c655">PCintPort::pcIntPins</a></div><div class="ttdeci">PCintPin * pcIntPins[9]</div><div class="ttdef"><b>Definition:</b> PinChangeInt.h:134</div></div>
+<div class="ttc" id="aclassPCintPort_html_a576bbb5d4190a7af0de2528760933916"><div class="ttname"><a href="classPCintPort.html#a576bbb5d4190a7af0de2528760933916">PCintPort::PCint</a></div><div class="ttdeci">INLINE_PCINT void PCint()</div><div class="ttdef"><b>Definition:</b> PinChangeInt.cpp:139</div></div>
+<div class="ttc" id="aclassPCintPort_html_a68db5c9fc10ce5d054c4184dbd00adeb"><div class="ttname"><a href="classPCintPort.html#a68db5c9fc10ce5d054c4184dbd00adeb">PCintPort::addPin</a></div><div class="ttdeci">void addPin(uint8_t mode, uint8_t mask, PCIntvoidFuncPtr userFunc)</div><div class="ttdef"><b>Definition:</b> PinChangeInt.cpp:17</div></div>
+<div class="ttc" id="aclassPCintPort_html_a7787c29d639bc6c1a30a14acb0f9fb9a"><div class="ttname"><a href="classPCintPort.html#a7787c29d639bc6c1a30a14acb0f9fb9a">PCintPort::detachInterrupt</a></div><div class="ttdeci">static void detachInterrupt(uint8_t pin)</div><div class="ttdef"><b>Definition:</b> PinChangeInt.cpp:115</div></div>
+<div class="ttc" id="aclassPCintPort_html_a8e6c9a8a860c39f6840a8b986c00e8d7"><div class="ttname"><a href="classPCintPort.html#a8e6c9a8a860c39f6840a8b986c00e8d7">PCintPort::attachInterrupt</a></div><div class="ttdeci">static void attachInterrupt(uint8_t pin, PCIntvoidFuncPtr userFunc, int mode)</div><div class="ttdef"><b>Definition:</b> PinChangeInt.cpp:81</div></div>
+<div class="ttc" id="aclassPCintPort_html_a955b8648c929952a8444656276e1b6ef"><div class="ttname"><a href="classPCintPort.html#a955b8648c929952a8444656276e1b6ef">PCintPort::PCintLast</a></div><div class="ttdeci">uint8_t PCintLast</div><div class="ttdef"><b>Definition:</b> PinChangeInt.h:133</div></div>
+<div class="ttc" id="aclassPCintPort_html_a9d5cdcb0bddf88489fccb288be9ebf3e"><div class="ttname"><a href="classPCintPort.html#a9d5cdcb0bddf88489fccb288be9ebf3e">PCintPort::pcIntPorts</a></div><div class="ttdeci">static PCintPort pcIntPorts[]</div><div class="ttdef"><b>Definition:</b> PinChangeInt.h:115</div></div>
+<div class="ttc" id="aclassPCintPort_html_ab36a9f3ef148411101704f3723d5cd0d"><div class="ttname"><a href="classPCintPort.html#ab36a9f3ef148411101704f3723d5cd0d">PCintPort::portInputReg</a></div><div class="ttdeci">volatile uint8_t &amp; portInputReg</div><div class="ttdef"><b>Definition:</b> PinChangeInt.h:130</div></div>
+<div class="ttc" id="aclassPCintPort_html_ab817a0637b722922c5d3cafc0dfd52d7"><div class="ttname"><a href="classPCintPort.html#ab817a0637b722922c5d3cafc0dfd52d7">PCintPort::PCICRbit</a></div><div class="ttdeci">const uint8_t PCICRbit</div><div class="ttdef"><b>Definition:</b> PinChangeInt.h:132</div></div>
+<div class="ttc" id="aclassPCintPort_html_abe34a54a1b1bd8b2404b9227b55147fb"><div class="ttname"><a href="classPCintPort.html#abe34a54a1b1bd8b2404b9227b55147fb">PCintPort::pcmask</a></div><div class="ttdeci">volatile uint8_t &amp; pcmask</div><div class="ttdef"><b>Definition:</b> PinChangeInt.h:131</div></div>
+<div class="ttc" id="aclassPCintPort_html_afecea645c5a79b54eab38b11c8ba19a6"><div class="ttname"><a href="classPCintPort.html#afecea645c5a79b54eab38b11c8ba19a6">PCintPort::delPin</a></div><div class="ttdeci">void delPin(uint8_t mask)</div><div class="ttdef"><b>Definition:</b> PinChangeInt.cpp:51</div></div>
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+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">DCAITI Robot Hardware
+   &#160;<span id="projectnumber">1.0</span>
+   </div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
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+<div id="nav-path" class="navpath">
+  <ul>
+<li class="navelem"><a class="el" href="dir_68267d1309a1af8e8297ef4c3efbcdba.html">src</a></li><li class="navelem"><a class="el" href="dir_6d2104db64b91953bbd7b8fedbb8a094.html">communication</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="summary">
+<a href="#func-members">Functions</a> &#124;
+<a href="#var-members">Variables</a>  </div>
+  <div class="headertitle">
+<div class="title">UARTCom.cpp File Reference</div>  </div>
+</div><!--header-->
+<div class="contents">
+<div class="textblock"><code>#include &quot;<a class="el" href="UARTCom_8hpp_source.html">communication/UARTCom.hpp</a>&quot;</code><br />
+<code>#include &quot;<a class="el" href="UCommands_8hpp_source.html">communication/UCommands.hpp</a>&quot;</code><br />
+<code>#include &quot;<a class="el" href="UValue_8hpp_source.html">communication/UValue.hpp</a>&quot;</code><br />
+<code>#include &quot;<a class="el" href="Utils_8hpp_source.html">misc/Utils.hpp</a>&quot;</code><br />
+<code>#include &quot;<a class="el" href="constants_8h_source.html">constants.h</a>&quot;</code><br />
+<code>#include &quot;MotorWheel.h&quot;</code><br />
+</div><div class="textblock"><div class="dynheader">
+Include dependency graph for UARTCom.cpp:</div>
+<div class="dyncontent">
+<div class="center"><img src="UARTCom_8cpp__incl.png" border="0" usemap="#asrc_2communication_2UARTCom_8cpp" alt=""/></div>
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+<tr class="separator:a5bfcc9a4d05eaa07aff6dbc5ffbc01a4"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a4d3197ea3a99346e142f898a856eba6c"><td class="memItemLeft" align="right" valign="top">uint8_t&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="UARTCom_8cpp.html#a4d3197ea3a99346e142f898a856eba6c">fromFrameType</a> (<a class="el" href="constants_8h.html#a2cadd9c064904e21e2acd0d0f64ad8b6">U_FrameType</a> ft)</td></tr>
+<tr class="memdesc:a4d3197ea3a99346e142f898a856eba6c"><td class="mdescLeft">&#160;</td><td class="mdescRight">translates frametype to corresponding byte value  <a href="UARTCom_8cpp.html#a4d3197ea3a99346e142f898a856eba6c">More...</a><br /></td></tr>
+<tr class="separator:a4d3197ea3a99346e142f898a856eba6c"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a2f281c7608e509d555fc0a09cfeff82a"><td class="memItemLeft" align="right" valign="top"><a class="el" href="constants_8h.html#a35f6afe79ab48a3034b81cb15d538155">U_Component</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="UARTCom_8cpp.html#a2f281c7608e509d555fc0a09cfeff82a">parseComponent</a> (uint8_t *d)</td></tr>
+<tr class="memdesc:a2f281c7608e509d555fc0a09cfeff82a"><td class="mdescLeft">&#160;</td><td class="mdescRight">extract component information  <a href="UARTCom_8cpp.html#a2f281c7608e509d555fc0a09cfeff82a">More...</a><br /></td></tr>
+<tr class="separator:a2f281c7608e509d555fc0a09cfeff82a"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a050546b686b2c4648e34f5145e8e5c3a"><td class="memItemLeft" align="right" valign="top">uint8_t&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="UARTCom_8cpp.html#a050546b686b2c4648e34f5145e8e5c3a">fromComponent</a> (<a class="el" href="constants_8h.html#a35f6afe79ab48a3034b81cb15d538155">U_Component</a> cp)</td></tr>
+<tr class="memdesc:a050546b686b2c4648e34f5145e8e5c3a"><td class="mdescLeft">&#160;</td><td class="mdescRight">translates component into byte value  <a href="UARTCom_8cpp.html#a050546b686b2c4648e34f5145e8e5c3a">More...</a><br /></td></tr>
+<tr class="separator:a050546b686b2c4648e34f5145e8e5c3a"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a67a111cec96745786304360702d7fb0d"><td class="memItemLeft" align="right" valign="top"><a class="el" href="constants_8h.html#a83703b84abb8c92901ec1c15e0bbad80">U_Request</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="UARTCom_8cpp.html#a67a111cec96745786304360702d7fb0d">parseRequest</a> (uint8_t *d)</td></tr>
+<tr class="memdesc:a67a111cec96745786304360702d7fb0d"><td class="mdescLeft">&#160;</td><td class="mdescRight">extracts request information from data package  <a href="UARTCom_8cpp.html#a67a111cec96745786304360702d7fb0d">More...</a><br /></td></tr>
+<tr class="separator:a67a111cec96745786304360702d7fb0d"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ac85d37d78756559b8b923544852dd430"><td class="memItemLeft" align="right" valign="top">uint32_t&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="UARTCom_8cpp.html#ac85d37d78756559b8b923544852dd430">parseTimestamp</a> (uint8_t *d)</td></tr>
+<tr class="memdesc:ac85d37d78756559b8b923544852dd430"><td class="mdescLeft">&#160;</td><td class="mdescRight">extracts timestamp from data package  <a href="UARTCom_8cpp.html#ac85d37d78756559b8b923544852dd430">More...</a><br /></td></tr>
+<tr class="separator:ac85d37d78756559b8b923544852dd430"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a744c5a2f1e07b896f5dc1a3b352dfd2a"><td class="memItemLeft" align="right" valign="top">uint16_t&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="UARTCom_8cpp.html#a744c5a2f1e07b896f5dc1a3b352dfd2a">computeChecksum</a> (uint8_t *d, uint8_t pl)</td></tr>
+<tr class="memdesc:a744c5a2f1e07b896f5dc1a3b352dfd2a"><td class="mdescLeft">&#160;</td><td class="mdescRight">computes checksum from data package  <a href="UARTCom_8cpp.html#a744c5a2f1e07b896f5dc1a3b352dfd2a">More...</a><br /></td></tr>
+<tr class="separator:a744c5a2f1e07b896f5dc1a3b352dfd2a"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a09ed133ea78335824acd3d296d6d8568"><td class="memItemLeft" align="right" valign="top">int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="UARTCom_8cpp.html#a09ed133ea78335824acd3d296d6d8568">correctChecksum</a> (uint8_t *d)</td></tr>
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+<tr class="separator:a09ed133ea78335824acd3d296d6d8568"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ac77fffc0c7f612ccf0db14af856e3277"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="UARTCom_8cpp.html#ac77fffc0c7f612ccf0db14af856e3277">showPackage</a> (uint8_t *d, int pl)</td></tr>
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+<tr class="separator:ac77fffc0c7f612ccf0db14af856e3277"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a0f9de5ab46a6f02e563fdc4634cd1b26"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="UARTCom_8cpp.html#a0f9de5ab46a6f02e563fdc4634cd1b26">clearPackage</a> (uint8_t *d)</td></tr>
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+<tr class="separator:a0f9de5ab46a6f02e563fdc4634cd1b26"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a8f3f9f5697687756152cfc8045170646"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="UARTCom_8cpp.html#a8f3f9f5697687756152cfc8045170646">handleRequest</a> (uint8_t *d)</td></tr>
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+<tr class="separator:a8f3f9f5697687756152cfc8045170646"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a86f7112e2f3c0cf6e89e6cc9ce0d35bc"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="UARTCom_8cpp.html#a86f7112e2f3c0cf6e89e6cc9ce0d35bc">handlePackage</a> (uint8_t *d, int pl)</td></tr>
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+<tr class="separator:a86f7112e2f3c0cf6e89e6cc9ce0d35bc"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="var-members"></a>
+Variables</h2></td></tr>
+<tr class="memitem:aa786999c8aa65490b5b03fb09a9f1f98"><td class="memItemLeft" align="right" valign="top">uint8_t&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="UARTCom_8cpp.html#aa786999c8aa65490b5b03fb09a9f1f98">currentParseIndex</a></td></tr>
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+<tr class="separator:a5ab69515b5724f039c137585cbf24787"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<h2 class="groupheader">Function Documentation</h2>
+<a id="a0f9de5ab46a6f02e563fdc4634cd1b26"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a0f9de5ab46a6f02e563fdc4634cd1b26">&#9670;&nbsp;</a></span>clearPackage()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">void clearPackage </td>
+          <td>(</td>
+          <td class="paramtype">uint8_t *&#160;</td>
+          <td class="paramname"><em>d</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>erases all package data and sets the array to 0 </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">d</td><td>data package </td></tr>
+  </table>
+  </dd>
+</dl>
+<div class="dynheader">
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+<h2 class="memtitle"><span class="permalink"><a href="#a744c5a2f1e07b896f5dc1a3b352dfd2a">&#9670;&nbsp;</a></span>computeChecksum()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">uint16_t computeChecksum </td>
+          <td>(</td>
+          <td class="paramtype">uint8_t *&#160;</td>
+          <td class="paramname"><em>d</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">uint8_t&#160;</td>
+          <td class="paramname"><em>pl</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>computes checksum from data package </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">d</td><td>data package </td></tr>
+    <tr><td class="paramname">pl</td><td>payload length </td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>uint16_t </dd></dl>
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+<h2 class="memtitle"><span class="permalink"><a href="#a09ed133ea78335824acd3d296d6d8568">&#9670;&nbsp;</a></span>correctChecksum()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">int correctChecksum </td>
+          <td>(</td>
+          <td class="paramtype">uint8_t *&#160;</td>
+          <td class="paramname"><em>d</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>checks if checksum inside package and computed checksum from package data are the same </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">d</td><td>data package </td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>int </dd></dl>
+<div class="dynheader">
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+
+<div class="memitem">
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+          <td class="memname">uint8_t fromComponent </td>
+          <td>(</td>
+          <td class="paramtype"><a class="el" href="constants_8h.html#a35f6afe79ab48a3034b81cb15d538155">U_Component</a>&#160;</td>
+          <td class="paramname"><em>cp</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>translates component into byte value </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">cp</td><td>component </td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>uint8_t </dd></dl>
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+
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+          <td class="memname">uint8_t fromFrameType </td>
+          <td>(</td>
+          <td class="paramtype"><a class="el" href="constants_8h.html#a2cadd9c064904e21e2acd0d0f64ad8b6">U_FrameType</a>&#160;</td>
+          <td class="paramname"><em>ft</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>translates frametype to corresponding byte value </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">ft</td><td>frametype </td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>uint8_t </dd></dl>
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+
+<div class="memitem">
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+      <table class="memname">
+        <tr>
+          <td class="memname">void handlePackage </td>
+          <td>(</td>
+          <td class="paramtype">uint8_t *&#160;</td>
+          <td class="paramname"><em>d</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">int&#160;</td>
+          <td class="paramname"><em>pl</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>package handler, checks for errors first, then proceeds to extract information from the data package </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">d</td><td></td></tr>
+    <tr><td class="paramname">pl</td><td></td></tr>
+  </table>
+  </dd>
+</dl>
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+<h2 class="memtitle"><span class="permalink"><a href="#a8f3f9f5697687756152cfc8045170646">&#9670;&nbsp;</a></span>handleRequest()</h2>
+
+<div class="memitem">
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+      <table class="memname">
+        <tr>
+          <td class="memname">void handleRequest </td>
+          <td>(</td>
+          <td class="paramtype">uint8_t *&#160;</td>
+          <td class="paramname"><em>d</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>executes commands according to incoming request </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">d</td><td>data package </td></tr>
+  </table>
+  </dd>
+</dl>
+<div class="dynheader">
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+
+<div class="memitem">
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+      <table class="memname">
+        <tr>
+          <td class="memname"><a class="el" href="constants_8h.html#a35f6afe79ab48a3034b81cb15d538155">U_Component</a> parseComponent </td>
+          <td>(</td>
+          <td class="paramtype">uint8_t *&#160;</td>
+          <td class="paramname"><em>d</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>extract component information </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">d</td><td>data package </td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>U_Component </dd></dl>
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+
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+          <td class="memname"><a class="el" href="constants_8h.html#a2cadd9c064904e21e2acd0d0f64ad8b6">U_FrameType</a> parseFrameType </td>
+          <td>(</td>
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+          <td class="paramname"><em>d</em></td><td>)</td>
+          <td></td>
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+      </table>
+</div><div class="memdoc">
+
+<p>extracts frametype from data package </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">d</td><td>data package </td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>U_FrameType </dd></dl>
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+          <td>(</td>
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+          <td class="paramname"><em>d</em></td><td>)</td>
+          <td></td>
+        </tr>
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+</div><div class="memdoc">
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+<p>extracts request information from data package </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">d</td><td>data package </td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>U_Request </dd></dl>
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+<div class="memitem">
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+      <table class="memname">
+        <tr>
+          <td class="memname">uint32_t parseTimestamp </td>
+          <td>(</td>
+          <td class="paramtype">uint8_t *&#160;</td>
+          <td class="paramname"><em>d</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>extracts timestamp from data package </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">d</td><td>data package </td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>uint32_t </dd></dl>
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+<h2 class="memtitle"><span class="permalink"><a href="#ac77fffc0c7f612ccf0db14af856e3277">&#9670;&nbsp;</a></span>showPackage()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">void showPackage </td>
+          <td>(</td>
+          <td class="paramtype">uint8_t *&#160;</td>
+          <td class="paramname"><em>d</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">int&#160;</td>
+          <td class="paramname"><em>pl</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>debugging function, prints out package data </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">d</td><td>data package </td></tr>
+    <tr><td class="paramname">pl</td><td>payload length </td></tr>
+  </table>
+  </dd>
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+<h2 class="groupheader">Variable Documentation</h2>
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+          <td class="memname">uint8_t currentParseIndex</td>
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+
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+<span class="mlabels"><span class="mlabel">extern</span></span>  </td>
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+<p>class to manage uart communication  
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+<dl class="section date"><dt>Date</dt><dd>2021-07-22</dd></dl>
+<dl class="section copyright"><dt>Copyright</dt><dd>Copyright (c) 2021 </dd></dl>
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+<div class="textblock"><code>#include &quot;<a class="el" href="UCommands_8hpp_source.html">communication/UCommands.hpp</a>&quot;</code><br />
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+<li class="navelem"><a class="el" href="dir_d44c64559bbebec7f509842c48db8b23.html">include</a></li><li class="navelem"><a class="el" href="dir_ca930d033be57d703a34bf99bb5a03c5.html">communication</a></li>  </ul>
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+<a href="#nested-classes">Classes</a>  </div>
+  <div class="headertitle">
+<div class="title">UCommands.hpp File Reference</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>implementation of commands according to uart protocol  
+<a href="#details">More...</a></p>
+<div class="textblock"><code>#include &quot;Arduino.h&quot;</code><br />
+<code>#include &quot;<a class="el" href="constants_8h_source.html">constants.h</a>&quot;</code><br />
+</div><div class="textblock"><div class="dynheader">
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+<p><a href="UCommands_8hpp_source.html">Go to the source code of this file.</a></p>
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+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="nested-classes"></a>
+Classes</h2></td></tr>
+<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">class &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classUCommands.html">UCommands</a></td></tr>
+<tr class="separator:"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
+<div class="textblock"><p>implementation of commands according to uart protocol </p>
+<dl class="section author"><dt>Author</dt><dd>your name (<a href="#" onclick="location.href='mai'+'lto:'+'you'+'@d'+'oma'+'in'+'.co'+'m'; return false;">you@d<span style="display: none;">.nosp@m.</span>omai<span style="display: none;">.nosp@m.</span>n.com</a>) </dd></dl>
+<dl class="section version"><dt>Version</dt><dd>0.1 </dd></dl>
+<dl class="section date"><dt>Date</dt><dd>2021-07-22</dd></dl>
+<dl class="section copyright"><dt>Copyright</dt><dd>Copyright (c) 2021 </dd></dl>
+</div></div><!-- contents -->
+<!-- start footer part -->
+<hr class="footer"/><address class="footer"><small>
+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.1
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+<p>class to send out encoder values  
+<a href="#details">More...</a></p>
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+<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">class &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classUValue.html">UValue</a></td></tr>
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+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
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+<dl class="section author"><dt>Author</dt><dd>your name (<a href="#" onclick="location.href='mai'+'lto:'+'you'+'@d'+'oma'+'in'+'.co'+'m'; return false;">you@d<span style="display: none;">.nosp@m.</span>omai<span style="display: none;">.nosp@m.</span>n.com</a>) </dd></dl>
+<dl class="section version"><dt>Version</dt><dd>0.1 </dd></dl>
+<dl class="section date"><dt>Date</dt><dd>2021-07-22</dd></dl>
+<dl class="section copyright"><dt>Copyright</dt><dd>Copyright (c) 2021 </dd></dl>
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+<p>useful converting and computing functions  
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+<dl class="section author"><dt>Author</dt><dd>your name (<a href="#" onclick="location.href='mai'+'lto:'+'you'+'@d'+'oma'+'in'+'.co'+'m'; return false;">you@d<span style="display: none;">.nosp@m.</span>omai<span style="display: none;">.nosp@m.</span>n.com</a>) </dd></dl>
+<dl class="section version"><dt>Version</dt><dd>0.1 </dd></dl>
+<dl class="section date"><dt>Date</dt><dd>2021-07-22</dd></dl>
+<dl class="section copyright"><dt>Copyright</dt><dd>Copyright (c) 2021 </dd></dl>
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+<li class="navelem"><a class="el" href="dir_d44c64559bbebec7f509842c48db8b23.html">include</a></li><li class="navelem"><a class="el" href="dir_27118ad956692b96871ee35aadc6976a.html">misc</a></li>  </ul>
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+<div class="title">Utils.hpp</div>  </div>
+</div><!--header-->
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+<a href="Utils_8hpp.html">Go to the documentation of this file.</a><div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="preprocessor">#ifndef UTILS_HPP</span></div>
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+<div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160; </div>
+<div class="line"><a name="l00017"></a><span class="lineno"><a class="line" href="classUtils.html">   17</a></span>&#160;<span class="keyword">class </span><a class="code" href="classUtils.html">Utils</a> {</div>
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+<div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160;    <span class="comment">/* functions */</span></div>
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+<div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160; </div>
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+<div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160; </div>
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+<div class="ttc" id="aclassUtils_html_aac3729a54c2dbd0461f5faa130429280"><div class="ttname"><a href="classUtils.html#aac3729a54c2dbd0461f5faa130429280">Utils::bytesToFloat</a></div><div class="ttdeci">static float bytesToFloat(uint8_t b0, uint8_t b1, uint8_t b2, uint8_t b3)</div><div class="ttdoc">converts 4 bytes to float (big endian)</div><div class="ttdef"><b>Definition:</b> Utils.cpp:13</div></div>
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+<meta name="generator" content="Doxygen 1.9.1"/>
+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>DCAITI Robot Hardware: Class List</title>
+<link href="tabs.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="jquery.js"></script>
+<script type="text/javascript" src="dynsections.js"></script>
+<link href="search/search.css" rel="stylesheet" type="text/css"/>
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+   <div id="projectname">DCAITI Robot Hardware
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+<div class="header">
+  <div class="headertitle">
+<div class="title">Class List</div>  </div>
+</div><!--header-->
+<div class="contents">
+<div class="textblock">Here are the classes, structs, unions and interfaces with brief descriptions:</div><div class="directory">
+<table class="directory">
+<tr id="row_0_" class="even"><td class="entry"><span style="width:16px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classUARTCom.html" target="_self">UARTCom</a></td><td class="desc"></td></tr>
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+<tr id="row_2_" class="even"><td class="entry"><span style="width:16px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classUtils.html" target="_self">Utils</a></td><td class="desc"></td></tr>
+<tr id="row_3_"><td class="entry"><span style="width:16px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classUValue.html" target="_self">UValue</a></td><td class="desc"></td></tr>
+</table>
+</div><!-- directory -->
+</div><!-- contents -->
+<!-- start footer part -->
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+<html xmlns="http://www.w3.org/1999/xhtml">
+<head>
+<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
+<meta http-equiv="X-UA-Compatible" content="IE=9"/>
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+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>DCAITI Robot Hardware: Member List</title>
+<link href="tabs.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="jquery.js"></script>
+<script type="text/javascript" src="dynsections.js"></script>
+<link href="search/search.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="search/searchdata.js"></script>
+<script type="text/javascript" src="search/search.js"></script>
+<link href="doxygen.css" rel="stylesheet" type="text/css" />
+</head>
+<body>
+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">DCAITI Robot Hardware
+   &#160;<span id="projectnumber">1.0</span>
+   </div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.9.1 -->
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+var searchBox = new SearchBox("searchBox", "search",false,'Search','.html');
+/* @license-end */
+</script>
+<script type="text/javascript" src="menudata.js"></script>
+<script type="text/javascript" src="menu.js"></script>
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
+$(function() {
+  initMenu('',true,false,'search.php','Search');
+  $(document).ready(function() { init_search(); });
+});
+/* @license-end */</script>
+<div id="main-nav"></div>
+<!-- window showing the filter options -->
+<div id="MSearchSelectWindow"
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+     onmouseout="return searchBox.OnSearchSelectHide()"
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+  <div class="headertitle">
+<div class="title">GearedMotor Member List</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>This is the complete list of members for <a class="el" href="classGearedMotor.html">GearedMotor</a>, including all inherited members.</p>
+<table class="directory">
+  <tr class="even"><td class="entry"><a class="el" href="classMotor.html#a17f9e1e193961edc117026f80e806d49">advancePWM</a>(unsigned int PWM)</td><td class="entry"><a class="el" href="classMotor.html">Motor</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classMotor.html#aefe7b72985f51315c7ffe81fbf66869c">backoffPWM</a>(unsigned int PWM)</td><td class="entry"><a class="el" href="classMotor.html">Motor</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classPID.html#a05a3258d4b553e7a121f7360ffe88065">Compute</a>()</td><td class="entry"><a class="el" href="classPID.html">PID</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classMotor.html#a55a0ba922517197fd01caac36c84c682">debugger</a>() const</td><td class="entry"><a class="el" href="classMotor.html">Motor</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classMotor.html#a0a420be82fa25f5b62b96f6805835d71">delayMS</a>(unsigned int ms, bool debug=false)</td><td class="entry"><a class="el" href="classMotor.html">Motor</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classGearedMotor.html#aa91e4c0799d41b33495cac9c805333e2">GearedMotor</a>(unsigned char _pinPWM, unsigned char _pinDir, unsigned char _pinIRQ, unsigned char _pinIRQB, struct ISRVars *_isr, unsigned int _ratio=REDUCTION_RATIO)</td><td class="entry"><a class="el" href="classGearedMotor.html">GearedMotor</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classMotor.html#aaedede5ddae28b6926204dc7a47e0612">getCurrDir</a>() const</td><td class="entry"><a class="el" href="classMotor.html">Motor</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classMotor.html#a54f6cdff2ab028fdd2724fbf40c3f641">getCurrPulse</a>() const</td><td class="entry"><a class="el" href="classMotor.html">Motor</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classPID.html#a752d07a63dd8d90191a28d24ea85861c">GetD_Param</a>()</td><td class="entry"><a class="el" href="classPID.html">PID</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classMotor.html#aa813d431c39937e90e91f3ad2fbf625d">getDesiredDir</a>() const</td><td class="entry"><a class="el" href="classMotor.html">Motor</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classGearedMotor.html#a13b6c99ef8713b5333f98a9ba844ba8b">getGearedSpeedRPM</a>() const</td><td class="entry"><a class="el" href="classGearedMotor.html">GearedMotor</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classPID.html#a5dcf844aec5142d13f0e1a9af2eac237">GetI_Param</a>()</td><td class="entry"><a class="el" href="classPID.html">PID</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classPID.html#aada1bd2d75fc4cfb8d4e8b3bb7d6efb3">GetINMax</a>()</td><td class="entry"><a class="el" href="classPID.html">PID</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classPID.html#a7c6fb1d00b7ceb89f833c85a10425a99">GetINMin</a>()</td><td class="entry"><a class="el" href="classPID.html">PID</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classPID.html#acc325db5e6a140b92c8199a66e03491b">GetMode</a>()</td><td class="entry"><a class="el" href="classPID.html">PID</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classPID.html#afca76f72062cde15b4d738b693215bf6">GetOUTMax</a>()</td><td class="entry"><a class="el" href="classPID.html">PID</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classPID.html#a3d18162a81fab3b59b66f2398c2f55da">GetOUTMin</a>()</td><td class="entry"><a class="el" href="classPID.html">PID</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classPID.html#a44a5a23e5ab0ebc59ac56cd6e63a74e9">GetP_Param</a>()</td><td class="entry"><a class="el" href="classPID.html">PID</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classMotor.html#af085804880a48840dc3d1d088911695e">getPinDir</a>() const</td><td class="entry"><a class="el" href="classMotor.html">Motor</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classMotor.html#a785eadb656e31e62b1f1515004344ae0">getPinIRQ</a>() const</td><td class="entry"><a class="el" href="classMotor.html">Motor</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classMotor.html#a3a1771db56274e5c06625d33a098932f">getPinIRQB</a>() const</td><td class="entry"><a class="el" href="classMotor.html">Motor</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classMotor.html#ad02c1db58f8f247f4e8becc19d1c7054">getPinPWM</a>() const</td><td class="entry"><a class="el" href="classMotor.html">Motor</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classGearedMotor.html#a36d9fc91b484c923d3f6c92d05c17b56">getPosition</a>()</td><td class="entry"><a class="el" href="classGearedMotor.html">GearedMotor</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classMotor.html#aa41934a55ada6dabb95b6741b6d964d3">getPWM</a>() const</td><td class="entry"><a class="el" href="classMotor.html">Motor</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classGearedMotor.html#aff9f697effb8c62667a32942ae154053">getRatio</a>() const</td><td class="entry"><a class="el" href="classGearedMotor.html">GearedMotor</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classPID.html#aefa4318e7ab26fbdfd7a2f6870d694e8">GetSampleTime</a>()</td><td class="entry"><a class="el" href="classPID.html">PID</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classMotor.html#a5e5d272254ecd37a082fc467e9cd2610">getSpeedPPS</a>() const</td><td class="entry"><a class="el" href="classMotor.html">Motor</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classMotor.html#ada15a2f02a7945a458b48e829b6a5d6b">getSpeedRPM</a>() const</td><td class="entry"><a class="el" href="classMotor.html">Motor</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classMotor.html#acab1e83ffdd286821aa69af770294fae">isr</a></td><td class="entry"><a class="el" href="classMotor.html">Motor</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classPID.html#a34178c5110d89a8029e403f6ef5d003d">JustCalculated</a>()</td><td class="entry"><a class="el" href="classPID.html">PID</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classMotor.html#a80e0c2a87a5c47b4aa200c33028d39eb">Motor</a>(unsigned char _pinPWM, unsigned char _pinDir, unsigned char _pinIRQ, unsigned char _pinIRQB, struct ISRVars *_isr)</td><td class="entry"><a class="el" href="classMotor.html">Motor</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classPID.html#a70a457a8b2d0f2306923c30282567af6">PID</a>(int *, int *, int *, float, float, float)</td><td class="entry"><a class="el" href="classPID.html">PID</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classPID.html#ab1053fb1d444eb9946a12c2fed97f4bf">PID</a>(int *, int *, int *, int *, float, float, float)</td><td class="entry"><a class="el" href="classPID.html">PID</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classMotor.html#a6358811a51b7636b06199972b7fae417">PIDDisable</a>()</td><td class="entry"><a class="el" href="classMotor.html">Motor</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classMotor.html#ad6ee53cd8570f60ae5dd83b8604b00fe">PIDEnable</a>(float kc=KC, float taui=TAUI, float taud=TAUD, unsigned int sampleTime=1000)</td><td class="entry"><a class="el" href="classMotor.html">Motor</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classMotor.html#a9ca625db156da95bc5f4500c294f8e83">PIDGetSpeedRPMDesired</a>() const</td><td class="entry"><a class="el" href="classMotor.html">Motor</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classMotor.html#a1bc02b7e0da3aca6e724d2755d42eaab">PIDGetStatus</a>() const</td><td class="entry"><a class="el" href="classMotor.html">Motor</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classMotor.html#aa44fc307611e45eeb5e6fb50c79f375b">PIDRegulate</a>(bool doRegulate=true)</td><td class="entry"><a class="el" href="classMotor.html">Motor</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classMotor.html#ae14f43483f26152d92c88aa4c6a7a471">PIDReset</a>()</td><td class="entry"><a class="el" href="classMotor.html">Motor</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classMotor.html#a3377631cff641d41a50b7f1c5b30fc1f">PIDSetSpeedRPMDesired</a>(unsigned int speedRPM)</td><td class="entry"><a class="el" href="classMotor.html">Motor</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classMotor.html#a0555b6c2a33c373d3a9e33f174a2b5aa">PIDSetup</a>(float kc=KC, float taui=TAUI, float taud=TAUD, unsigned int sampleTime=1000)</td><td class="entry"><a class="el" href="classMotor.html">Motor</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classPID.html#a9f949fd4445477ee9bf1af2bfa3e1a84">Reset</a>()</td><td class="entry"><a class="el" href="classPID.html">PID</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classMotor.html#a190bda1f77605d10bcbacceb2e465bf0">resetCurrPulse</a>()</td><td class="entry"><a class="el" href="classMotor.html">Motor</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classMotor.html#aeddf9353baeaa0ad9e6de0df5d3e73e8">reverseDesiredDir</a>()</td><td class="entry"><a class="el" href="classMotor.html">Motor</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classMotor.html#ad4e09298c4c8b99ab467a4262d8a3207">runPWM</a>(unsigned int PWM, bool dir, bool saveDir=true)</td><td class="entry"><a class="el" href="classMotor.html">Motor</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classMotor.html#a9462d1a9af69941100f422ce1a0faeff">setCurrDir</a>()</td><td class="entry"><a class="el" href="classMotor.html">Motor</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classMotor.html#a653642c0cba985a85204fbfe81cf3c8a">setCurrPulse</a>(long _pulse)</td><td class="entry"><a class="el" href="classMotor.html">Motor</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classMotor.html#a2aaead147c8cb1a712db027f9cb70e33">setDesiredDir</a>(bool dir)</td><td class="entry"><a class="el" href="classMotor.html">Motor</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classGearedMotor.html#a0aa18eb91d0313f4bf64cc5e3d43c4cf">setGearedSpeedRPM</a>(float gearedSpeedRPM, bool dir)</td><td class="entry"><a class="el" href="classGearedMotor.html">GearedMotor</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classGearedMotor.html#a541c6426380851a4709f652092c80b97">setGearedSpeedRPM</a>(float gearedSpeedRPM)</td><td class="entry"><a class="el" href="classGearedMotor.html">GearedMotor</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classPID.html#aa84bd27695ea7b6f80a0a6170abb410f">SetInputLimits</a>(int, int)</td><td class="entry"><a class="el" href="classPID.html">PID</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classPID.html#a68074bad88a8cc442ee03a036073d5d5">SetMode</a>(int Mode)</td><td class="entry"><a class="el" href="classPID.html">PID</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classPID.html#a7a1fbe9bbf606557cef3fcf07f04d3f6">SetOutputLimits</a>(int, int)</td><td class="entry"><a class="el" href="classPID.html">PID</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classGearedMotor.html#a347d79fb74710a1a82410d0b14a84f25">setRatio</a>(unsigned int ratio=REDUCTION_RATIO)</td><td class="entry"><a class="el" href="classGearedMotor.html">GearedMotor</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classPID.html#aaa1e0e67a0c97571bd62b326e6cf3b2e">SetSampleTime</a>(int)</td><td class="entry"><a class="el" href="classPID.html">PID</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classMotor.html#a8d707212e2395830a9064712df1c4f68">setSpeedRPM</a>(int speedRPM, bool dir)</td><td class="entry"><a class="el" href="classMotor.html">Motor</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classMotor.html#a5e6956a60f8903b1555ef5625bbee762">setSpeedRPM</a>(int speedRPM)</td><td class="entry"><a class="el" href="classMotor.html">Motor</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classPID.html#aa51d6ef0803413fd0da475406a5ae6ad">SetTunings</a>(float, float, float)</td><td class="entry"><a class="el" href="classPID.html">PID</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classMotor.html#a826a3f1ffd48fd6f49d74caf7ad68dad">setupInterrupt</a>()</td><td class="entry"><a class="el" href="classMotor.html">Motor</a></td><td class="entry"></td></tr>
+</table></div><!-- contents -->
+<!-- start footer part -->
+<hr class="footer"/><address class="footer"><small>
+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.1
+</small></address>
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diff --git a/src/dcaitirobot/embedded/docs/html/classGearedMotor.html b/src/dcaitirobot/embedded/docs/html/classGearedMotor.html
new file mode 100644
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+<html xmlns="http://www.w3.org/1999/xhtml">
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+<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
+<meta http-equiv="X-UA-Compatible" content="IE=9"/>
+<meta name="generator" content="Doxygen 1.9.1"/>
+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>DCAITI Robot Hardware: GearedMotor Class Reference</title>
+<link href="tabs.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="jquery.js"></script>
+<script type="text/javascript" src="dynsections.js"></script>
+<link href="search/search.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="search/searchdata.js"></script>
+<script type="text/javascript" src="search/search.js"></script>
+<link href="doxygen.css" rel="stylesheet" type="text/css" />
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+<body>
+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">DCAITI Robot Hardware
+   &#160;<span id="projectnumber">1.0</span>
+   </div>
+  </td>
+ </tr>
+ </tbody>
+</table>
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+<!-- end header part -->
+<!-- Generated by Doxygen 1.9.1 -->
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+<script type="text/javascript" src="menudata.js"></script>
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+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
+$(function() {
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+  $(document).ready(function() { init_search(); });
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+/* @license-end */</script>
+<div id="main-nav"></div>
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+     onmouseout="return searchBox.OnSearchSelectHide()"
+     onkeydown="return searchBox.OnSearchSelectKey(event)">
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+<!-- iframe showing the search results (closed by default) -->
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+        name="MSearchResults" id="MSearchResults">
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+</div>
+
+</div><!-- top -->
+<div class="header">
+  <div class="summary">
+<a href="#pub-methods">Public Member Functions</a> &#124;
+<a href="classGearedMotor-members.html">List of all members</a>  </div>
+  <div class="headertitle">
+<div class="title">GearedMotor Class Reference</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p><code>#include &lt;<a class="el" href="MotorWheel_8h_source.html">MotorWheel.h</a>&gt;</code></p>
+<div class="dynheader">
+Inheritance diagram for GearedMotor:</div>
+<div class="dyncontent">
+<div class="center"><img src="classGearedMotor__inherit__graph.png" border="0" usemap="#aGearedMotor_inherit__map" alt="Inheritance graph"/></div>
+<map name="aGearedMotor_inherit__map" id="aGearedMotor_inherit__map">
+<area shape="rect" title=" " alt="" coords="5,155,112,181"/>
+<area shape="rect" href="classMotorWheel.html" title=" " alt="" coords="8,229,109,256"/>
+<area shape="rect" href="classMotor.html" title=" " alt="" coords="29,80,89,107"/>
+<area shape="rect" href="classPID.html" title=" " alt="" coords="37,5,81,32"/>
+</map>
+<center><span class="legend">[<a href="graph_legend.html">legend</a>]</span></center></div>
+<div class="dynheader">
+Collaboration diagram for GearedMotor:</div>
+<div class="dyncontent">
+<div class="center"><img src="classGearedMotor__coll__graph.png" border="0" usemap="#aGearedMotor_coll__map" alt="Collaboration graph"/></div>
+<map name="aGearedMotor_coll__map" id="aGearedMotor_coll__map">
+<area shape="rect" title=" " alt="" coords="14,171,121,197"/>
+<area shape="rect" href="classMotor.html" title=" " alt="" coords="37,95,97,121"/>
+<area shape="rect" href="classPID.html" title=" " alt="" coords="5,5,49,32"/>
+<area shape="rect" href="structISRVars.html" title=" " alt="" coords="73,5,144,32"/>
+</map>
+<center><span class="legend">[<a href="graph_legend.html">legend</a>]</span></center></div>
+<table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-methods"></a>
+Public Member Functions</h2></td></tr>
+<tr class="memitem:aa91e4c0799d41b33495cac9c805333e2"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classGearedMotor.html#aa91e4c0799d41b33495cac9c805333e2">GearedMotor</a> (unsigned char _pinPWM, unsigned char _pinDir, unsigned char _pinIRQ, unsigned char _pinIRQB, struct <a class="el" href="structISRVars.html">ISRVars</a> *_isr, unsigned int _ratio=<a class="el" href="MotorWheel_8h.html#a545c3d33941dafc6ffd8cd9a61f6fca4">REDUCTION_RATIO</a>)</td></tr>
+<tr class="separator:aa91e4c0799d41b33495cac9c805333e2"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a13b6c99ef8713b5333f98a9ba844ba8b"><td class="memItemLeft" align="right" valign="top">float&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classGearedMotor.html#a13b6c99ef8713b5333f98a9ba844ba8b">getGearedSpeedRPM</a> () const</td></tr>
+<tr class="separator:a13b6c99ef8713b5333f98a9ba844ba8b"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a0aa18eb91d0313f4bf64cc5e3d43c4cf"><td class="memItemLeft" align="right" valign="top">float&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classGearedMotor.html#a0aa18eb91d0313f4bf64cc5e3d43c4cf">setGearedSpeedRPM</a> (float gearedSpeedRPM, bool dir)</td></tr>
+<tr class="separator:a0aa18eb91d0313f4bf64cc5e3d43c4cf"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a541c6426380851a4709f652092c80b97"><td class="memItemLeft" align="right" valign="top">float&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classGearedMotor.html#a541c6426380851a4709f652092c80b97">setGearedSpeedRPM</a> (float gearedSpeedRPM)</td></tr>
+<tr class="separator:a541c6426380851a4709f652092c80b97"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:aff9f697effb8c62667a32942ae154053"><td class="memItemLeft" align="right" valign="top">unsigned int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classGearedMotor.html#aff9f697effb8c62667a32942ae154053">getRatio</a> () const</td></tr>
+<tr class="separator:aff9f697effb8c62667a32942ae154053"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a347d79fb74710a1a82410d0b14a84f25"><td class="memItemLeft" align="right" valign="top">unsigned int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classGearedMotor.html#a347d79fb74710a1a82410d0b14a84f25">setRatio</a> (unsigned int ratio=<a class="el" href="MotorWheel_8h.html#a545c3d33941dafc6ffd8cd9a61f6fca4">REDUCTION_RATIO</a>)</td></tr>
+<tr class="separator:a347d79fb74710a1a82410d0b14a84f25"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a36d9fc91b484c923d3f6c92d05c17b56"><td class="memItemLeft" align="right" valign="top">float&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classGearedMotor.html#a36d9fc91b484c923d3f6c92d05c17b56">getPosition</a> ()</td></tr>
+<tr class="separator:a36d9fc91b484c923d3f6c92d05c17b56"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="inherit_header pub_methods_classMotor"><td colspan="2" onclick="javascript:toggleInherit('pub_methods_classMotor')"><img src="closed.png" alt="-"/>&#160;Public Member Functions inherited from <a class="el" href="classMotor.html">Motor</a></td></tr>
+<tr class="memitem:a80e0c2a87a5c47b4aa200c33028d39eb inherit pub_methods_classMotor"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classMotor.html#a80e0c2a87a5c47b4aa200c33028d39eb">Motor</a> (unsigned char _pinPWM, unsigned char _pinDir, unsigned char _pinIRQ, unsigned char _pinIRQB, struct <a class="el" href="structISRVars.html">ISRVars</a> *_isr)</td></tr>
+<tr class="separator:a80e0c2a87a5c47b4aa200c33028d39eb inherit pub_methods_classMotor"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a826a3f1ffd48fd6f49d74caf7ad68dad inherit pub_methods_classMotor"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classMotor.html#a826a3f1ffd48fd6f49d74caf7ad68dad">setupInterrupt</a> ()</td></tr>
+<tr class="separator:a826a3f1ffd48fd6f49d74caf7ad68dad inherit pub_methods_classMotor"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ad02c1db58f8f247f4e8becc19d1c7054 inherit pub_methods_classMotor"><td class="memItemLeft" align="right" valign="top">unsigned char&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classMotor.html#ad02c1db58f8f247f4e8becc19d1c7054">getPinPWM</a> () const</td></tr>
+<tr class="separator:ad02c1db58f8f247f4e8becc19d1c7054 inherit pub_methods_classMotor"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="inherit_header pub_attribs_classMotor"><td colspan="2" onclick="javascript:toggleInherit('pub_attribs_classMotor')"><img src="closed.png" alt="-"/>&#160;Public Attributes inherited from <a class="el" href="classMotor.html">Motor</a></td></tr>
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+        <tr>
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+          <td></td>
+          <td class="paramtype">unsigned int&#160;</td>
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+          <td class="paramtype">bool&#160;</td>
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+          <td class="memname">unsigned int GearedMotor::setRatio </td>
+          <td>(</td>
+          <td class="paramtype">unsigned int&#160;</td>
+          <td class="paramname"><em>ratio</em> = <code><a class="el" href="MotorWheel_8h.html#a545c3d33941dafc6ffd8cd9a61f6fca4">REDUCTION_RATIO</a></code></td><td>)</td>
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+<hr/>The documentation for this class was generated from the following files:<ul>
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new file mode 100644
index 0000000..565b673
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+++ b/src/dcaitirobot/embedded/docs/html/classMotor-members.html
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+<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "https://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
+<html xmlns="http://www.w3.org/1999/xhtml">
+<head>
+<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
+<meta http-equiv="X-UA-Compatible" content="IE=9"/>
+<meta name="generator" content="Doxygen 1.9.1"/>
+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>DCAITI Robot Hardware: Member List</title>
+<link href="tabs.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="jquery.js"></script>
+<script type="text/javascript" src="dynsections.js"></script>
+<link href="search/search.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="search/searchdata.js"></script>
+<script type="text/javascript" src="search/search.js"></script>
+<link href="doxygen.css" rel="stylesheet" type="text/css" />
+</head>
+<body>
+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">DCAITI Robot Hardware
+   &#160;<span id="projectnumber">1.0</span>
+   </div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
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+<!-- Generated by Doxygen 1.9.1 -->
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+<!-- iframe showing the search results (closed by default) -->
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+</div><!-- top -->
+<div class="header">
+  <div class="headertitle">
+<div class="title">Motor Member List</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>This is the complete list of members for <a class="el" href="classMotor.html">Motor</a>, including all inherited members.</p>
+<table class="directory">
+  <tr class="even"><td class="entry"><a class="el" href="classMotor.html#a17f9e1e193961edc117026f80e806d49">advancePWM</a>(unsigned int PWM)</td><td class="entry"><a class="el" href="classMotor.html">Motor</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classMotor.html#aefe7b72985f51315c7ffe81fbf66869c">backoffPWM</a>(unsigned int PWM)</td><td class="entry"><a class="el" href="classMotor.html">Motor</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classPID.html#a05a3258d4b553e7a121f7360ffe88065">Compute</a>()</td><td class="entry"><a class="el" href="classPID.html">PID</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classMotor.html#a55a0ba922517197fd01caac36c84c682">debugger</a>() const</td><td class="entry"><a class="el" href="classMotor.html">Motor</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classMotor.html#a0a420be82fa25f5b62b96f6805835d71">delayMS</a>(unsigned int ms, bool debug=false)</td><td class="entry"><a class="el" href="classMotor.html">Motor</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classMotor.html#aaedede5ddae28b6926204dc7a47e0612">getCurrDir</a>() const</td><td class="entry"><a class="el" href="classMotor.html">Motor</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classMotor.html#a54f6cdff2ab028fdd2724fbf40c3f641">getCurrPulse</a>() const</td><td class="entry"><a class="el" href="classMotor.html">Motor</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classPID.html#a752d07a63dd8d90191a28d24ea85861c">GetD_Param</a>()</td><td class="entry"><a class="el" href="classPID.html">PID</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classMotor.html#aa813d431c39937e90e91f3ad2fbf625d">getDesiredDir</a>() const</td><td class="entry"><a class="el" href="classMotor.html">Motor</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classPID.html#a5dcf844aec5142d13f0e1a9af2eac237">GetI_Param</a>()</td><td class="entry"><a class="el" href="classPID.html">PID</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classPID.html#aada1bd2d75fc4cfb8d4e8b3bb7d6efb3">GetINMax</a>()</td><td class="entry"><a class="el" href="classPID.html">PID</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classPID.html#a7c6fb1d00b7ceb89f833c85a10425a99">GetINMin</a>()</td><td class="entry"><a class="el" href="classPID.html">PID</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classPID.html#acc325db5e6a140b92c8199a66e03491b">GetMode</a>()</td><td class="entry"><a class="el" href="classPID.html">PID</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classPID.html#afca76f72062cde15b4d738b693215bf6">GetOUTMax</a>()</td><td class="entry"><a class="el" href="classPID.html">PID</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classPID.html#a3d18162a81fab3b59b66f2398c2f55da">GetOUTMin</a>()</td><td class="entry"><a class="el" href="classPID.html">PID</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classPID.html#a44a5a23e5ab0ebc59ac56cd6e63a74e9">GetP_Param</a>()</td><td class="entry"><a class="el" href="classPID.html">PID</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classMotor.html#af085804880a48840dc3d1d088911695e">getPinDir</a>() const</td><td class="entry"><a class="el" href="classMotor.html">Motor</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classMotor.html#a785eadb656e31e62b1f1515004344ae0">getPinIRQ</a>() const</td><td class="entry"><a class="el" href="classMotor.html">Motor</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classMotor.html#a3a1771db56274e5c06625d33a098932f">getPinIRQB</a>() const</td><td class="entry"><a class="el" href="classMotor.html">Motor</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classMotor.html#ad02c1db58f8f247f4e8becc19d1c7054">getPinPWM</a>() const</td><td class="entry"><a class="el" href="classMotor.html">Motor</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classMotor.html#aa41934a55ada6dabb95b6741b6d964d3">getPWM</a>() const</td><td class="entry"><a class="el" href="classMotor.html">Motor</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classPID.html#aefa4318e7ab26fbdfd7a2f6870d694e8">GetSampleTime</a>()</td><td class="entry"><a class="el" href="classPID.html">PID</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classMotor.html#a5e5d272254ecd37a082fc467e9cd2610">getSpeedPPS</a>() const</td><td class="entry"><a class="el" href="classMotor.html">Motor</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classMotor.html#ada15a2f02a7945a458b48e829b6a5d6b">getSpeedRPM</a>() const</td><td class="entry"><a class="el" href="classMotor.html">Motor</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classMotor.html#acab1e83ffdd286821aa69af770294fae">isr</a></td><td class="entry"><a class="el" href="classMotor.html">Motor</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classPID.html#a34178c5110d89a8029e403f6ef5d003d">JustCalculated</a>()</td><td class="entry"><a class="el" href="classPID.html">PID</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classMotor.html#a80e0c2a87a5c47b4aa200c33028d39eb">Motor</a>(unsigned char _pinPWM, unsigned char _pinDir, unsigned char _pinIRQ, unsigned char _pinIRQB, struct ISRVars *_isr)</td><td class="entry"><a class="el" href="classMotor.html">Motor</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classPID.html#a70a457a8b2d0f2306923c30282567af6">PID</a>(int *, int *, int *, float, float, float)</td><td class="entry"><a class="el" href="classPID.html">PID</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classPID.html#ab1053fb1d444eb9946a12c2fed97f4bf">PID</a>(int *, int *, int *, int *, float, float, float)</td><td class="entry"><a class="el" href="classPID.html">PID</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classMotor.html#a6358811a51b7636b06199972b7fae417">PIDDisable</a>()</td><td class="entry"><a class="el" href="classMotor.html">Motor</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classMotor.html#ad6ee53cd8570f60ae5dd83b8604b00fe">PIDEnable</a>(float kc=KC, float taui=TAUI, float taud=TAUD, unsigned int sampleTime=1000)</td><td class="entry"><a class="el" href="classMotor.html">Motor</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classMotor.html#a9ca625db156da95bc5f4500c294f8e83">PIDGetSpeedRPMDesired</a>() const</td><td class="entry"><a class="el" href="classMotor.html">Motor</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classMotor.html#a1bc02b7e0da3aca6e724d2755d42eaab">PIDGetStatus</a>() const</td><td class="entry"><a class="el" href="classMotor.html">Motor</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classMotor.html#aa44fc307611e45eeb5e6fb50c79f375b">PIDRegulate</a>(bool doRegulate=true)</td><td class="entry"><a class="el" href="classMotor.html">Motor</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classMotor.html#ae14f43483f26152d92c88aa4c6a7a471">PIDReset</a>()</td><td class="entry"><a class="el" href="classMotor.html">Motor</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classMotor.html#a3377631cff641d41a50b7f1c5b30fc1f">PIDSetSpeedRPMDesired</a>(unsigned int speedRPM)</td><td class="entry"><a class="el" href="classMotor.html">Motor</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classMotor.html#a0555b6c2a33c373d3a9e33f174a2b5aa">PIDSetup</a>(float kc=KC, float taui=TAUI, float taud=TAUD, unsigned int sampleTime=1000)</td><td class="entry"><a class="el" href="classMotor.html">Motor</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classPID.html#a9f949fd4445477ee9bf1af2bfa3e1a84">Reset</a>()</td><td class="entry"><a class="el" href="classPID.html">PID</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classMotor.html#a190bda1f77605d10bcbacceb2e465bf0">resetCurrPulse</a>()</td><td class="entry"><a class="el" href="classMotor.html">Motor</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classMotor.html#aeddf9353baeaa0ad9e6de0df5d3e73e8">reverseDesiredDir</a>()</td><td class="entry"><a class="el" href="classMotor.html">Motor</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classMotor.html#ad4e09298c4c8b99ab467a4262d8a3207">runPWM</a>(unsigned int PWM, bool dir, bool saveDir=true)</td><td class="entry"><a class="el" href="classMotor.html">Motor</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classMotor.html#a9462d1a9af69941100f422ce1a0faeff">setCurrDir</a>()</td><td class="entry"><a class="el" href="classMotor.html">Motor</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classMotor.html#a653642c0cba985a85204fbfe81cf3c8a">setCurrPulse</a>(long _pulse)</td><td class="entry"><a class="el" href="classMotor.html">Motor</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classMotor.html#a2aaead147c8cb1a712db027f9cb70e33">setDesiredDir</a>(bool dir)</td><td class="entry"><a class="el" href="classMotor.html">Motor</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classPID.html#aa84bd27695ea7b6f80a0a6170abb410f">SetInputLimits</a>(int, int)</td><td class="entry"><a class="el" href="classPID.html">PID</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classPID.html#a68074bad88a8cc442ee03a036073d5d5">SetMode</a>(int Mode)</td><td class="entry"><a class="el" href="classPID.html">PID</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classPID.html#a7a1fbe9bbf606557cef3fcf07f04d3f6">SetOutputLimits</a>(int, int)</td><td class="entry"><a class="el" href="classPID.html">PID</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classPID.html#aaa1e0e67a0c97571bd62b326e6cf3b2e">SetSampleTime</a>(int)</td><td class="entry"><a class="el" href="classPID.html">PID</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classMotor.html#a8d707212e2395830a9064712df1c4f68">setSpeedRPM</a>(int speedRPM, bool dir)</td><td class="entry"><a class="el" href="classMotor.html">Motor</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classMotor.html#a5e6956a60f8903b1555ef5625bbee762">setSpeedRPM</a>(int speedRPM)</td><td class="entry"><a class="el" href="classMotor.html">Motor</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classPID.html#aa51d6ef0803413fd0da475406a5ae6ad">SetTunings</a>(float, float, float)</td><td class="entry"><a class="el" href="classPID.html">PID</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classMotor.html#a826a3f1ffd48fd6f49d74caf7ad68dad">setupInterrupt</a>()</td><td class="entry"><a class="el" href="classMotor.html">Motor</a></td><td class="entry"></td></tr>
+</table></div><!-- contents -->
+<!-- start footer part -->
+<hr class="footer"/><address class="footer"><small>
+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.1
+</small></address>
+</body>
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diff --git a/src/dcaitirobot/embedded/docs/html/classMotor.html b/src/dcaitirobot/embedded/docs/html/classMotor.html
new file mode 100644
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+<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "https://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
+<html xmlns="http://www.w3.org/1999/xhtml">
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+<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
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+<meta name="generator" content="Doxygen 1.9.1"/>
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+<title>DCAITI Robot Hardware: Motor Class Reference</title>
+<link href="tabs.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="jquery.js"></script>
+<script type="text/javascript" src="dynsections.js"></script>
+<link href="search/search.css" rel="stylesheet" type="text/css"/>
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+<link href="doxygen.css" rel="stylesheet" type="text/css" />
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+<body>
+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">DCAITI Robot Hardware
+   &#160;<span id="projectnumber">1.0</span>
+   </div>
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+        name="MSearchResults" id="MSearchResults">
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+</div>
+
+</div><!-- top -->
+<div class="header">
+  <div class="summary">
+<a href="#pub-methods">Public Member Functions</a> &#124;
+<a href="#pub-attribs">Public Attributes</a> &#124;
+<a href="classMotor-members.html">List of all members</a>  </div>
+  <div class="headertitle">
+<div class="title">Motor Class Reference</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p><code>#include &lt;<a class="el" href="MotorWheel_8h_source.html">MotorWheel.h</a>&gt;</code></p>
+<div class="dynheader">
+Inheritance diagram for Motor:</div>
+<div class="dyncontent">
+<div class="center"><img src="classMotor__inherit__graph.png" border="0" usemap="#aMotor_inherit__map" alt="Inheritance graph"/></div>
+<map name="aMotor_inherit__map" id="aMotor_inherit__map">
+<area shape="rect" title=" " alt="" coords="29,80,89,107"/>
+<area shape="rect" href="classGearedMotor.html" title=" " alt="" coords="5,155,112,181"/>
+<area shape="rect" href="classPID.html" title=" " alt="" coords="37,5,81,32"/>
+<area shape="rect" href="classMotorWheel.html" title=" " alt="" coords="8,229,109,256"/>
+</map>
+<center><span class="legend">[<a href="graph_legend.html">legend</a>]</span></center></div>
+<div class="dynheader">
+Collaboration diagram for Motor:</div>
+<div class="dyncontent">
+<div class="center"><img src="classMotor__coll__graph.png" border="0" usemap="#aMotor_coll__map" alt="Collaboration graph"/></div>
+<map name="aMotor_coll__map" id="aMotor_coll__map">
+<area shape="rect" title=" " alt="" coords="37,95,97,121"/>
+<area shape="rect" href="classPID.html" title=" " alt="" coords="5,5,49,32"/>
+<area shape="rect" href="structISRVars.html" title=" " alt="" coords="73,5,144,32"/>
+</map>
+<center><span class="legend">[<a href="graph_legend.html">legend</a>]</span></center></div>
+<table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-methods"></a>
+Public Member Functions</h2></td></tr>
+<tr class="memitem:a80e0c2a87a5c47b4aa200c33028d39eb"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classMotor.html#a80e0c2a87a5c47b4aa200c33028d39eb">Motor</a> (unsigned char _pinPWM, unsigned char _pinDir, unsigned char _pinIRQ, unsigned char _pinIRQB, struct <a class="el" href="structISRVars.html">ISRVars</a> *_isr)</td></tr>
+<tr class="separator:a80e0c2a87a5c47b4aa200c33028d39eb"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a826a3f1ffd48fd6f49d74caf7ad68dad"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classMotor.html#a826a3f1ffd48fd6f49d74caf7ad68dad">setupInterrupt</a> ()</td></tr>
+<tr class="separator:a826a3f1ffd48fd6f49d74caf7ad68dad"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ad02c1db58f8f247f4e8becc19d1c7054"><td class="memItemLeft" align="right" valign="top">unsigned char&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classMotor.html#ad02c1db58f8f247f4e8becc19d1c7054">getPinPWM</a> () const</td></tr>
+<tr class="separator:ad02c1db58f8f247f4e8becc19d1c7054"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:af085804880a48840dc3d1d088911695e"><td class="memItemLeft" align="right" valign="top">unsigned char&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classMotor.html#af085804880a48840dc3d1d088911695e">getPinDir</a> () const</td></tr>
+<tr class="separator:af085804880a48840dc3d1d088911695e"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a785eadb656e31e62b1f1515004344ae0"><td class="memItemLeft" align="right" valign="top">unsigned char&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classMotor.html#a785eadb656e31e62b1f1515004344ae0">getPinIRQ</a> () const</td></tr>
+<tr class="separator:a785eadb656e31e62b1f1515004344ae0"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a3a1771db56274e5c06625d33a098932f"><td class="memItemLeft" align="right" valign="top">unsigned char&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classMotor.html#a3a1771db56274e5c06625d33a098932f">getPinIRQB</a> () const</td></tr>
+<tr class="separator:a3a1771db56274e5c06625d33a098932f"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ad4e09298c4c8b99ab467a4262d8a3207"><td class="memItemLeft" align="right" valign="top">unsigned int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classMotor.html#ad4e09298c4c8b99ab467a4262d8a3207">runPWM</a> (unsigned int PWM, bool dir, bool saveDir=true)</td></tr>
+<tr class="separator:ad4e09298c4c8b99ab467a4262d8a3207"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:aa41934a55ada6dabb95b6741b6d964d3"><td class="memItemLeft" align="right" valign="top">unsigned int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classMotor.html#aa41934a55ada6dabb95b6741b6d964d3">getPWM</a> () const</td></tr>
+<tr class="separator:aa41934a55ada6dabb95b6741b6d964d3"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a17f9e1e193961edc117026f80e806d49"><td class="memItemLeft" align="right" valign="top">unsigned int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classMotor.html#a17f9e1e193961edc117026f80e806d49">advancePWM</a> (unsigned int PWM)</td></tr>
+<tr class="separator:a17f9e1e193961edc117026f80e806d49"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="memitem:a0a420be82fa25f5b62b96f6805835d71"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classMotor.html#a0a420be82fa25f5b62b96f6805835d71">delayMS</a> (unsigned int ms, bool <a class="el" href="MotorWheel_8h.html#aa8f0efe0d1ee33354f41f8898d0ee8dd">debug</a>=false)</td></tr>
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+<tr class="inherit_header pub_methods_classPID"><td colspan="2" onclick="javascript:toggleInherit('pub_methods_classPID')"><img src="closed.png" alt="-"/>&#160;Public Member Functions inherited from <a class="el" href="classPID.html">PID</a></td></tr>
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+<tr class="memitem:a68074bad88a8cc442ee03a036073d5d5 inherit pub_methods_classPID"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classPID.html#a68074bad88a8cc442ee03a036073d5d5">SetMode</a> (int Mode)</td></tr>
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+<tr class="separator:a752d07a63dd8d90191a28d24ea85861c inherit pub_methods_classPID"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-attribs"></a>
+Public Attributes</h2></td></tr>
+<tr class="memitem:acab1e83ffdd286821aa69af770294fae"><td class="memItemLeft" align="right" valign="top">struct <a class="el" href="structISRVars.html">ISRVars</a> *&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classMotor.html#acab1e83ffdd286821aa69af770294fae">isr</a></td></tr>
+<tr class="separator:acab1e83ffdd286821aa69af770294fae"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
+<a id="a80e0c2a87a5c47b4aa200c33028d39eb"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a80e0c2a87a5c47b4aa200c33028d39eb">&#9670;&nbsp;</a></span>Motor()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">Motor::Motor </td>
+          <td>(</td>
+          <td class="paramtype">unsigned char&#160;</td>
+          <td class="paramname"><em>_pinPWM</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">unsigned char&#160;</td>
+          <td class="paramname"><em>_pinDir</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">unsigned char&#160;</td>
+          <td class="paramname"><em>_pinIRQ</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">unsigned char&#160;</td>
+          <td class="paramname"><em>_pinIRQB</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">struct <a class="el" href="structISRVars.html">ISRVars</a> *&#160;</td>
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+<h2 class="memtitle"><span class="permalink"><a href="#a17f9e1e193961edc117026f80e806d49">&#9670;&nbsp;</a></span>advancePWM()</h2>
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+          <td class="memname">unsigned int Motor::advancePWM </td>
+          <td>(</td>
+          <td class="paramtype">unsigned int&#160;</td>
+          <td class="paramname"><em>PWM</em></td><td>)</td>
+          <td></td>
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+          <td class="memname">unsigned int Motor::backoffPWM </td>
+          <td>(</td>
+          <td class="paramtype">unsigned int&#160;</td>
+          <td class="paramname"><em>PWM</em></td><td>)</td>
+          <td></td>
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+          <td class="paramname"><em>ms</em>, </td>
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+        <tr>
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+          <td class="paramtype">bool&#160;</td>
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+        </tr>
+        <tr>
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+          <td>(</td>
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+          <td> const</td>
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+          <td>(</td>
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+          <td> const</td>
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+        <tr>
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+        <tr>
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+          <td class="memname">unsigned int Motor::PIDSetSpeedRPMDesired </td>
+          <td>(</td>
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+          <td class="paramname"><em>speedRPM</em></td><td>)</td>
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+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">float&#160;</td>
+          <td class="paramname"><em>taui</em> = <code><a class="el" href="MotorWheel_8h.html#a73c066690ee81cb3f9c801205a237acd">TAUI</a></code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">float&#160;</td>
+          <td class="paramname"><em>taud</em> = <code><a class="el" href="MotorWheel_8h.html#a75450bf317fb4edd6c44dbe6b2ff7673">TAUD</a></code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">unsigned int&#160;</td>
+          <td class="paramname"><em>sampleTime</em> = <code>1000</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
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+          <td class="paramname"><em>PWM</em>, </td>
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+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">bool&#160;</td>
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+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">bool&#160;</td>
+          <td class="paramname"><em>saveDir</em> = <code>true</code>&#160;</td>
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+        <tr>
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+          <td>)</td>
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+
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+          <td class="memname">int Motor::setSpeedRPM </td>
+          <td>(</td>
+          <td class="paramtype">int&#160;</td>
+          <td class="paramname"><em>speedRPM</em></td><td>)</td>
+          <td></td>
+        </tr>
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+
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+        <tr>
+          <td class="memname">unsigned int Motor::setSpeedRPM </td>
+          <td>(</td>
+          <td class="paramtype">int&#160;</td>
+          <td class="paramname"><em>speedRPM</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">bool&#160;</td>
+          <td class="paramname"><em>dir</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<div class="dynheader">
+Here is the call graph for this function:</div>
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+<h2 class="memtitle"><span class="permalink"><a href="#a826a3f1ffd48fd6f49d74caf7ad68dad">&#9670;&nbsp;</a></span>setupInterrupt()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">void Motor::setupInterrupt </td>
+          <td>(</td>
+          <td class="paramname"></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
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+<div class="dyncontent">
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+</div>
+</div>
+<h2 class="groupheader">Member Data Documentation</h2>
+<a id="acab1e83ffdd286821aa69af770294fae"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#acab1e83ffdd286821aa69af770294fae">&#9670;&nbsp;</a></span>isr</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">struct <a class="el" href="structISRVars.html">ISRVars</a>* Motor::isr</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<hr/>The documentation for this class was generated from the following files:<ul>
+<li>lib/MotorWheel/<a class="el" href="MotorWheel_8h_source.html">MotorWheel.h</a></li>
+<li>lib/MotorWheel/<a class="el" href="MotorWheel_8cpp.html">MotorWheel.cpp</a></li>
+</ul>
+</div><!-- contents -->
+<!-- start footer part -->
+<hr class="footer"/><address class="footer"><small>
+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.1
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+<title>DCAITI Robot Hardware: Member List</title>
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+<script type="text/javascript" src="jquery.js"></script>
+<script type="text/javascript" src="dynsections.js"></script>
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+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">DCAITI Robot Hardware
+   &#160;<span id="projectnumber">1.0</span>
+   </div>
+  </td>
+ </tr>
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+<div class="header">
+  <div class="headertitle">
+<div class="title">MotorWheel Member List</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>This is the complete list of members for <a class="el" href="classMotorWheel.html">MotorWheel</a>, including all inherited members.</p>
+<table class="directory">
+  <tr class="even"><td class="entry"><a class="el" href="classMotor.html#a17f9e1e193961edc117026f80e806d49">advancePWM</a>(unsigned int PWM)</td><td class="entry"><a class="el" href="classMotor.html">Motor</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classMotor.html#aefe7b72985f51315c7ffe81fbf66869c">backoffPWM</a>(unsigned int PWM)</td><td class="entry"><a class="el" href="classMotor.html">Motor</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classPID.html#a05a3258d4b553e7a121f7360ffe88065">Compute</a>()</td><td class="entry"><a class="el" href="classPID.html">PID</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classMotor.html#a55a0ba922517197fd01caac36c84c682">debugger</a>() const</td><td class="entry"><a class="el" href="classMotor.html">Motor</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classMotor.html#a0a420be82fa25f5b62b96f6805835d71">delayMS</a>(unsigned int ms, bool debug=false)</td><td class="entry"><a class="el" href="classMotor.html">Motor</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classGearedMotor.html#aa91e4c0799d41b33495cac9c805333e2">GearedMotor</a>(unsigned char _pinPWM, unsigned char _pinDir, unsigned char _pinIRQ, unsigned char _pinIRQB, struct ISRVars *_isr, unsigned int _ratio=REDUCTION_RATIO)</td><td class="entry"><a class="el" href="classGearedMotor.html">GearedMotor</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classMotorWheel.html#ae3ceed8768efd5e263e1b897b14b6a6b">getCirMM</a>() const</td><td class="entry"><a class="el" href="classMotorWheel.html">MotorWheel</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classMotor.html#aaedede5ddae28b6926204dc7a47e0612">getCurrDir</a>() const</td><td class="entry"><a class="el" href="classMotor.html">Motor</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classMotor.html#a54f6cdff2ab028fdd2724fbf40c3f641">getCurrPulse</a>() const</td><td class="entry"><a class="el" href="classMotor.html">Motor</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classPID.html#a752d07a63dd8d90191a28d24ea85861c">GetD_Param</a>()</td><td class="entry"><a class="el" href="classPID.html">PID</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classMotor.html#aa813d431c39937e90e91f3ad2fbf625d">getDesiredDir</a>() const</td><td class="entry"><a class="el" href="classMotor.html">Motor</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classGearedMotor.html#a13b6c99ef8713b5333f98a9ba844ba8b">getGearedSpeedRPM</a>() const</td><td class="entry"><a class="el" href="classGearedMotor.html">GearedMotor</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classPID.html#a5dcf844aec5142d13f0e1a9af2eac237">GetI_Param</a>()</td><td class="entry"><a class="el" href="classPID.html">PID</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classPID.html#aada1bd2d75fc4cfb8d4e8b3bb7d6efb3">GetINMax</a>()</td><td class="entry"><a class="el" href="classPID.html">PID</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classPID.html#a7c6fb1d00b7ceb89f833c85a10425a99">GetINMin</a>()</td><td class="entry"><a class="el" href="classPID.html">PID</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classPID.html#acc325db5e6a140b92c8199a66e03491b">GetMode</a>()</td><td class="entry"><a class="el" href="classPID.html">PID</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classPID.html#afca76f72062cde15b4d738b693215bf6">GetOUTMax</a>()</td><td class="entry"><a class="el" href="classPID.html">PID</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classPID.html#a3d18162a81fab3b59b66f2398c2f55da">GetOUTMin</a>()</td><td class="entry"><a class="el" href="classPID.html">PID</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classPID.html#a44a5a23e5ab0ebc59ac56cd6e63a74e9">GetP_Param</a>()</td><td class="entry"><a class="el" href="classPID.html">PID</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classMotor.html#af085804880a48840dc3d1d088911695e">getPinDir</a>() const</td><td class="entry"><a class="el" href="classMotor.html">Motor</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classMotor.html#a785eadb656e31e62b1f1515004344ae0">getPinIRQ</a>() const</td><td class="entry"><a class="el" href="classMotor.html">Motor</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classMotor.html#a3a1771db56274e5c06625d33a098932f">getPinIRQB</a>() const</td><td class="entry"><a class="el" href="classMotor.html">Motor</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classMotor.html#ad02c1db58f8f247f4e8becc19d1c7054">getPinPWM</a>() const</td><td class="entry"><a class="el" href="classMotor.html">Motor</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classGearedMotor.html#a36d9fc91b484c923d3f6c92d05c17b56">getPosition</a>()</td><td class="entry"><a class="el" href="classGearedMotor.html">GearedMotor</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classMotor.html#aa41934a55ada6dabb95b6741b6d964d3">getPWM</a>() const</td><td class="entry"><a class="el" href="classMotor.html">Motor</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classGearedMotor.html#aff9f697effb8c62667a32942ae154053">getRatio</a>() const</td><td class="entry"><a class="el" href="classGearedMotor.html">GearedMotor</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classPID.html#aefa4318e7ab26fbdfd7a2f6870d694e8">GetSampleTime</a>()</td><td class="entry"><a class="el" href="classPID.html">PID</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classMotorWheel.html#a8c38bc7d114f802169562d32d1f1bbaa">getSpeedCMPM</a>() const</td><td class="entry"><a class="el" href="classMotorWheel.html">MotorWheel</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classMotorWheel.html#a6cec55acabda4ae12a8d66d4b50a7e39">getSpeedMMPS</a>() const</td><td class="entry"><a class="el" href="classMotorWheel.html">MotorWheel</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classMotor.html#a5e5d272254ecd37a082fc467e9cd2610">getSpeedPPS</a>() const</td><td class="entry"><a class="el" href="classMotor.html">Motor</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classMotor.html#ada15a2f02a7945a458b48e829b6a5d6b">getSpeedRPM</a>() const</td><td class="entry"><a class="el" href="classMotor.html">Motor</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classMotor.html#acab1e83ffdd286821aa69af770294fae">isr</a></td><td class="entry"><a class="el" href="classMotor.html">Motor</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classPID.html#a34178c5110d89a8029e403f6ef5d003d">JustCalculated</a>()</td><td class="entry"><a class="el" href="classPID.html">PID</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classMotor.html#a80e0c2a87a5c47b4aa200c33028d39eb">Motor</a>(unsigned char _pinPWM, unsigned char _pinDir, unsigned char _pinIRQ, unsigned char _pinIRQB, struct ISRVars *_isr)</td><td class="entry"><a class="el" href="classMotor.html">Motor</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classMotorWheel.html#a51b83bdbd1880690814b3febb790484b">MotorWheel</a>(unsigned char _pinPWM, unsigned char _pinDir, unsigned char _pinIRQ, unsigned char _pinIRQB, struct ISRVars *_isr, unsigned int ratio=REDUCTION_RATIO, unsigned int cirMM=CIRMM)</td><td class="entry"><a class="el" href="classMotorWheel.html">MotorWheel</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classPID.html#a70a457a8b2d0f2306923c30282567af6">PID</a>(int *, int *, int *, float, float, float)</td><td class="entry"><a class="el" href="classPID.html">PID</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classPID.html#ab1053fb1d444eb9946a12c2fed97f4bf">PID</a>(int *, int *, int *, int *, float, float, float)</td><td class="entry"><a class="el" href="classPID.html">PID</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classMotor.html#a6358811a51b7636b06199972b7fae417">PIDDisable</a>()</td><td class="entry"><a class="el" href="classMotor.html">Motor</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classMotor.html#ad6ee53cd8570f60ae5dd83b8604b00fe">PIDEnable</a>(float kc=KC, float taui=TAUI, float taud=TAUD, unsigned int sampleTime=1000)</td><td class="entry"><a class="el" href="classMotor.html">Motor</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classMotor.html#a9ca625db156da95bc5f4500c294f8e83">PIDGetSpeedRPMDesired</a>() const</td><td class="entry"><a class="el" href="classMotor.html">Motor</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classMotor.html#a1bc02b7e0da3aca6e724d2755d42eaab">PIDGetStatus</a>() const</td><td class="entry"><a class="el" href="classMotor.html">Motor</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classMotor.html#aa44fc307611e45eeb5e6fb50c79f375b">PIDRegulate</a>(bool doRegulate=true)</td><td class="entry"><a class="el" href="classMotor.html">Motor</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classMotor.html#ae14f43483f26152d92c88aa4c6a7a471">PIDReset</a>()</td><td class="entry"><a class="el" href="classMotor.html">Motor</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classMotor.html#a3377631cff641d41a50b7f1c5b30fc1f">PIDSetSpeedRPMDesired</a>(unsigned int speedRPM)</td><td class="entry"><a class="el" href="classMotor.html">Motor</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classMotor.html#a0555b6c2a33c373d3a9e33f174a2b5aa">PIDSetup</a>(float kc=KC, float taui=TAUI, float taud=TAUD, unsigned int sampleTime=1000)</td><td class="entry"><a class="el" href="classMotor.html">Motor</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classPID.html#a9f949fd4445477ee9bf1af2bfa3e1a84">Reset</a>()</td><td class="entry"><a class="el" href="classPID.html">PID</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classMotor.html#a190bda1f77605d10bcbacceb2e465bf0">resetCurrPulse</a>()</td><td class="entry"><a class="el" href="classMotor.html">Motor</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classMotor.html#aeddf9353baeaa0ad9e6de0df5d3e73e8">reverseDesiredDir</a>()</td><td class="entry"><a class="el" href="classMotor.html">Motor</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classMotor.html#ad4e09298c4c8b99ab467a4262d8a3207">runPWM</a>(unsigned int PWM, bool dir, bool saveDir=true)</td><td class="entry"><a class="el" href="classMotor.html">Motor</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classMotorWheel.html#a6f2191d032f70f43cf60818d1e9c6b66">setCirMM</a>(unsigned int cirMM=CIRMM)</td><td class="entry"><a class="el" href="classMotorWheel.html">MotorWheel</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classMotor.html#a9462d1a9af69941100f422ce1a0faeff">setCurrDir</a>()</td><td class="entry"><a class="el" href="classMotor.html">Motor</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classMotor.html#a653642c0cba985a85204fbfe81cf3c8a">setCurrPulse</a>(long _pulse)</td><td class="entry"><a class="el" href="classMotor.html">Motor</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classMotor.html#a2aaead147c8cb1a712db027f9cb70e33">setDesiredDir</a>(bool dir)</td><td class="entry"><a class="el" href="classMotor.html">Motor</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classMotorWheel.html#a1ce67716650175c1be697fc7932b9937">setGearedRPM</a>(float rpm, bool dir)</td><td class="entry"><a class="el" href="classMotorWheel.html">MotorWheel</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classGearedMotor.html#a0aa18eb91d0313f4bf64cc5e3d43c4cf">setGearedSpeedRPM</a>(float gearedSpeedRPM, bool dir)</td><td class="entry"><a class="el" href="classGearedMotor.html">GearedMotor</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classGearedMotor.html#a541c6426380851a4709f652092c80b97">setGearedSpeedRPM</a>(float gearedSpeedRPM)</td><td class="entry"><a class="el" href="classGearedMotor.html">GearedMotor</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classPID.html#aa84bd27695ea7b6f80a0a6170abb410f">SetInputLimits</a>(int, int)</td><td class="entry"><a class="el" href="classPID.html">PID</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classPID.html#a68074bad88a8cc442ee03a036073d5d5">SetMode</a>(int Mode)</td><td class="entry"><a class="el" href="classPID.html">PID</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classPID.html#a7a1fbe9bbf606557cef3fcf07f04d3f6">SetOutputLimits</a>(int, int)</td><td class="entry"><a class="el" href="classPID.html">PID</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classGearedMotor.html#a347d79fb74710a1a82410d0b14a84f25">setRatio</a>(unsigned int ratio=REDUCTION_RATIO)</td><td class="entry"><a class="el" href="classGearedMotor.html">GearedMotor</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classPID.html#aaa1e0e67a0c97571bd62b326e6cf3b2e">SetSampleTime</a>(int)</td><td class="entry"><a class="el" href="classPID.html">PID</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classMotorWheel.html#a9f2e423db798c68453624aba49c368e1">setSpeedCMPM</a>(unsigned int cm, bool dir)</td><td class="entry"><a class="el" href="classMotorWheel.html">MotorWheel</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classMotorWheel.html#ad818e45fcf229887779e4b999ecc381b">setSpeedCMPM</a>(int cm)</td><td class="entry"><a class="el" href="classMotorWheel.html">MotorWheel</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classMotorWheel.html#a41d7f56c8abd6e75ae9df4f015e7873d">setSpeedMMPS</a>(unsigned int mm, bool dir)</td><td class="entry"><a class="el" href="classMotorWheel.html">MotorWheel</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classMotorWheel.html#a888535edddcdfa49906be2266889ae74">setSpeedMMPS</a>(int mm)</td><td class="entry"><a class="el" href="classMotorWheel.html">MotorWheel</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classMotor.html#a8d707212e2395830a9064712df1c4f68">setSpeedRPM</a>(int speedRPM, bool dir)</td><td class="entry"><a class="el" href="classMotor.html">Motor</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classMotor.html#a5e6956a60f8903b1555ef5625bbee762">setSpeedRPM</a>(int speedRPM)</td><td class="entry"><a class="el" href="classMotor.html">Motor</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classPID.html#aa51d6ef0803413fd0da475406a5ae6ad">SetTunings</a>(float, float, float)</td><td class="entry"><a class="el" href="classPID.html">PID</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classMotor.html#a826a3f1ffd48fd6f49d74caf7ad68dad">setupInterrupt</a>()</td><td class="entry"><a class="el" href="classMotor.html">Motor</a></td><td class="entry"></td></tr>
+</table></div><!-- contents -->
+<!-- start footer part -->
+<hr class="footer"/><address class="footer"><small>
+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.1
+</small></address>
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diff --git a/src/dcaitirobot/embedded/docs/html/classMotorWheel.html b/src/dcaitirobot/embedded/docs/html/classMotorWheel.html
new file mode 100644
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+<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "https://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
+<html xmlns="http://www.w3.org/1999/xhtml">
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+<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
+<meta http-equiv="X-UA-Compatible" content="IE=9"/>
+<meta name="generator" content="Doxygen 1.9.1"/>
+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>DCAITI Robot Hardware: MotorWheel Class Reference</title>
+<link href="tabs.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="jquery.js"></script>
+<script type="text/javascript" src="dynsections.js"></script>
+<link href="search/search.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="search/searchdata.js"></script>
+<script type="text/javascript" src="search/search.js"></script>
+<link href="doxygen.css" rel="stylesheet" type="text/css" />
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+<body>
+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">DCAITI Robot Hardware
+   &#160;<span id="projectnumber">1.0</span>
+   </div>
+  </td>
+ </tr>
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+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.9.1 -->
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+/* @license-end */
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+<script type="text/javascript" src="menudata.js"></script>
+<script type="text/javascript" src="menu.js"></script>
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
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+  initMenu('',true,false,'search.php','Search');
+  $(document).ready(function() { init_search(); });
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+/* @license-end */</script>
+<div id="main-nav"></div>
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+        name="MSearchResults" id="MSearchResults">
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+</div>
+
+</div><!-- top -->
+<div class="header">
+  <div class="summary">
+<a href="#pub-methods">Public Member Functions</a> &#124;
+<a href="classMotorWheel-members.html">List of all members</a>  </div>
+  <div class="headertitle">
+<div class="title">MotorWheel Class Reference</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p><code>#include &lt;<a class="el" href="MotorWheel_8h_source.html">MotorWheel.h</a>&gt;</code></p>
+<div class="dynheader">
+Inheritance diagram for MotorWheel:</div>
+<div class="dyncontent">
+<div class="center"><img src="classMotorWheel__inherit__graph.png" border="0" usemap="#aMotorWheel_inherit__map" alt="Inheritance graph"/></div>
+<map name="aMotorWheel_inherit__map" id="aMotorWheel_inherit__map">
+<area shape="rect" title=" " alt="" coords="8,229,109,256"/>
+<area shape="rect" href="classGearedMotor.html" title=" " alt="" coords="5,155,112,181"/>
+<area shape="rect" href="classMotor.html" title=" " alt="" coords="29,80,89,107"/>
+<area shape="rect" href="classPID.html" title=" " alt="" coords="37,5,81,32"/>
+</map>
+<center><span class="legend">[<a href="graph_legend.html">legend</a>]</span></center></div>
+<div class="dynheader">
+Collaboration diagram for MotorWheel:</div>
+<div class="dyncontent">
+<div class="center"><img src="classMotorWheel__coll__graph.png" border="0" usemap="#aMotorWheel_coll__map" alt="Collaboration graph"/></div>
+<map name="aMotorWheel_coll__map" id="aMotorWheel_coll__map">
+<area shape="rect" title=" " alt="" coords="17,247,118,273"/>
+<area shape="rect" href="classGearedMotor.html" title=" " alt="" coords="14,171,121,197"/>
+<area shape="rect" href="classMotor.html" title=" " alt="" coords="37,95,97,121"/>
+<area shape="rect" href="classPID.html" title=" " alt="" coords="5,5,49,32"/>
+<area shape="rect" href="structISRVars.html" title=" " alt="" coords="73,5,144,32"/>
+</map>
+<center><span class="legend">[<a href="graph_legend.html">legend</a>]</span></center></div>
+<table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-methods"></a>
+Public Member Functions</h2></td></tr>
+<tr class="memitem:a51b83bdbd1880690814b3febb790484b"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classMotorWheel.html#a51b83bdbd1880690814b3febb790484b">MotorWheel</a> (unsigned char _pinPWM, unsigned char _pinDir, unsigned char _pinIRQ, unsigned char _pinIRQB, struct <a class="el" href="structISRVars.html">ISRVars</a> *_isr, unsigned int ratio=<a class="el" href="MotorWheel_8h.html#a545c3d33941dafc6ffd8cd9a61f6fca4">REDUCTION_RATIO</a>, unsigned int cirMM=<a class="el" href="MotorWheel_8h.html#a557b8031c21a790194ec252c281dc404">CIRMM</a>)</td></tr>
+<tr class="separator:a51b83bdbd1880690814b3febb790484b"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ae3ceed8768efd5e263e1b897b14b6a6b"><td class="memItemLeft" align="right" valign="top">unsigned int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classMotorWheel.html#ae3ceed8768efd5e263e1b897b14b6a6b">getCirMM</a> () const</td></tr>
+<tr class="separator:ae3ceed8768efd5e263e1b897b14b6a6b"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a6f2191d032f70f43cf60818d1e9c6b66"><td class="memItemLeft" align="right" valign="top">unsigned int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classMotorWheel.html#a6f2191d032f70f43cf60818d1e9c6b66">setCirMM</a> (unsigned int cirMM=<a class="el" href="MotorWheel_8h.html#a557b8031c21a790194ec252c281dc404">CIRMM</a>)</td></tr>
+<tr class="separator:a6f2191d032f70f43cf60818d1e9c6b66"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a8c38bc7d114f802169562d32d1f1bbaa"><td class="memItemLeft" align="right" valign="top">int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classMotorWheel.html#a8c38bc7d114f802169562d32d1f1bbaa">getSpeedCMPM</a> () const</td></tr>
+<tr class="separator:a8c38bc7d114f802169562d32d1f1bbaa"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a9f2e423db798c68453624aba49c368e1"><td class="memItemLeft" align="right" valign="top">int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classMotorWheel.html#a9f2e423db798c68453624aba49c368e1">setSpeedCMPM</a> (unsigned int cm, bool dir)</td></tr>
+<tr class="separator:a9f2e423db798c68453624aba49c368e1"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ad818e45fcf229887779e4b999ecc381b"><td class="memItemLeft" align="right" valign="top">int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classMotorWheel.html#ad818e45fcf229887779e4b999ecc381b">setSpeedCMPM</a> (int cm)</td></tr>
+<tr class="separator:ad818e45fcf229887779e4b999ecc381b"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a6cec55acabda4ae12a8d66d4b50a7e39"><td class="memItemLeft" align="right" valign="top">int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classMotorWheel.html#a6cec55acabda4ae12a8d66d4b50a7e39">getSpeedMMPS</a> () const</td></tr>
+<tr class="separator:a6cec55acabda4ae12a8d66d4b50a7e39"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a41d7f56c8abd6e75ae9df4f015e7873d"><td class="memItemLeft" align="right" valign="top">int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classMotorWheel.html#a41d7f56c8abd6e75ae9df4f015e7873d">setSpeedMMPS</a> (unsigned int mm, bool dir)</td></tr>
+<tr class="separator:a41d7f56c8abd6e75ae9df4f015e7873d"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a888535edddcdfa49906be2266889ae74"><td class="memItemLeft" align="right" valign="top">int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classMotorWheel.html#a888535edddcdfa49906be2266889ae74">setSpeedMMPS</a> (int mm)</td></tr>
+<tr class="separator:a888535edddcdfa49906be2266889ae74"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a1ce67716650175c1be697fc7932b9937"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classMotorWheel.html#a1ce67716650175c1be697fc7932b9937">setGearedRPM</a> (float rpm, bool dir)</td></tr>
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+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="inherited"></a>
+Additional Inherited Members</h2></td></tr>
+<tr class="inherit_header pub_attribs_classMotor"><td colspan="2" onclick="javascript:toggleInherit('pub_attribs_classMotor')"><img src="closed.png" alt="-"/>&#160;Public Attributes inherited from <a class="el" href="classMotor.html">Motor</a></td></tr>
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+          <td class="memname">MotorWheel::MotorWheel </td>
+          <td>(</td>
+          <td class="paramtype">unsigned char&#160;</td>
+          <td class="paramname"><em>_pinPWM</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">unsigned char&#160;</td>
+          <td class="paramname"><em>_pinDir</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">unsigned char&#160;</td>
+          <td class="paramname"><em>_pinIRQ</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">unsigned char&#160;</td>
+          <td class="paramname"><em>_pinIRQB</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">struct <a class="el" href="structISRVars.html">ISRVars</a> *&#160;</td>
+          <td class="paramname"><em>_isr</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">unsigned int&#160;</td>
+          <td class="paramname"><em>ratio</em> = <code><a class="el" href="MotorWheel_8h.html#a545c3d33941dafc6ffd8cd9a61f6fca4">REDUCTION_RATIO</a></code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">unsigned int&#160;</td>
+          <td class="paramname"><em>cirMM</em> = <code><a class="el" href="MotorWheel_8h.html#a557b8031c21a790194ec252c281dc404">CIRMM</a></code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
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+          <td class="memname">unsigned int MotorWheel::getCirMM </td>
+          <td>(</td>
+          <td class="paramname"></td><td>)</td>
+          <td> const</td>
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+          <td class="memname">int MotorWheel::getSpeedCMPM </td>
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+          <td> const</td>
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+
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+          <td class="memname">int MotorWheel::getSpeedMMPS </td>
+          <td>(</td>
+          <td class="paramname"></td><td>)</td>
+          <td> const</td>
+        </tr>
+      </table>
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+
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+          <td class="memname">unsigned int MotorWheel::setCirMM </td>
+          <td>(</td>
+          <td class="paramtype">unsigned int&#160;</td>
+          <td class="paramname"><em>cirMM</em> = <code><a class="el" href="MotorWheel_8h.html#a557b8031c21a790194ec252c281dc404">CIRMM</a></code></td><td>)</td>
+          <td></td>
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+<h2 class="memtitle"><span class="permalink"><a href="#a1ce67716650175c1be697fc7932b9937">&#9670;&nbsp;</a></span>setGearedRPM()</h2>
+
+<div class="memitem">
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+      <table class="memname">
+        <tr>
+          <td class="memname">void MotorWheel::setGearedRPM </td>
+          <td>(</td>
+          <td class="paramtype">float&#160;</td>
+          <td class="paramname"><em>rpm</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">bool&#160;</td>
+          <td class="paramname"><em>dir</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
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+          <td class="memname">int MotorWheel::setSpeedCMPM </td>
+          <td>(</td>
+          <td class="paramtype">int&#160;</td>
+          <td class="paramname"><em>cm</em></td><td>)</td>
+          <td></td>
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+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">int MotorWheel::setSpeedCMPM </td>
+          <td>(</td>
+          <td class="paramtype">unsigned int&#160;</td>
+          <td class="paramname"><em>cm</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">bool&#160;</td>
+          <td class="paramname"><em>dir</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
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+<h2 class="memtitle"><span class="permalink"><a href="#a888535edddcdfa49906be2266889ae74">&#9670;&nbsp;</a></span>setSpeedMMPS() <span class="overload">[1/2]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">int MotorWheel::setSpeedMMPS </td>
+          <td>(</td>
+          <td class="paramtype">int&#160;</td>
+          <td class="paramname"><em>mm</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
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+Here is the call graph for this function:</div>
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+
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+      <table class="memname">
+        <tr>
+          <td class="memname">int MotorWheel::setSpeedMMPS </td>
+          <td>(</td>
+          <td class="paramtype">unsigned int&#160;</td>
+          <td class="paramname"><em>mm</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">bool&#160;</td>
+          <td class="paramname"><em>dir</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
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+<li>lib/MotorWheel/<a class="el" href="MotorWheel_8cpp.html">MotorWheel.cpp</a></li>
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diff --git a/src/dcaitirobot/embedded/docs/html/classMotorWheel__inherit__graph.map b/src/dcaitirobot/embedded/docs/html/classMotorWheel__inherit__graph.map
new file mode 100644
index 0000000..590e857
--- /dev/null
+++ b/src/dcaitirobot/embedded/docs/html/classMotorWheel__inherit__graph.map
@@ -0,0 +1,6 @@
+<map id="MotorWheel" name="MotorWheel">
+<area shape="rect" id="node1" title=" " alt="" coords="8,229,109,256"/>
+<area shape="rect" id="node2" href="$classGearedMotor.html" title=" " alt="" coords="5,155,112,181"/>
+<area shape="rect" id="node3" href="$classMotor.html" title=" " alt="" coords="29,80,89,107"/>
+<area shape="rect" id="node4" href="$classPID.html" title=" " alt="" coords="37,5,81,32"/>
+</map>
diff --git a/src/dcaitirobot/embedded/docs/html/classMotorWheel__inherit__graph.md5 b/src/dcaitirobot/embedded/docs/html/classMotorWheel__inherit__graph.md5
new file mode 100644
index 0000000..9023ef8
--- /dev/null
+++ b/src/dcaitirobot/embedded/docs/html/classMotorWheel__inherit__graph.md5
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/src/dcaitirobot/embedded/docs/html/classMotorWheel__inherit__graph.png b/src/dcaitirobot/embedded/docs/html/classMotorWheel__inherit__graph.png
new file mode 100644
index 0000000000000000000000000000000000000000..9e137957afc6b90d0d238753444aa26729b85980
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new file mode 100644
index 0000000..a9343fe
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@@ -0,0 +1,89 @@
+<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "https://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
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+<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
+<meta http-equiv="X-UA-Compatible" content="IE=9"/>
+<meta name="generator" content="Doxygen 1.9.1"/>
+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>DCAITI Robot Hardware: Member List</title>
+<link href="tabs.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="jquery.js"></script>
+<script type="text/javascript" src="dynsections.js"></script>
+<link href="search/search.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="search/searchdata.js"></script>
+<script type="text/javascript" src="search/search.js"></script>
+<link href="doxygen.css" rel="stylesheet" type="text/css" />
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+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">DCAITI Robot Hardware
+   &#160;<span id="projectnumber">1.0</span>
+   </div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.9.1 -->
+<script type="text/javascript">
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+/* @license-end */
+</script>
+<script type="text/javascript" src="menudata.js"></script>
+<script type="text/javascript" src="menu.js"></script>
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
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+  $(document).ready(function() { init_search(); });
+});
+/* @license-end */</script>
+<div id="main-nav"></div>
+<!-- window showing the filter options -->
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+     onmouseout="return searchBox.OnSearchSelectHide()"
+     onkeydown="return searchBox.OnSearchSelectKey(event)">
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+<iframe src="javascript:void(0)" frameborder="0" 
+        name="MSearchResults" id="MSearchResults">
+</iframe>
+</div>
+
+</div><!-- top -->
+<div class="header">
+  <div class="headertitle">
+<div class="title">PCintPort Member List</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>This is the complete list of members for <a class="el" href="classPCintPort.html">PCintPort</a>, including all inherited members.</p>
+<table class="directory">
+  <tr class="even"><td class="entry"><a class="el" href="classPCintPort.html#a68db5c9fc10ce5d054c4184dbd00adeb">addPin</a>(uint8_t mode, uint8_t mask, PCIntvoidFuncPtr userFunc)</td><td class="entry"><a class="el" href="classPCintPort.html">PCintPort</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr><td class="entry"><a class="el" href="classPCintPort.html#a8e6c9a8a860c39f6840a8b986c00e8d7">attachInterrupt</a>(uint8_t pin, PCIntvoidFuncPtr userFunc, int mode)</td><td class="entry"><a class="el" href="classPCintPort.html">PCintPort</a></td><td class="entry"><span class="mlabel">static</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classPCintPort.html#afecea645c5a79b54eab38b11c8ba19a6">delPin</a>(uint8_t mask)</td><td class="entry"><a class="el" href="classPCintPort.html">PCintPort</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr><td class="entry"><a class="el" href="classPCintPort.html#a7787c29d639bc6c1a30a14acb0f9fb9a">detachInterrupt</a>(uint8_t pin)</td><td class="entry"><a class="el" href="classPCintPort.html">PCintPort</a></td><td class="entry"><span class="mlabel">static</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classPCintPort.html#ab817a0637b722922c5d3cafc0dfd52d7">PCICRbit</a></td><td class="entry"><a class="el" href="classPCintPort.html">PCintPort</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr><td class="entry"><a class="el" href="classPCintPort.html#a576bbb5d4190a7af0de2528760933916">PCint</a>()</td><td class="entry"><a class="el" href="classPCintPort.html">PCintPort</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classPCintPort.html#a955b8648c929952a8444656276e1b6ef">PCintLast</a></td><td class="entry"><a class="el" href="classPCintPort.html">PCintPort</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr><td class="entry"><a class="el" href="classPCintPort.html#a068bde359af5d3567e4d031d9ac9c655">pcIntPins</a></td><td class="entry"><a class="el" href="classPCintPort.html">PCintPort</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classPCintPort.html#a9d5cdcb0bddf88489fccb288be9ebf3e">pcIntPorts</a></td><td class="entry"><a class="el" href="classPCintPort.html">PCintPort</a></td><td class="entry"><span class="mlabel">static</span></td></tr>
+  <tr><td class="entry"><a class="el" href="classPCintPort.html#abe34a54a1b1bd8b2404b9227b55147fb">pcmask</a></td><td class="entry"><a class="el" href="classPCintPort.html">PCintPort</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classPCintPort.html#ab36a9f3ef148411101704f3723d5cd0d">portInputReg</a></td><td class="entry"><a class="el" href="classPCintPort.html">PCintPort</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+</table></div><!-- contents -->
+<!-- start footer part -->
+<hr class="footer"/><address class="footer"><small>
+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.1
+</small></address>
+</body>
+</html>
diff --git a/src/dcaitirobot/embedded/docs/html/classPCintPort.html b/src/dcaitirobot/embedded/docs/html/classPCintPort.html
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index 0000000..4a80fc4
--- /dev/null
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+<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "https://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
+<html xmlns="http://www.w3.org/1999/xhtml">
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+<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
+<meta http-equiv="X-UA-Compatible" content="IE=9"/>
+<meta name="generator" content="Doxygen 1.9.1"/>
+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>DCAITI Robot Hardware: PCintPort Class Reference</title>
+<link href="tabs.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="jquery.js"></script>
+<script type="text/javascript" src="dynsections.js"></script>
+<link href="search/search.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="search/searchdata.js"></script>
+<script type="text/javascript" src="search/search.js"></script>
+<link href="doxygen.css" rel="stylesheet" type="text/css" />
+</head>
+<body>
+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">DCAITI Robot Hardware
+   &#160;<span id="projectnumber">1.0</span>
+   </div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.9.1 -->
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
+var searchBox = new SearchBox("searchBox", "search",false,'Search','.html');
+/* @license-end */
+</script>
+<script type="text/javascript" src="menudata.js"></script>
+<script type="text/javascript" src="menu.js"></script>
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
+$(function() {
+  initMenu('',true,false,'search.php','Search');
+  $(document).ready(function() { init_search(); });
+});
+/* @license-end */</script>
+<div id="main-nav"></div>
+<!-- window showing the filter options -->
+<div id="MSearchSelectWindow"
+     onmouseover="return searchBox.OnSearchSelectShow()"
+     onmouseout="return searchBox.OnSearchSelectHide()"
+     onkeydown="return searchBox.OnSearchSelectKey(event)">
+</div>
+
+<!-- iframe showing the search results (closed by default) -->
+<div id="MSearchResultsWindow">
+<iframe src="javascript:void(0)" frameborder="0" 
+        name="MSearchResults" id="MSearchResults">
+</iframe>
+</div>
+
+</div><!-- top -->
+<div class="header">
+  <div class="summary">
+<a href="#nested-classes">Classes</a> &#124;
+<a href="#pub-methods">Public Member Functions</a> &#124;
+<a href="#pub-static-methods">Static Public Member Functions</a> &#124;
+<a href="#pub-static-attribs">Static Public Attributes</a> &#124;
+<a href="#pro-methods">Protected Member Functions</a> &#124;
+<a href="#pro-attribs">Protected Attributes</a> &#124;
+<a href="classPCintPort-members.html">List of all members</a>  </div>
+  <div class="headertitle">
+<div class="title">PCintPort Class Reference</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p><code>#include &lt;<a class="el" href="PinChangeInt_8h_source.html">PinChangeInt.h</a>&gt;</code></p>
+<div class="dynheader">
+Collaboration diagram for PCintPort:</div>
+<div class="dyncontent">
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+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-methods"></a>
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+<tr class="memitem:a8e6c9a8a860c39f6840a8b986c00e8d7"><td class="memItemLeft" align="right" valign="top">static void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classPCintPort.html#a8e6c9a8a860c39f6840a8b986c00e8d7">attachInterrupt</a> (uint8_t pin, <a class="el" href="PinChangeInt_8h.html#a40b7734100b16d4ac170f568c7914d0a">PCIntvoidFuncPtr</a> userFunc, int mode)</td></tr>
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+<tr class="separator:a7787c29d639bc6c1a30a14acb0f9fb9a"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
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+<tr class="memitem:a9d5cdcb0bddf88489fccb288be9ebf3e"><td class="memItemLeft" align="right" valign="top">static <a class="el" href="classPCintPort.html">PCintPort</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classPCintPort.html#a9d5cdcb0bddf88489fccb288be9ebf3e">pcIntPorts</a> []</td></tr>
+<tr class="separator:a9d5cdcb0bddf88489fccb288be9ebf3e"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pro-methods"></a>
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+<tr class="memitem:a68db5c9fc10ce5d054c4184dbd00adeb"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classPCintPort.html#a68db5c9fc10ce5d054c4184dbd00adeb">addPin</a> (uint8_t mode, uint8_t mask, <a class="el" href="PinChangeInt_8h.html#a40b7734100b16d4ac170f568c7914d0a">PCIntvoidFuncPtr</a> userFunc)</td></tr>
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+<tr class="separator:afecea645c5a79b54eab38b11c8ba19a6"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pro-attribs"></a>
+Protected Attributes</h2></td></tr>
+<tr class="memitem:ab36a9f3ef148411101704f3723d5cd0d"><td class="memItemLeft" align="right" valign="top">volatile uint8_t &amp;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classPCintPort.html#ab36a9f3ef148411101704f3723d5cd0d">portInputReg</a></td></tr>
+<tr class="separator:ab36a9f3ef148411101704f3723d5cd0d"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="separator:abe34a54a1b1bd8b2404b9227b55147fb"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ab817a0637b722922c5d3cafc0dfd52d7"><td class="memItemLeft" align="right" valign="top">const uint8_t&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classPCintPort.html#ab817a0637b722922c5d3cafc0dfd52d7">PCICRbit</a></td></tr>
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+<tr class="separator:a068bde359af5d3567e4d031d9ac9c655"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<h2 class="groupheader">Member Function Documentation</h2>
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+<h2 class="memtitle"><span class="permalink"><a href="#a68db5c9fc10ce5d054c4184dbd00adeb">&#9670;&nbsp;</a></span>addPin()</h2>
+
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+          <td class="memname">void PCintPort::addPin </td>
+          <td>(</td>
+          <td class="paramtype">uint8_t&#160;</td>
+          <td class="paramname"><em>mode</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">uint8_t&#160;</td>
+          <td class="paramname"><em>mask</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype"><a class="el" href="PinChangeInt_8h.html#a40b7734100b16d4ac170f568c7914d0a">PCIntvoidFuncPtr</a>&#160;</td>
+          <td class="paramname"><em>userFunc</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+  </td>
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+
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+  <td class="mlabels-left">
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+          <td class="memname">void PCintPort::attachInterrupt </td>
+          <td>(</td>
+          <td class="paramtype">uint8_t&#160;</td>
+          <td class="paramname"><em>pin</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype"><a class="el" href="PinChangeInt_8h.html#a40b7734100b16d4ac170f568c7914d0a">PCIntvoidFuncPtr</a>&#160;</td>
+          <td class="paramname"><em>userFunc</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">int&#160;</td>
+          <td class="paramname"><em>mode</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
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+</table>
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+<h2 class="memtitle"><span class="permalink"><a href="#afecea645c5a79b54eab38b11c8ba19a6">&#9670;&nbsp;</a></span>delPin()</h2>
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+  <td class="mlabels-left">
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+          <td class="memname">void PCintPort::delPin </td>
+          <td>(</td>
+          <td class="paramtype">uint8_t&#160;</td>
+          <td class="paramname"><em>mask</em></td><td>)</td>
+          <td></td>
+        </tr>
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+  </td>
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+<h2 class="memtitle"><span class="permalink"><a href="#a7787c29d639bc6c1a30a14acb0f9fb9a">&#9670;&nbsp;</a></span>detachInterrupt()</h2>
+
+<div class="memitem">
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+  <tr>
+  <td class="mlabels-left">
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+        <tr>
+          <td class="memname">void PCintPort::detachInterrupt </td>
+          <td>(</td>
+          <td class="paramtype">uint8_t&#160;</td>
+          <td class="paramname"><em>pin</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">static</span></span>  </td>
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+</table>
+</div><div class="memdoc">
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+<h2 class="memtitle"><span class="permalink"><a href="#a576bbb5d4190a7af0de2528760933916">&#9670;&nbsp;</a></span>PCint()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">void PCintPort::PCint </td>
+          <td>(</td>
+          <td class="paramname"></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<div class="dynheader">
+Here is the caller graph for this function:</div>
+<div class="dyncontent">
+<div class="center"><img src="classPCintPort_a576bbb5d4190a7af0de2528760933916_icgraph.png" border="0" usemap="#aclassPCintPort_a576bbb5d4190a7af0de2528760933916_icgraph" alt=""/></div>
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+</div>
+</div>
+<h2 class="groupheader">Member Data Documentation</h2>
+<a id="ab817a0637b722922c5d3cafc0dfd52d7"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ab817a0637b722922c5d3cafc0dfd52d7">&#9670;&nbsp;</a></span>PCICRbit</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">const uint8_t PCintPort::PCICRbit</td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">protected</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a955b8648c929952a8444656276e1b6ef"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a955b8648c929952a8444656276e1b6ef">&#9670;&nbsp;</a></span>PCintLast</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">uint8_t PCintPort::PCintLast</td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">protected</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a068bde359af5d3567e4d031d9ac9c655"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a068bde359af5d3567e4d031d9ac9c655">&#9670;&nbsp;</a></span>pcIntPins</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname"><a class="el" href="classPCintPort_1_1PCintPin.html">PCintPin</a>* PCintPort::pcIntPins[9]</td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">protected</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a9d5cdcb0bddf88489fccb288be9ebf3e"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a9d5cdcb0bddf88489fccb288be9ebf3e">&#9670;&nbsp;</a></span>pcIntPorts</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname"><a class="el" href="classPCintPort.html">PCintPort</a> PCintPort::pcIntPorts</td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">static</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+<b>Initial value:</b><div class="fragment"><div class="line">= {</div>
+<div class="line">    <a class="code" href="classPCintPort.html">PCintPort</a>(0,PCMSK0),</div>
+<div class="line">    <a class="code" href="classPCintPort.html">PCintPort</a>(1,PCMSK1),</div>
+<div class="line">    <a class="code" href="classPCintPort.html">PCintPort</a>(2,PCMSK2)</div>
+<div class="line">}</div>
+<div class="ttc" id="aclassPCintPort_html"><div class="ttname"><a href="classPCintPort.html">PCintPort</a></div><div class="ttdef"><b>Definition:</b> PinChangeInt.h:95</div></div>
+</div><!-- fragment -->
+</div>
+</div>
+<a id="abe34a54a1b1bd8b2404b9227b55147fb"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#abe34a54a1b1bd8b2404b9227b55147fb">&#9670;&nbsp;</a></span>pcmask</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">volatile uint8_t&amp; PCintPort::pcmask</td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">protected</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="ab36a9f3ef148411101704f3723d5cd0d"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ab36a9f3ef148411101704f3723d5cd0d">&#9670;&nbsp;</a></span>portInputReg</h2>
+
+<div class="memitem">
+<div class="memproto">
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+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">volatile uint8_t&amp; PCintPort::portInputReg</td>
+        </tr>
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diff --git a/src/dcaitirobot/embedded/docs/html/classPCintPort__coll__graph.map b/src/dcaitirobot/embedded/docs/html/classPCintPort__coll__graph.map
new file mode 100644
index 0000000..27f90df
--- /dev/null
+++ b/src/dcaitirobot/embedded/docs/html/classPCintPort__coll__graph.map
@@ -0,0 +1,4 @@
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diff --git a/src/dcaitirobot/embedded/docs/html/classPCintPort__coll__graph.md5 b/src/dcaitirobot/embedded/docs/html/classPCintPort__coll__graph.md5
new file mode 100644
index 0000000..15e0b32
--- /dev/null
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+<div class="title">PID Member List</div>  </div>
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+<p>This is the complete list of members for <a class="el" href="classPID.html">PID</a>, including all inherited members.</p>
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+  <tr class="even"><td class="entry"><a class="el" href="classPID.html#a05a3258d4b553e7a121f7360ffe88065">Compute</a>()</td><td class="entry"><a class="el" href="classPID.html">PID</a></td><td class="entry"></td></tr>
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+  <tr class="even"><td class="entry"><a class="el" href="classPID.html#a34178c5110d89a8029e403f6ef5d003d">JustCalculated</a>()</td><td class="entry"><a class="el" href="classPID.html">PID</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classPID.html#a70a457a8b2d0f2306923c30282567af6">PID</a>(int *, int *, int *, float, float, float)</td><td class="entry"><a class="el" href="classPID.html">PID</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classPID.html#ab1053fb1d444eb9946a12c2fed97f4bf">PID</a>(int *, int *, int *, int *, float, float, float)</td><td class="entry"><a class="el" href="classPID.html">PID</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classPID.html#a9f949fd4445477ee9bf1af2bfa3e1a84">Reset</a>()</td><td class="entry"><a class="el" href="classPID.html">PID</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classPID.html#aa84bd27695ea7b6f80a0a6170abb410f">SetInputLimits</a>(int, int)</td><td class="entry"><a class="el" href="classPID.html">PID</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classPID.html#a68074bad88a8cc442ee03a036073d5d5">SetMode</a>(int Mode)</td><td class="entry"><a class="el" href="classPID.html">PID</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classPID.html#a7a1fbe9bbf606557cef3fcf07f04d3f6">SetOutputLimits</a>(int, int)</td><td class="entry"><a class="el" href="classPID.html">PID</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classPID.html#aaa1e0e67a0c97571bd62b326e6cf3b2e">SetSampleTime</a>(int)</td><td class="entry"><a class="el" href="classPID.html">PID</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classPID.html#aa51d6ef0803413fd0da475406a5ae6ad">SetTunings</a>(float, float, float)</td><td class="entry"><a class="el" href="classPID.html">PID</a></td><td class="entry"></td></tr>
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+<title>DCAITI Robot Hardware: PID Class Reference</title>
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+   <div id="projectname">DCAITI Robot Hardware
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+<div class="header">
+  <div class="summary">
+<a href="#pub-methods">Public Member Functions</a> &#124;
+<a href="classPID-members.html">List of all members</a>  </div>
+  <div class="headertitle">
+<div class="title">PID Class Reference</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p><code>#include &lt;<a class="el" href="PID__Beta6_8h_source.html">PID_Beta6.h</a>&gt;</code></p>
+<div class="dynheader">
+Inheritance diagram for PID:</div>
+<div class="dyncontent">
+<div class="center"><img src="classPID__inherit__graph.png" border="0" usemap="#aPID_inherit__map" alt="Inheritance graph"/></div>
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+<table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-methods"></a>
+Public Member Functions</h2></td></tr>
+<tr class="memitem:a70a457a8b2d0f2306923c30282567af6"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classPID.html#a70a457a8b2d0f2306923c30282567af6">PID</a> (int *, int *, int *, float, float, float)</td></tr>
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+<tr class="memitem:a68074bad88a8cc442ee03a036073d5d5"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classPID.html#a68074bad88a8cc442ee03a036073d5d5">SetMode</a> (int Mode)</td></tr>
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+<tr class="memitem:aa84bd27695ea7b6f80a0a6170abb410f"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classPID.html#aa84bd27695ea7b6f80a0a6170abb410f">SetInputLimits</a> (int, int)</td></tr>
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+<tr class="memitem:a7a1fbe9bbf606557cef3fcf07f04d3f6"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classPID.html#a7a1fbe9bbf606557cef3fcf07f04d3f6">SetOutputLimits</a> (int, int)</td></tr>
+<tr class="separator:a7a1fbe9bbf606557cef3fcf07f04d3f6"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:aa51d6ef0803413fd0da475406a5ae6ad"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classPID.html#aa51d6ef0803413fd0da475406a5ae6ad">SetTunings</a> (float, float, float)</td></tr>
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+<tr class="memitem:aaa1e0e67a0c97571bd62b326e6cf3b2e"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classPID.html#aaa1e0e67a0c97571bd62b326e6cf3b2e">SetSampleTime</a> (int)</td></tr>
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+<tr class="separator:a9f949fd4445477ee9bf1af2bfa3e1a84"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a34178c5110d89a8029e403f6ef5d003d"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classPID.html#a34178c5110d89a8029e403f6ef5d003d">JustCalculated</a> ()</td></tr>
+<tr class="separator:a34178c5110d89a8029e403f6ef5d003d"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:acc325db5e6a140b92c8199a66e03491b"><td class="memItemLeft" align="right" valign="top">int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classPID.html#acc325db5e6a140b92c8199a66e03491b">GetMode</a> ()</td></tr>
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+<tr class="separator:a44a5a23e5ab0ebc59ac56cd6e63a74e9"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="separator:a752d07a63dd8d90191a28d24ea85861c"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
+<a id="a70a457a8b2d0f2306923c30282567af6"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a70a457a8b2d0f2306923c30282567af6">&#9670;&nbsp;</a></span>PID() <span class="overload">[1/2]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">PID::PID </td>
+          <td>(</td>
+          <td class="paramtype">int *&#160;</td>
+          <td class="paramname"><em>Input</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">int *&#160;</td>
+          <td class="paramname"><em>Output</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">int *&#160;</td>
+          <td class="paramname"><em>Setpoint</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">float&#160;</td>
+          <td class="paramname"><em>Kc</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">float&#160;</td>
+          <td class="paramname"><em>TauI</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">float&#160;</td>
+          <td class="paramname"><em>TauD</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<div class="dynheader">
+Here is the call graph for this function:</div>
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+
+<div class="memitem">
+<div class="memproto">
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+        <tr>
+          <td class="memname">PID::PID </td>
+          <td>(</td>
+          <td class="paramtype">int *&#160;</td>
+          <td class="paramname"><em>Input</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">int *&#160;</td>
+          <td class="paramname"><em>Output</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">int *&#160;</td>
+          <td class="paramname"><em>Setpoint</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">int *&#160;</td>
+          <td class="paramname"><em>FFBias</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">float&#160;</td>
+          <td class="paramname"><em>Kc</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">float&#160;</td>
+          <td class="paramname"><em>TauI</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">float&#160;</td>
+          <td class="paramname"><em>TauD</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<div class="dynheader">
+Here is the call graph for this function:</div>
+<div class="dyncontent">
+<div class="center"><img src="classPID_ab1053fb1d444eb9946a12c2fed97f4bf_cgraph.png" border="0" usemap="#aclassPID_ab1053fb1d444eb9946a12c2fed97f4bf_cgraph" alt=""/></div>
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+
+</div>
+</div>
+<h2 class="groupheader">Member Function Documentation</h2>
+<a id="a05a3258d4b553e7a121f7360ffe88065"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a05a3258d4b553e7a121f7360ffe88065">&#9670;&nbsp;</a></span>Compute()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">void PID::Compute </td>
+          <td>(</td>
+          <td class="paramname"></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<div class="dynheader">
+Here is the caller graph for this function:</div>
+<div class="dyncontent">
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+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">void PID::SetTunings </td>
+          <td>(</td>
+          <td class="paramtype">float&#160;</td>
+          <td class="paramname"><em>Kc</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">float&#160;</td>
+          <td class="paramname"><em>TauI</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">float&#160;</td>
+          <td class="paramname"><em>TauD</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<div class="dynheader">
+Here is the caller graph for this function:</div>
+<div class="dyncontent">
+<div class="center"><img src="classPID_aa51d6ef0803413fd0da475406a5ae6ad_icgraph.png" border="0" usemap="#aclassPID_aa51d6ef0803413fd0da475406a5ae6ad_icgraph" alt=""/></div>
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+
+</div>
+</div>
+<hr/>The documentation for this class was generated from the following files:<ul>
+<li>lib/PID_Beta6/<a class="el" href="PID__Beta6_8h_source.html">PID_Beta6.h</a></li>
+<li>lib/PID_Beta6/<a class="el" href="PID__Beta6_8cpp.html">PID_Beta6.cpp</a></li>
+</ul>
+</div><!-- contents -->
+<!-- start footer part -->
+<hr class="footer"/><address class="footer"><small>
+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.1
+</small></address>
+</body>
+</html>
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diff --git a/src/dcaitirobot/embedded/docs/html/classPID_a34178c5110d89a8029e403f6ef5d003d_icgraph.md5 b/src/dcaitirobot/embedded/docs/html/classPID_a34178c5110d89a8029e403f6ef5d003d_icgraph.md5
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diff --git a/src/dcaitirobot/embedded/docs/html/classPID_a68074bad88a8cc442ee03a036073d5d5_cgraph.map b/src/dcaitirobot/embedded/docs/html/classPID_a68074bad88a8cc442ee03a036073d5d5_cgraph.map
new file mode 100644
index 0000000..2699d4f
--- /dev/null
+++ b/src/dcaitirobot/embedded/docs/html/classPID_a68074bad88a8cc442ee03a036073d5d5_cgraph.map
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diff --git a/src/dcaitirobot/embedded/docs/html/classPID_a68074bad88a8cc442ee03a036073d5d5_cgraph.md5 b/src/dcaitirobot/embedded/docs/html/classPID_a68074bad88a8cc442ee03a036073d5d5_cgraph.md5
new file mode 100644
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+++ b/src/dcaitirobot/embedded/docs/html/classPID_a68074bad88a8cc442ee03a036073d5d5_cgraph.md5
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diff --git a/src/dcaitirobot/embedded/docs/html/classPID_a70a457a8b2d0f2306923c30282567af6_cgraph.map b/src/dcaitirobot/embedded/docs/html/classPID_a70a457a8b2d0f2306923c30282567af6_cgraph.map
new file mode 100644
index 0000000..02bca3d
--- /dev/null
+++ b/src/dcaitirobot/embedded/docs/html/classPID_a70a457a8b2d0f2306923c30282567af6_cgraph.map
@@ -0,0 +1,4 @@
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diff --git a/src/dcaitirobot/embedded/docs/html/classPID_a70a457a8b2d0f2306923c30282567af6_cgraph.md5 b/src/dcaitirobot/embedded/docs/html/classPID_a70a457a8b2d0f2306923c30282567af6_cgraph.md5
new file mode 100644
index 0000000..c09ff18
--- /dev/null
+++ b/src/dcaitirobot/embedded/docs/html/classPID_a70a457a8b2d0f2306923c30282567af6_cgraph.md5
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+</div><!-- top -->
+<div class="header">
+  <div class="headertitle">
+<div class="title">UARTCom Member List</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>This is the complete list of members for <a class="el" href="classUARTCom.html">UARTCom</a>, including all inherited members.</p>
+<table class="directory">
+  <tr class="even"><td class="entry"><a class="el" href="classUARTCom.html#a27841668dbc31c205cc826a86d7e0f35">data</a></td><td class="entry"><a class="el" href="classUARTCom.html">UARTCom</a></td><td class="entry"><span class="mlabel">static</span></td></tr>
+  <tr><td class="entry"><a class="el" href="classUARTCom.html#a0b8f43f58c7ed25f191a0339ad0f170d">init</a>(uint8_t *d)</td><td class="entry"><a class="el" href="classUARTCom.html">UARTCom</a></td><td class="entry"><span class="mlabel">static</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classUARTCom.html#a38e053e8c8bcad7735c7fe09bfc84ffd">read</a>(uint8_t *d)</td><td class="entry"><a class="el" href="classUARTCom.html">UARTCom</a></td><td class="entry"><span class="mlabel">static</span></td></tr>
+  <tr><td class="entry"><a class="el" href="classUARTCom.html#a7d317999b89947edc57ba32012c9522f">send</a>(U_FrameType ft, uint8_t pll, U_Component c, uint8_t *pl)</td><td class="entry"><a class="el" href="classUARTCom.html">UARTCom</a></td><td class="entry"><span class="mlabel">static</span></td></tr>
+</table></div><!-- contents -->
+<!-- start footer part -->
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+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.1
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+<title>DCAITI Robot Hardware: UARTCom Class Reference</title>
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+<script type="text/javascript" src="jquery.js"></script>
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+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">DCAITI Robot Hardware
+   &#160;<span id="projectnumber">1.0</span>
+   </div>
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+</div><!-- top -->
+<div class="header">
+  <div class="summary">
+<a href="#pub-static-methods">Static Public Member Functions</a> &#124;
+<a href="#pub-static-attribs">Static Public Attributes</a> &#124;
+<a href="classUARTCom-members.html">List of all members</a>  </div>
+  <div class="headertitle">
+<div class="title">UARTCom Class Reference</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p><code>#include &lt;<a class="el" href="UARTCom_8hpp_source.html">UARTCom.hpp</a>&gt;</code></p>
+<table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-static-methods"></a>
+Static Public Member Functions</h2></td></tr>
+<tr class="memitem:a0b8f43f58c7ed25f191a0339ad0f170d"><td class="memItemLeft" align="right" valign="top">static void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classUARTCom.html#a0b8f43f58c7ed25f191a0339ad0f170d">init</a> (uint8_t *d)</td></tr>
+<tr class="memdesc:a0b8f43f58c7ed25f191a0339ad0f170d"><td class="mdescLeft">&#160;</td><td class="mdescRight">initializes uart communication  <a href="classUARTCom.html#a0b8f43f58c7ed25f191a0339ad0f170d">More...</a><br /></td></tr>
+<tr class="separator:a0b8f43f58c7ed25f191a0339ad0f170d"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a38e053e8c8bcad7735c7fe09bfc84ffd"><td class="memItemLeft" align="right" valign="top">static void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classUARTCom.html#a38e053e8c8bcad7735c7fe09bfc84ffd">read</a> (uint8_t *d)</td></tr>
+<tr class="memdesc:a38e053e8c8bcad7735c7fe09bfc84ffd"><td class="mdescLeft">&#160;</td><td class="mdescRight">reads uart interface and stores the data into an uint8_t array  <a href="classUARTCom.html#a38e053e8c8bcad7735c7fe09bfc84ffd">More...</a><br /></td></tr>
+<tr class="separator:a38e053e8c8bcad7735c7fe09bfc84ffd"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a7d317999b89947edc57ba32012c9522f"><td class="memItemLeft" align="right" valign="top">static void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classUARTCom.html#a7d317999b89947edc57ba32012c9522f">send</a> (<a class="el" href="constants_8h.html#a2cadd9c064904e21e2acd0d0f64ad8b6">U_FrameType</a> ft, uint8_t pll, <a class="el" href="constants_8h.html#a35f6afe79ab48a3034b81cb15d538155">U_Component</a> c, uint8_t *pl)</td></tr>
+<tr class="memdesc:a7d317999b89947edc57ba32012c9522f"><td class="mdescLeft">&#160;</td><td class="mdescRight">assembles and sends a uart package  <a href="classUARTCom.html#a7d317999b89947edc57ba32012c9522f">More...</a><br /></td></tr>
+<tr class="separator:a7d317999b89947edc57ba32012c9522f"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-static-attribs"></a>
+Static Public Attributes</h2></td></tr>
+<tr class="memitem:a27841668dbc31c205cc826a86d7e0f35"><td class="memItemLeft" align="right" valign="top">static uint8_t&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classUARTCom.html#a27841668dbc31c205cc826a86d7e0f35">data</a> [<a class="el" href="constants_8h.html#a973c680573b37fc359fc68d0707da355">MAX_PACKET_LENGTH</a>]</td></tr>
+<tr class="separator:a27841668dbc31c205cc826a86d7e0f35"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<h2 class="groupheader">Member Function Documentation</h2>
+<a id="a0b8f43f58c7ed25f191a0339ad0f170d"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a0b8f43f58c7ed25f191a0339ad0f170d">&#9670;&nbsp;</a></span>init()</h2>
+
+<div class="memitem">
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+  <td class="mlabels-left">
+      <table class="memname">
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+          <td class="memname">void UARTCom::init </td>
+          <td>(</td>
+          <td class="paramtype">uint8_t *&#160;</td>
+          <td class="paramname"><em>d</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
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+
+<p>initializes uart communication </p>
+<p>initializes UART communication</p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">d</td><td>data package to be initialized</td></tr>
+    <tr><td class="paramname">d</td><td>data package </td></tr>
+  </table>
+  </dd>
+</dl>
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+
+<div class="memitem">
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+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">void UARTCom::read </td>
+          <td>(</td>
+          <td class="paramtype">uint8_t *&#160;</td>
+          <td class="paramname"><em>d</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">static</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>reads uart interface and stores the data into an uint8_t array </p>
+<p>reads incoming bytes from serial port</p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">d</td><td>array to store the data into</td></tr>
+    <tr><td class="paramname">d</td><td>data package </td></tr>
+  </table>
+  </dd>
+</dl>
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+<h2 class="memtitle"><span class="permalink"><a href="#a7d317999b89947edc57ba32012c9522f">&#9670;&nbsp;</a></span>send()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">void UARTCom::send </td>
+          <td>(</td>
+          <td class="paramtype"><a class="el" href="constants_8h.html#a2cadd9c064904e21e2acd0d0f64ad8b6">U_FrameType</a>&#160;</td>
+          <td class="paramname"><em>ft</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">uint8_t&#160;</td>
+          <td class="paramname"><em>pll</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype"><a class="el" href="constants_8h.html#a35f6afe79ab48a3034b81cb15d538155">U_Component</a>&#160;</td>
+          <td class="paramname"><em>cp</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">uint8_t *&#160;</td>
+          <td class="paramname"><em>pl</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">static</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>assembles and sends a uart package </p>
+<p>sends data package</p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">ft</td><td>frametype of message </td></tr>
+    <tr><td class="paramname">pll</td><td>payload length </td></tr>
+    <tr><td class="paramname">c</td><td>component </td></tr>
+    <tr><td class="paramname">pl</td><td>payload</td></tr>
+    <tr><td class="paramname">ft</td><td>frametype </td></tr>
+    <tr><td class="paramname">pll</td><td>payload length </td></tr>
+    <tr><td class="paramname">cp</td><td>component </td></tr>
+    <tr><td class="paramname">pl</td><td>payload </td></tr>
+  </table>
+  </dd>
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+<div class="dyncontent">
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+<h2 class="groupheader">Member Data Documentation</h2>
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+<h2 class="memtitle"><span class="permalink"><a href="#a27841668dbc31c205cc826a86d7e0f35">&#9670;&nbsp;</a></span>data</h2>
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+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
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+
+</div>
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+   <div id="projectname">DCAITI Robot Hardware
+   &#160;<span id="projectnumber">1.0</span>
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+</div><!-- top -->
+<div class="header">
+  <div class="summary">
+<a href="#pub-static-methods">Static Public Member Functions</a> &#124;
+<a href="classUCommands-members.html">List of all members</a>  </div>
+  <div class="headertitle">
+<div class="title">UCommands Class Reference</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p><code>#include &lt;<a class="el" href="UCommands_8hpp_source.html">UCommands.hpp</a>&gt;</code></p>
+<table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-static-methods"></a>
+Static Public Member Functions</h2></td></tr>
+<tr class="memitem:a3c5115bbcd456140f899e978b38a2cb5"><td class="memItemLeft" align="right" valign="top">static void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classUCommands.html#a3c5115bbcd456140f899e978b38a2cb5">setSetpoint</a> (uint8_t *d, <a class="el" href="constants_8h.html#a35f6afe79ab48a3034b81cb15d538155">U_Component</a> c)</td></tr>
+<tr class="memdesc:a3c5115bbcd456140f899e978b38a2cb5"><td class="mdescLeft">&#160;</td><td class="mdescRight">sets the desired velocity of a motor  <a href="classUCommands.html#a3c5115bbcd456140f899e978b38a2cb5">More...</a><br /></td></tr>
+<tr class="separator:a3c5115bbcd456140f899e978b38a2cb5"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a86ec0e5a25fbf90d6588055a7ba1f312"><td class="memItemLeft" align="right" valign="top">static void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classUCommands.html#a86ec0e5a25fbf90d6588055a7ba1f312">setPIDParameter</a> (uint8_t *d, <a class="el" href="constants_8h.html#a35f6afe79ab48a3034b81cb15d538155">U_Component</a> c)</td></tr>
+<tr class="memdesc:a86ec0e5a25fbf90d6588055a7ba1f312"><td class="mdescLeft">&#160;</td><td class="mdescRight">sets the PID parameters  <a href="classUCommands.html#a86ec0e5a25fbf90d6588055a7ba1f312">More...</a><br /></td></tr>
+<tr class="separator:a86ec0e5a25fbf90d6588055a7ba1f312"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<h2 class="groupheader">Member Function Documentation</h2>
+<a id="a86ec0e5a25fbf90d6588055a7ba1f312"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a86ec0e5a25fbf90d6588055a7ba1f312">&#9670;&nbsp;</a></span>setPIDParameter()</h2>
+
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+  <td class="mlabels-left">
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+          <td class="memname">void UCommands::setPIDParameter </td>
+          <td>(</td>
+          <td class="paramtype">uint8_t *&#160;</td>
+          <td class="paramname"><em>d</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype"><a class="el" href="constants_8h.html#a35f6afe79ab48a3034b81cb15d538155">U_Component</a>&#160;</td>
+          <td class="paramname"><em>c</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
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+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">static</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>sets the PID parameters </p>
+<p>handles incoming requests for PID parameters</p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">d</td><td>uart data package to read the pid parameters from </td></tr>
+    <tr><td class="paramname">c</td><td>motor to apply the value to</td></tr>
+    <tr><td class="paramname">d</td><td>payload </td></tr>
+    <tr><td class="paramname">c</td><td>component </td></tr>
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+          <td>(</td>
+          <td class="paramtype">uint8_t *&#160;</td>
+          <td class="paramname"><em>d</em>, </td>
+        </tr>
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+          <td class="paramkey"></td>
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+          <td class="paramname"><em>c</em>&#160;</td>
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+          <td>)</td>
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+<p>sets the desired velocity of a motor </p>
+<p>handles incoming requests for motor speed</p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">d</td><td>uart data package to read the velocity from </td></tr>
+    <tr><td class="paramname">c</td><td>motor to apply the value to</td></tr>
+    <tr><td class="paramname">d</td><td>payload </td></tr>
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+  <tr class="even"><td class="entry"><a class="el" href="classUValue.html#a92218410a1f6b266c142fe4f2af704ae">sendBothEncoderValues</a>(float speed_right, float speed_left, float pos_right, float pos_left)</td><td class="entry"><a class="el" href="classUValue.html">UValue</a></td><td class="entry"><span class="mlabel">static</span></td></tr>
+  <tr><td class="entry"><a class="el" href="classUValue.html#ac1818040e6bca1803b368b958db7333b">sendEncoderValue</a>(U_Component cp, float value)</td><td class="entry"><a class="el" href="classUValue.html">UValue</a></td><td class="entry"><span class="mlabel">static</span></td></tr>
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+<div class="header">
+  <div class="summary">
+<a href="#pub-static-methods">Static Public Member Functions</a> &#124;
+<a href="classUValue-members.html">List of all members</a>  </div>
+  <div class="headertitle">
+<div class="title">UValue Class Reference</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p><code>#include &lt;<a class="el" href="UValue_8hpp_source.html">UValue.hpp</a>&gt;</code></p>
+<table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-static-methods"></a>
+Static Public Member Functions</h2></td></tr>
+<tr class="memitem:ac1818040e6bca1803b368b958db7333b"><td class="memItemLeft" align="right" valign="top">static void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classUValue.html#ac1818040e6bca1803b368b958db7333b">sendEncoderValue</a> (<a class="el" href="constants_8h.html#a35f6afe79ab48a3034b81cb15d538155">U_Component</a> cp, float value)</td></tr>
+<tr class="memdesc:ac1818040e6bca1803b368b958db7333b"><td class="mdescLeft">&#160;</td><td class="mdescRight">sends encoder value via uart  <a href="classUValue.html#ac1818040e6bca1803b368b958db7333b">More...</a><br /></td></tr>
+<tr class="separator:ac1818040e6bca1803b368b958db7333b"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a92218410a1f6b266c142fe4f2af704ae"><td class="memItemLeft" align="right" valign="top">static void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classUValue.html#a92218410a1f6b266c142fe4f2af704ae">sendBothEncoderValues</a> (float speed_right, float speed_left, float pos_right, float pos_left)</td></tr>
+<tr class="memdesc:a92218410a1f6b266c142fe4f2af704ae"><td class="mdescLeft">&#160;</td><td class="mdescRight">send both encoder values via uart  <a href="classUValue.html#a92218410a1f6b266c142fe4f2af704ae">More...</a><br /></td></tr>
+<tr class="separator:a92218410a1f6b266c142fe4f2af704ae"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<h2 class="groupheader">Member Function Documentation</h2>
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+<h2 class="memtitle"><span class="permalink"><a href="#a92218410a1f6b266c142fe4f2af704ae">&#9670;&nbsp;</a></span>sendBothEncoderValues()</h2>
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+          <td class="memname">void UValue::sendBothEncoderValues </td>
+          <td>(</td>
+          <td class="paramtype">float&#160;</td>
+          <td class="paramname"><em>speed_right</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">float&#160;</td>
+          <td class="paramname"><em>speed_left</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">float&#160;</td>
+          <td class="paramname"><em>pos_right</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">float&#160;</td>
+          <td class="paramname"><em>pos_left</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
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+        </tr>
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+<p>send both encoder values via uart </p>
+<p>sends the current speed of both motors</p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">value_left</td><td>encoder value left </td></tr>
+    <tr><td class="paramname">value_right</td><td>encoder value right</td></tr>
+    <tr><td class="paramname">speed_right</td><td>speed of right motor </td></tr>
+    <tr><td class="paramname">speed_left</td><td>speed of left motor </td></tr>
+    <tr><td class="paramname">pos_right</td><td>current integrated position of right rotor </td></tr>
+    <tr><td class="paramname">pos_left</td><td>current integrated position of left rotor </td></tr>
+  </table>
+  </dd>
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+          <td class="paramname"><em>value</em>&#160;</td>
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+          <td>)</td>
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+<p>sends encoder value via uart </p>
+<p>sends the current speed of both motors</p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">cp</td><td>component to which the value refers to </td></tr>
+    <tr><td class="paramname">value</td><td>encoder value</td></tr>
+    <tr><td class="paramname">cp</td><td>component </td></tr>
+    <tr><td class="paramname">value</td><td>speed of motor </td></tr>
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+   <div id="projectname">DCAITI Robot Hardware
+   &#160;<span id="projectnumber">1.0</span>
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+  <div class="summary">
+<a href="#pub-static-methods">Static Public Member Functions</a> &#124;
+<a href="classUtils-members.html">List of all members</a>  </div>
+  <div class="headertitle">
+<div class="title">Utils Class Reference</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p><code>#include &lt;<a class="el" href="Utils_8hpp_source.html">Utils.hpp</a>&gt;</code></p>
+<table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-static-methods"></a>
+Static Public Member Functions</h2></td></tr>
+<tr class="memitem:aac3729a54c2dbd0461f5faa130429280"><td class="memItemLeft" align="right" valign="top">static float&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classUtils.html#aac3729a54c2dbd0461f5faa130429280">bytesToFloat</a> (uint8_t b0, uint8_t b1, uint8_t b2, uint8_t b3)</td></tr>
+<tr class="memdesc:aac3729a54c2dbd0461f5faa130429280"><td class="mdescLeft">&#160;</td><td class="mdescRight">converts 4 bytes to float (big endian)  <a href="classUtils.html#aac3729a54c2dbd0461f5faa130429280">More...</a><br /></td></tr>
+<tr class="separator:aac3729a54c2dbd0461f5faa130429280"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a994ae9cd902090355b4777f0dd28e95c"><td class="memItemLeft" align="right" valign="top">static uint32_t&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classUtils.html#a994ae9cd902090355b4777f0dd28e95c">bytesToInt</a> (uint8_t b0, uint8_t b1, uint8_t b2, uint8_t b3)</td></tr>
+<tr class="memdesc:a994ae9cd902090355b4777f0dd28e95c"><td class="mdescLeft">&#160;</td><td class="mdescRight">converts 4 bytes to uint32_t (big endian)  <a href="classUtils.html#a994ae9cd902090355b4777f0dd28e95c">More...</a><br /></td></tr>
+<tr class="separator:a994ae9cd902090355b4777f0dd28e95c"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<h2 class="memtitle"><span class="permalink"><a href="#aac3729a54c2dbd0461f5faa130429280">&#9670;&nbsp;</a></span>bytesToFloat()</h2>
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+          <td class="memname">float Utils::bytesToFloat </td>
+          <td>(</td>
+          <td class="paramtype">uint8_t&#160;</td>
+          <td class="paramname"><em>b0</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">uint8_t&#160;</td>
+          <td class="paramname"><em>b1</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">uint8_t&#160;</td>
+          <td class="paramname"><em>b2</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">uint8_t&#160;</td>
+          <td class="paramname"><em>b3</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
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+          <td></td><td></td>
+        </tr>
+      </table>
+  </td>
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+
+<p>converts 4 bytes to float (big endian) </p>
+<p>converts a float to a byte array</p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">b0</td><td>first byte </td></tr>
+    <tr><td class="paramname">b1</td><td>second byte </td></tr>
+    <tr><td class="paramname">b2</td><td>third byte </td></tr>
+    <tr><td class="paramname">b3</td><td>fourth byte </td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>float</dd></dl>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">b0</td><td></td></tr>
+    <tr><td class="paramname">b1</td><td></td></tr>
+    <tr><td class="paramname">b2</td><td></td></tr>
+    <tr><td class="paramname">b3</td><td></td></tr>
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+, <a class="el" href="constants_8h.html#a796eb6fe3758085a1379a7a873e41fffac1456ce8322785fad8add40e82104063">DRIVE_ENCODER</a>
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+&#160;&#160;<a class="el" href="constants_8h.html#a796eb6fe3758085a1379a7a873e41fffa2bf77c9c88e1af0b727fe7b0267fab1e">PID_PARAMETER</a>
+<br />
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+<tr class="separator:a796eb6fe3758085a1379a7a873e41fff"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<h2 class="groupheader">Macro Definition Documentation</h2>
+<a id="a3104816b30fdf2161e0303ac82d64368"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a3104816b30fdf2161e0303ac82d64368">&#9670;&nbsp;</a></span>CHAIN_LENGTH_M</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">#define CHAIN_LENGTH_M&#160;&#160;&#160;0.741</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a0b5870a545d9cbfe8b3acfc3a9166f73"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a0b5870a545d9cbfe8b3acfc3a9166f73">&#9670;&nbsp;</a></span>COMMAND_POS</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">#define COMMAND_POS&#160;&#160;&#160;8</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="aeb1d8064c126f31485d68575b2e56fac"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#aeb1d8064c126f31485d68575b2e56fac">&#9670;&nbsp;</a></span>COMPONENT_ENDBIT</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">#define COMPONENT_ENDBIT&#160;&#160;&#160;4</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
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+</div>
+<a id="a52879c59942c2d1a074e7f36714102a4"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a52879c59942c2d1a074e7f36714102a4">&#9670;&nbsp;</a></span>COMPONENT_POS</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">#define COMPONENT_POS&#160;&#160;&#160;3</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a2785c2310ae5cedbcf184d54c34de5be"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a2785c2310ae5cedbcf184d54c34de5be">&#9670;&nbsp;</a></span>COMPONENT_STARTBIT</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">#define COMPONENT_STARTBIT&#160;&#160;&#160;7</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="ab49c3741ce7f73ec48ab65fd973323a8"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ab49c3741ce7f73ec48ab65fd973323a8">&#9670;&nbsp;</a></span>COUNT_PER_ROTATION</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">#define COUNT_PER_ROTATION&#160;&#160;&#160;3533</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
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+</div>
+<a id="aa3874a8ea4ef7c943b06a92f80068620"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#aa3874a8ea4ef7c943b06a92f80068620">&#9670;&nbsp;</a></span>CP_ALL_M_BV</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">#define CP_ALL_M_BV&#160;&#160;&#160;48</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
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+</div>
+<a id="a35d5ccd13b20b08c77be860c769b07d3"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a35d5ccd13b20b08c77be860c769b07d3">&#9670;&nbsp;</a></span>CP_DEFAULT_BV</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">#define CP_DEFAULT_BV&#160;&#160;&#160;0</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a08ef3f733d9202f2086e69e2c08a363b"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a08ef3f733d9202f2086e69e2c08a363b">&#9670;&nbsp;</a></span>CP_LEFT_M_BV</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">#define CP_LEFT_M_BV&#160;&#160;&#160;16</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a364373ad1acde28ba791da94a4652123"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a364373ad1acde28ba791da94a4652123">&#9670;&nbsp;</a></span>CP_RIGHT_M_BV</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">#define CP_RIGHT_M_BV&#160;&#160;&#160;32</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="ab230bca5d5ab35a62a429dfcda81d00b"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ab230bca5d5ab35a62a429dfcda81d00b">&#9670;&nbsp;</a></span>ENC_1_A</h2>
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+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">#define ENC_1_A&#160;&#160;&#160;6</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
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+</div>
+<a id="abb1e10ac4c5e4e02b9ede57753f34685"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#abb1e10ac4c5e4e02b9ede57753f34685">&#9670;&nbsp;</a></span>ENC_1_B</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">#define ENC_1_B&#160;&#160;&#160;7</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
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+</div>
+<a id="a6e554e75e5487d2b3cd6fbf13771abfb"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a6e554e75e5487d2b3cd6fbf13771abfb">&#9670;&nbsp;</a></span>ENC_2_A</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">#define ENC_2_A&#160;&#160;&#160;5</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
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+</div>
+<a id="aa8f35f5e8e4f5ffe95145bc22c4fcf72"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#aa8f35f5e8e4f5ffe95145bc22c4fcf72">&#9670;&nbsp;</a></span>ENC_2_B</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">#define ENC_2_B&#160;&#160;&#160;4</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a151ca839d9e7eafaee81144d4227c1e5"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a151ca839d9e7eafaee81144d4227c1e5">&#9670;&nbsp;</a></span>FRAME_TYPE_ENDBIT</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">#define FRAME_TYPE_ENDBIT&#160;&#160;&#160;5</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
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+</div>
+<a id="ac789a32f49ac90c7af7bfecd0145ca5b"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ac789a32f49ac90c7af7bfecd0145ca5b">&#9670;&nbsp;</a></span>FRAME_TYPE_POS</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">#define FRAME_TYPE_POS&#160;&#160;&#160;1</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a9b2553a99e4fc456528a2bb6064662e4"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a9b2553a99e4fc456528a2bb6064662e4">&#9670;&nbsp;</a></span>FRAME_TYPE_STARTBIT</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">#define FRAME_TYPE_STARTBIT&#160;&#160;&#160;7</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a4c64a972f5a1b3bd04ec67f823c89dde"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a4c64a972f5a1b3bd04ec67f823c89dde">&#9670;&nbsp;</a></span>FT_REQUEST_BV</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">#define FT_REQUEST_BV&#160;&#160;&#160;32</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a1a41281f1eb58c0ed14957e2760888f1"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a1a41281f1eb58c0ed14957e2760888f1">&#9670;&nbsp;</a></span>FT_RESPONSE_BV</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">#define FT_RESPONSE_BV&#160;&#160;&#160;64</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="ac06a5ed8a1f01ec636f93ed032e01eab"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ac06a5ed8a1f01ec636f93ed032e01eab">&#9670;&nbsp;</a></span>FT_VALUE_BV</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">#define FT_VALUE_BV&#160;&#160;&#160;0</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="abba0b881fe43a16924e413bbd263c733"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#abba0b881fe43a16924e413bbd263c733">&#9670;&nbsp;</a></span>KD_1</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">#define KD_1&#160;&#160;&#160;0.0</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="ab4459fe9bb0098b8277916436adbf888"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ab4459fe9bb0098b8277916436adbf888">&#9670;&nbsp;</a></span>KD_2</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">#define KD_2&#160;&#160;&#160;0.0</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="ad6a3c042726ed32114f96e802646c63f"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ad6a3c042726ed32114f96e802646c63f">&#9670;&nbsp;</a></span>KI_1</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">#define KI_1&#160;&#160;&#160;0.0</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="aacb7a3bd785a504dfa2894a0734a6469"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#aacb7a3bd785a504dfa2894a0734a6469">&#9670;&nbsp;</a></span>KI_2</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">#define KI_2&#160;&#160;&#160;0.0</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a1e95591d371b6ccd1d99c7f947a52a62"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a1e95591d371b6ccd1d99c7f947a52a62">&#9670;&nbsp;</a></span>KP_1</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">#define KP_1&#160;&#160;&#160;10</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a81021e39d3a0b1902dd4fee734b99345"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a81021e39d3a0b1902dd4fee734b99345">&#9670;&nbsp;</a></span>KP_2</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">#define KP_2&#160;&#160;&#160;10</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="af6dca909e42192cc5583a7e077c1a0d2"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#af6dca909e42192cc5583a7e077c1a0d2">&#9670;&nbsp;</a></span>LAST</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">#define LAST</td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname">k, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname">n&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td>&#160;&#160;&#160;((k) &amp; ((1&lt;&lt;(n))-1))</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a3d282621a75034d2d4206fe90b0da79a"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a3d282621a75034d2d4206fe90b0da79a">&#9670;&nbsp;</a></span>M1_DIR_PIN</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">#define M1_DIR_PIN&#160;&#160;&#160;11</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="ac4207804f19ef064b5c62600e0b3e8a3"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ac4207804f19ef064b5c62600e0b3e8a3">&#9670;&nbsp;</a></span>M1_EN_PIN</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">#define M1_EN_PIN&#160;&#160;&#160;10</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a5e364f19936b85c329f46243a4b5b234"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a5e364f19936b85c329f46243a4b5b234">&#9670;&nbsp;</a></span>M2_DIR_PIN</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">#define M2_DIR_PIN&#160;&#160;&#160;8</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a160f7f51d684aa67d10d9e0ddac01b04"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a160f7f51d684aa67d10d9e0ddac01b04">&#9670;&nbsp;</a></span>M2_EN_PIN</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">#define M2_EN_PIN&#160;&#160;&#160;9</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a973c680573b37fc359fc68d0707da355"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a973c680573b37fc359fc68d0707da355">&#9670;&nbsp;</a></span>MAX_PACKET_LENGTH</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">#define MAX_PACKET_LENGTH&#160;&#160;&#160;50</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="ac2cd96d53dd3ba6407db6766c3d92b26"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ac2cd96d53dd3ba6407db6766c3d92b26">&#9670;&nbsp;</a></span>MAX_SPEED</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">#define MAX_SPEED&#160;&#160;&#160;0.6</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a35dfe6752b41f8931e45e6ae73b90dc9"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a35dfe6752b41f8931e45e6ae73b90dc9">&#9670;&nbsp;</a></span>MID</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">#define MID</td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname">k, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname">m, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname">n&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td>&#160;&#160;&#160;<a class="el" href="constants_8h.html#af6dca909e42192cc5583a7e077c1a0d2">LAST</a>((k)&gt;&gt;(m),((n)-(m)))</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a52b56a381e777b55e1b59019d9ee072e"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a52b56a381e777b55e1b59019d9ee072e">&#9670;&nbsp;</a></span>NUM_MOTORS</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">#define NUM_MOTORS&#160;&#160;&#160;2</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>all constants and custom data types </p>
+
+</div>
+</div>
+<a id="a50efaeb0380deed26b8c63b0f4cbfabe"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a50efaeb0380deed26b8c63b0f4cbfabe">&#9670;&nbsp;</a></span>P_GAIN</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">#define P_GAIN&#160;&#160;&#160;1.0</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a0a8722add1edc513f4e329a2032a3fef"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a0a8722add1edc513f4e329a2032a3fef">&#9670;&nbsp;</a></span>PACKAGE_LENGTH_NO_P</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">#define PACKAGE_LENGTH_NO_P&#160;&#160;&#160;10</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a4321ff0e2772f459d2ef6caa379e161a"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a4321ff0e2772f459d2ef6caa379e161a">&#9670;&nbsp;</a></span>PACKAGE_PAUSE_MS</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">#define PACKAGE_PAUSE_MS&#160;&#160;&#160;10</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="aa9c8a41feedb969234368a73275821f2"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#aa9c8a41feedb969234368a73275821f2">&#9670;&nbsp;</a></span>PAYLOAD_LENGTH_POS</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">#define PAYLOAD_LENGTH_POS&#160;&#160;&#160;2</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a0c7e856e56bd17a39c617593fce860a7"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a0c7e856e56bd17a39c617593fce860a7">&#9670;&nbsp;</a></span>PAYLOAD_POS</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">#define PAYLOAD_POS&#160;&#160;&#160;8</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a351cd11e5cc01e0edf20943bed699610"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a351cd11e5cc01e0edf20943bed699610">&#9670;&nbsp;</a></span>PRINT_RATE_MS</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">#define PRINT_RATE_MS&#160;&#160;&#160;500</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a2cf114b9e06da52cc8852e5ff45d0287"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a2cf114b9e06da52cc8852e5ff45d0287">&#9670;&nbsp;</a></span>REQUEST_DRIVE_MOTOR</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">#define REQUEST_DRIVE_MOTOR&#160;&#160;&#160;0x01</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a36df23d1e37cb67c03835318c00be7c6"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a36df23d1e37cb67c03835318c00be7c6">&#9670;&nbsp;</a></span>REQUEST_RESET_TIMESTAMP</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">#define REQUEST_RESET_TIMESTAMP&#160;&#160;&#160;0x02</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a157494c83072aa2d40027e695d68a041"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a157494c83072aa2d40027e695d68a041">&#9670;&nbsp;</a></span>RX_328_PIN</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">#define RX_328_PIN&#160;&#160;&#160;6</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="ac061f2335adf821db2872a3cbb9c2b89"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ac061f2335adf821db2872a3cbb9c2b89">&#9670;&nbsp;</a></span>SPEED_THRESHOLD</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">#define SPEED_THRESHOLD&#160;&#160;&#160;8</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a30d2043ca397843e08c43ade3aaee5b2"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a30d2043ca397843e08c43ade3aaee5b2">&#9670;&nbsp;</a></span>START_BYTE</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">#define START_BYTE&#160;&#160;&#160;0xAA</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="aa7fe6a12a1f3090e191f4c52c80bc328"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#aa7fe6a12a1f3090e191f4c52c80bc328">&#9670;&nbsp;</a></span>START_BYTE_POS</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">#define START_BYTE_POS&#160;&#160;&#160;0</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a1716d2e75ba17bc148d19453b6ac72cb"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a1716d2e75ba17bc148d19453b6ac72cb">&#9670;&nbsp;</a></span>TIMESTAMP_POS</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">#define TIMESTAMP_POS&#160;&#160;&#160;4</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="ad92856c4b6e41cdaeb16801e242a75e4"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ad92856c4b6e41cdaeb16801e242a75e4">&#9670;&nbsp;</a></span>TX_328_PIN</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">#define TX_328_PIN&#160;&#160;&#160;7</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a615aed21aa6825462b7c17b0c238ffe2"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a615aed21aa6825462b7c17b0c238ffe2">&#9670;&nbsp;</a></span>UART_BAUD_RATE</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">#define UART_BAUD_RATE&#160;&#160;&#160;57600</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="aac88e302a836edae50d15353792529ba"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#aac88e302a836edae50d15353792529ba">&#9670;&nbsp;</a></span>UART_TRANSMIT_MS</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">#define UART_TRANSMIT_MS&#160;&#160;&#160;10</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="ac07fe36e41399741e71b84acd4b549e1"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ac07fe36e41399741e71b84acd4b549e1">&#9670;&nbsp;</a></span>VEL2TORQUE_RATIO</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">#define VEL2TORQUE_RATIO&#160;&#160;&#160;1.0</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="ab90fe37f81409f5e0793767b08d64231"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ab90fe37f81409f5e0793767b08d64231">&#9670;&nbsp;</a></span>VEL_UPDATE_RATE_MS</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">#define VEL_UPDATE_RATE_MS&#160;&#160;&#160;20</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<h2 class="groupheader">Typedef Documentation</h2>
+<a id="a35f6afe79ab48a3034b81cb15d538155"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a35f6afe79ab48a3034b81cb15d538155">&#9670;&nbsp;</a></span>U_Component</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
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+<a href="constants_8h.html">Go to the documentation of this file.</a><div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="preprocessor">#ifndef CONSTANTS_H</span></div>
+<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="preprocessor">#define CONSTANTS_H</span></div>
+<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160; </div>
+<div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="comment">//#define DCAITI_DEBUG          0</span></div>
+<div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160; </div>
+<div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;<span class="comment">/* 1 is on the right, 2 on the left */</span></div>
+<div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160; </div>
+<div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;<span class="comment">/* motors */</span></div>
+<div class="line"><a name="l00014"></a><span class="lineno"><a class="line" href="constants_8h.html#a52b56a381e777b55e1b59019d9ee072e">   14</a></span>&#160;<span class="preprocessor">#define NUM_MOTORS              2</span></div>
+<div class="line"><a name="l00015"></a><span class="lineno"><a class="line" href="constants_8h.html#ac4207804f19ef064b5c62600e0b3e8a3">   15</a></span>&#160;<span class="preprocessor">#define M1_EN_PIN               10</span></div>
+<div class="line"><a name="l00016"></a><span class="lineno"><a class="line" href="constants_8h.html#a3d282621a75034d2d4206fe90b0da79a">   16</a></span>&#160;<span class="preprocessor">#define M1_DIR_PIN              11</span></div>
+<div class="line"><a name="l00017"></a><span class="lineno"><a class="line" href="constants_8h.html#a160f7f51d684aa67d10d9e0ddac01b04">   17</a></span>&#160;<span class="preprocessor">#define M2_EN_PIN               9</span></div>
+<div class="line"><a name="l00018"></a><span class="lineno"><a class="line" href="constants_8h.html#a5e364f19936b85c329f46243a4b5b234">   18</a></span>&#160;<span class="preprocessor">#define M2_DIR_PIN              8</span></div>
+<div class="line"><a name="l00019"></a><span class="lineno"><a class="line" href="constants_8h.html#ac061f2335adf821db2872a3cbb9c2b89">   19</a></span>&#160;<span class="preprocessor">#define SPEED_THRESHOLD         8</span></div>
+<div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160; </div>
+<div class="line"><a name="l00021"></a><span class="lineno">   21</span>&#160;<span class="comment">/* encoders */</span></div>
+<div class="line"><a name="l00022"></a><span class="lineno"><a class="line" href="constants_8h.html#ab230bca5d5ab35a62a429dfcda81d00b">   22</a></span>&#160;<span class="preprocessor">#define ENC_1_A                 6</span></div>
+<div class="line"><a name="l00023"></a><span class="lineno"><a class="line" href="constants_8h.html#abb1e10ac4c5e4e02b9ede57753f34685">   23</a></span>&#160;<span class="preprocessor">#define ENC_1_B                 7</span></div>
+<div class="line"><a name="l00024"></a><span class="lineno"><a class="line" href="constants_8h.html#a6e554e75e5487d2b3cd6fbf13771abfb">   24</a></span>&#160;<span class="preprocessor">#define ENC_2_A                 5</span></div>
+<div class="line"><a name="l00025"></a><span class="lineno"><a class="line" href="constants_8h.html#aa8f35f5e8e4f5ffe95145bc22c4fcf72">   25</a></span>&#160;<span class="preprocessor">#define ENC_2_B                 4</span></div>
+<div class="line"><a name="l00026"></a><span class="lineno"><a class="line" href="constants_8h.html#ab49c3741ce7f73ec48ab65fd973323a8">   26</a></span>&#160;<span class="preprocessor">#define COUNT_PER_ROTATION      3533</span></div>
+<div class="line"><a name="l00027"></a><span class="lineno"><a class="line" href="constants_8h.html#a3104816b30fdf2161e0303ac82d64368">   27</a></span>&#160;<span class="preprocessor">#define CHAIN_LENGTH_M          0.741</span></div>
+<div class="line"><a name="l00028"></a><span class="lineno"><a class="line" href="constants_8h.html#ab90fe37f81409f5e0793767b08d64231">   28</a></span>&#160;<span class="preprocessor">#define VEL_UPDATE_RATE_MS      20</span></div>
+<div class="line"><a name="l00029"></a><span class="lineno"><a class="line" href="constants_8h.html#ac2cd96d53dd3ba6407db6766c3d92b26">   29</a></span>&#160;<span class="preprocessor">#define MAX_SPEED               0.6</span></div>
+<div class="line"><a name="l00030"></a><span class="lineno">   30</span>&#160; </div>
+<div class="line"><a name="l00031"></a><span class="lineno">   31</span>&#160;<span class="comment">/* pid control */</span></div>
+<div class="line"><a name="l00032"></a><span class="lineno"><a class="line" href="constants_8h.html#a1e95591d371b6ccd1d99c7f947a52a62">   32</a></span>&#160;<span class="preprocessor">#define KP_1                    10</span></div>
+<div class="line"><a name="l00033"></a><span class="lineno"><a class="line" href="constants_8h.html#abba0b881fe43a16924e413bbd263c733">   33</a></span>&#160;<span class="preprocessor">#define KD_1                    0.0</span></div>
+<div class="line"><a name="l00034"></a><span class="lineno"><a class="line" href="constants_8h.html#ad6a3c042726ed32114f96e802646c63f">   34</a></span>&#160;<span class="preprocessor">#define KI_1                    0.0</span></div>
+<div class="line"><a name="l00035"></a><span class="lineno"><a class="line" href="constants_8h.html#a81021e39d3a0b1902dd4fee734b99345">   35</a></span>&#160;<span class="preprocessor">#define KP_2                    10</span></div>
+<div class="line"><a name="l00036"></a><span class="lineno"><a class="line" href="constants_8h.html#ab4459fe9bb0098b8277916436adbf888">   36</a></span>&#160;<span class="preprocessor">#define KD_2                    0.0</span></div>
+<div class="line"><a name="l00037"></a><span class="lineno"><a class="line" href="constants_8h.html#aacb7a3bd785a504dfa2894a0734a6469">   37</a></span>&#160;<span class="preprocessor">#define KI_2                    0.0</span></div>
+<div class="line"><a name="l00038"></a><span class="lineno"><a class="line" href="constants_8h.html#ac07fe36e41399741e71b84acd4b549e1">   38</a></span>&#160;<span class="preprocessor">#define VEL2TORQUE_RATIO        1.0</span></div>
+<div class="line"><a name="l00039"></a><span class="lineno"><a class="line" href="constants_8h.html#a50efaeb0380deed26b8c63b0f4cbfabe">   39</a></span>&#160;<span class="preprocessor">#define P_GAIN                  1.0</span></div>
+<div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160; </div>
+<div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;<span class="comment">/* misc */</span></div>
+<div class="line"><a name="l00042"></a><span class="lineno"><a class="line" href="constants_8h.html#a351cd11e5cc01e0edf20943bed699610">   42</a></span>&#160;<span class="preprocessor">#define PRINT_RATE_MS           500</span></div>
+<div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160; </div>
+<div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;<span class="comment">/* uart */</span></div>
+<div class="line"><a name="l00045"></a><span class="lineno"><a class="line" href="constants_8h.html#a615aed21aa6825462b7c17b0c238ffe2">   45</a></span>&#160;<span class="preprocessor">#define UART_BAUD_RATE          57600</span></div>
+<div class="line"><a name="l00046"></a><span class="lineno"><a class="line" href="constants_8h.html#a973c680573b37fc359fc68d0707da355">   46</a></span>&#160;<span class="preprocessor">#define MAX_PACKET_LENGTH       50</span></div>
+<div class="line"><a name="l00047"></a><span class="lineno"><a class="line" href="constants_8h.html#a0a8722add1edc513f4e329a2032a3fef">   47</a></span>&#160;<span class="preprocessor">#define PACKAGE_LENGTH_NO_P     10</span></div>
+<div class="line"><a name="l00048"></a><span class="lineno"><a class="line" href="constants_8h.html#a157494c83072aa2d40027e695d68a041">   48</a></span>&#160;<span class="preprocessor">#define RX_328_PIN              6</span></div>
+<div class="line"><a name="l00049"></a><span class="lineno"><a class="line" href="constants_8h.html#ad92856c4b6e41cdaeb16801e242a75e4">   49</a></span>&#160;<span class="preprocessor">#define TX_328_PIN              7</span></div>
+<div class="line"><a name="l00050"></a><span class="lineno"><a class="line" href="constants_8h.html#aac88e302a836edae50d15353792529ba">   50</a></span>&#160;<span class="preprocessor">#define UART_TRANSMIT_MS        10</span></div>
+<div class="line"><a name="l00051"></a><span class="lineno"><a class="line" href="constants_8h.html#a4321ff0e2772f459d2ef6caa379e161a">   51</a></span>&#160;<span class="preprocessor">#define PACKAGE_PAUSE_MS        10</span></div>
+<div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160; </div>
+<div class="line"><a name="l00053"></a><span class="lineno"><a class="line" href="constants_8h.html#aa7fe6a12a1f3090e191f4c52c80bc328">   53</a></span>&#160;<span class="preprocessor">#define START_BYTE_POS          0</span></div>
+<div class="line"><a name="l00054"></a><span class="lineno"><a class="line" href="constants_8h.html#ac789a32f49ac90c7af7bfecd0145ca5b">   54</a></span>&#160;<span class="preprocessor">#define FRAME_TYPE_POS          1</span></div>
+<div class="line"><a name="l00055"></a><span class="lineno"><a class="line" href="constants_8h.html#aa9c8a41feedb969234368a73275821f2">   55</a></span>&#160;<span class="preprocessor">#define PAYLOAD_LENGTH_POS      2</span></div>
+<div class="line"><a name="l00056"></a><span class="lineno"><a class="line" href="constants_8h.html#a52879c59942c2d1a074e7f36714102a4">   56</a></span>&#160;<span class="preprocessor">#define COMPONENT_POS           3</span></div>
+<div class="line"><a name="l00057"></a><span class="lineno"><a class="line" href="constants_8h.html#a1716d2e75ba17bc148d19453b6ac72cb">   57</a></span>&#160;<span class="preprocessor">#define TIMESTAMP_POS           4</span></div>
+<div class="line"><a name="l00058"></a><span class="lineno"><a class="line" href="constants_8h.html#a0b5870a545d9cbfe8b3acfc3a9166f73">   58</a></span>&#160;<span class="preprocessor">#define COMMAND_POS             8</span></div>
+<div class="line"><a name="l00059"></a><span class="lineno"><a class="line" href="constants_8h.html#a0c7e856e56bd17a39c617593fce860a7">   59</a></span>&#160;<span class="preprocessor">#define PAYLOAD_POS             8</span></div>
+<div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160; </div>
+<div class="line"><a name="l00061"></a><span class="lineno"><a class="line" href="constants_8h.html#a9b2553a99e4fc456528a2bb6064662e4">   61</a></span>&#160;<span class="preprocessor">#define FRAME_TYPE_STARTBIT     7</span></div>
+<div class="line"><a name="l00062"></a><span class="lineno"><a class="line" href="constants_8h.html#a151ca839d9e7eafaee81144d4227c1e5">   62</a></span>&#160;<span class="preprocessor">#define FRAME_TYPE_ENDBIT       5</span></div>
+<div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160; </div>
+<div class="line"><a name="l00064"></a><span class="lineno"><a class="line" href="constants_8h.html#a2785c2310ae5cedbcf184d54c34de5be">   64</a></span>&#160;<span class="preprocessor">#define COMPONENT_STARTBIT      7</span></div>
+<div class="line"><a name="l00065"></a><span class="lineno"><a class="line" href="constants_8h.html#aeb1d8064c126f31485d68575b2e56fac">   65</a></span>&#160;<span class="preprocessor">#define COMPONENT_ENDBIT        4</span></div>
+<div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160; </div>
+<div class="line"><a name="l00067"></a><span class="lineno"><a class="line" href="constants_8h.html#a30d2043ca397843e08c43ade3aaee5b2">   67</a></span>&#160;<span class="preprocessor">#define START_BYTE              0xAA</span></div>
+<div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160; </div>
+<div class="line"><a name="l00069"></a><span class="lineno"><a class="line" href="constants_8h.html#a2cf114b9e06da52cc8852e5ff45d0287">   69</a></span>&#160;<span class="preprocessor">#define REQUEST_DRIVE_MOTOR     0x01</span></div>
+<div class="line"><a name="l00070"></a><span class="lineno"><a class="line" href="constants_8h.html#a36df23d1e37cb67c03835318c00be7c6">   70</a></span>&#160;<span class="preprocessor">#define REQUEST_RESET_TIMESTAMP 0x02</span></div>
+<div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160; </div>
+<div class="line"><a name="l00072"></a><span class="lineno"><a class="line" href="constants_8h.html#ac06a5ed8a1f01ec636f93ed032e01eab">   72</a></span>&#160;<span class="preprocessor">#define FT_VALUE_BV             0</span></div>
+<div class="line"><a name="l00073"></a><span class="lineno"><a class="line" href="constants_8h.html#a4c64a972f5a1b3bd04ec67f823c89dde">   73</a></span>&#160;<span class="preprocessor">#define FT_REQUEST_BV           32</span></div>
+<div class="line"><a name="l00074"></a><span class="lineno"><a class="line" href="constants_8h.html#a1a41281f1eb58c0ed14957e2760888f1">   74</a></span>&#160;<span class="preprocessor">#define FT_RESPONSE_BV          64</span></div>
+<div class="line"><a name="l00075"></a><span class="lineno"><a class="line" href="constants_8h.html#a35d5ccd13b20b08c77be860c769b07d3">   75</a></span>&#160;<span class="preprocessor">#define CP_DEFAULT_BV           0</span></div>
+<div class="line"><a name="l00076"></a><span class="lineno"><a class="line" href="constants_8h.html#a08ef3f733d9202f2086e69e2c08a363b">   76</a></span>&#160;<span class="preprocessor">#define CP_LEFT_M_BV            16</span></div>
+<div class="line"><a name="l00077"></a><span class="lineno"><a class="line" href="constants_8h.html#a364373ad1acde28ba791da94a4652123">   77</a></span>&#160;<span class="preprocessor">#define CP_RIGHT_M_BV           32</span></div>
+<div class="line"><a name="l00078"></a><span class="lineno"><a class="line" href="constants_8h.html#aa3874a8ea4ef7c943b06a92f80068620">   78</a></span>&#160;<span class="preprocessor">#define CP_ALL_M_BV             48</span></div>
+<div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160; </div>
+<div class="line"><a name="l00080"></a><span class="lineno"><a class="line" href="constants_8h.html#af6dca909e42192cc5583a7e077c1a0d2">   80</a></span>&#160;<span class="preprocessor">#define LAST(k,n)               ((k) &amp; ((1&lt;&lt;(n))-1))</span></div>
+<div class="line"><a name="l00081"></a><span class="lineno"><a class="line" href="constants_8h.html#a35dfe6752b41f8931e45e6ae73b90dc9">   81</a></span>&#160;<span class="preprocessor">#define MID(k,m,n)              LAST((k)&gt;&gt;(m),((n)-(m)))</span></div>
+<div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160; </div>
+<div class="line"><a name="l00083"></a><span class="lineno"><a class="line" href="constants_8h.html#ab1199e2d349eb9a84bf67ce1ee919b99">   83</a></span>&#160;<span class="keyword">typedef</span> <span class="keyword">enum</span> <a class="code" href="constants_8h.html#ab1199e2d349eb9a84bf67ce1ee919b99">frametypes</a> {</div>
+<div class="line"><a name="l00084"></a><span class="lineno"><a class="line" href="constants_8h.html#ab1199e2d349eb9a84bf67ce1ee919b99abaf6b8e08edf0e9d2eb38551fed1fb39">   84</a></span>&#160;    <a class="code" href="constants_8h.html#ab1199e2d349eb9a84bf67ce1ee919b99ad3a10aa8b647d6a6db651ef882ff8bff">VALUE</a>, <a class="code" href="constants_8h.html#ab1199e2d349eb9a84bf67ce1ee919b99abaf6b8e08edf0e9d2eb38551fed1fb39">REQUEST</a>, <a class="code" href="constants_8h.html#ab1199e2d349eb9a84bf67ce1ee919b99afb95ee545d749f11305939b93fe2bda3">RESPONSE</a></div>
+<div class="line"><a name="l00085"></a><span class="lineno"><a class="line" href="constants_8h.html#ab1199e2d349eb9a84bf67ce1ee919b99afb95ee545d749f11305939b93fe2bda3">   85</a></span>&#160;} <a class="code" href="constants_8h.html#a2cadd9c064904e21e2acd0d0f64ad8b6">U_FrameType</a>;</div>
+<div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160; </div>
+<div class="line"><a name="l00087"></a><span class="lineno"><a class="line" href="constants_8h.html#a34a2c423b3ea385bdb64e0dbba3f901b">   87</a></span>&#160;<span class="keyword">typedef</span> <span class="keyword">enum</span> <a class="code" href="constants_8h.html#a34a2c423b3ea385bdb64e0dbba3f901b">components</a> {</div>
+<div class="line"><a name="l00088"></a><span class="lineno"><a class="line" href="constants_8h.html#a34a2c423b3ea385bdb64e0dbba3f901ba748ef6c124193a3aceb927ef32ff0338">   88</a></span>&#160;    <a class="code" href="constants_8h.html#a34a2c423b3ea385bdb64e0dbba3f901ba748ef6c124193a3aceb927ef32ff0338">DEFAULT_COMPONENT</a>, <a class="code" href="constants_8h.html#a34a2c423b3ea385bdb64e0dbba3f901ba12504f8134dca019be7aee185b9b75c0">LEFT_MOTOR</a>, <a class="code" href="constants_8h.html#a34a2c423b3ea385bdb64e0dbba3f901ba3b7e83cf53fef6c9a7a39ce9d68ec17b">RIGHT_MOTOR</a>, <a class="code" href="constants_8h.html#a34a2c423b3ea385bdb64e0dbba3f901ba1f9f5df3258901c29fe6d481a9cef0c3">ALL_MOTORS</a></div>
+<div class="line"><a name="l00089"></a><span class="lineno"><a class="line" href="constants_8h.html#a34a2c423b3ea385bdb64e0dbba3f901ba1f9f5df3258901c29fe6d481a9cef0c3">   89</a></span>&#160;} <a class="code" href="constants_8h.html#a35f6afe79ab48a3034b81cb15d538155">U_Component</a>;</div>
+<div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160; </div>
+<div class="line"><a name="l00091"></a><span class="lineno"><a class="line" href="constants_8h.html#a796eb6fe3758085a1379a7a873e41fff">   91</a></span>&#160;<span class="keyword">typedef</span> <span class="keyword">enum</span> <a class="code" href="constants_8h.html#a796eb6fe3758085a1379a7a873e41fff">requests</a> {</div>
+<div class="line"><a name="l00092"></a><span class="lineno"><a class="line" href="constants_8h.html#a796eb6fe3758085a1379a7a873e41fffaadee695fe931a682da80d05ada835f38">   92</a></span>&#160;    <a class="code" href="constants_8h.html#a796eb6fe3758085a1379a7a873e41fffaadee695fe931a682da80d05ada835f38">DEFAULT_REQUEST</a>, <a class="code" href="constants_8h.html#a796eb6fe3758085a1379a7a873e41fffad1ea564b1c983f93e7b21dfc8fbc5f71">DRIVE_MOTOR</a>, <a class="code" href="constants_8h.html#a796eb6fe3758085a1379a7a873e41fffa0838ab756351b57465a66b7cae747f7f">RESET_TIMESTAMP</a>, <a class="code" href="constants_8h.html#a796eb6fe3758085a1379a7a873e41fffac1456ce8322785fad8add40e82104063">DRIVE_ENCODER</a>, <a class="code" href="constants_8h.html#a796eb6fe3758085a1379a7a873e41fffa2bf77c9c88e1af0b727fe7b0267fab1e">PID_PARAMETER</a></div>
+<div class="line"><a name="l00093"></a><span class="lineno"><a class="line" href="constants_8h.html#a796eb6fe3758085a1379a7a873e41fffa2bf77c9c88e1af0b727fe7b0267fab1e">   93</a></span>&#160;} <a class="code" href="constants_8h.html#a83703b84abb8c92901ec1c15e0bbad80">U_Request</a>;</div>
+<div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160; </div>
+<div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160;<span class="preprocessor">#endif</span></div>
+<div class="ttc" id="aconstants_8h_html_a2cadd9c064904e21e2acd0d0f64ad8b6"><div class="ttname"><a href="constants_8h.html#a2cadd9c064904e21e2acd0d0f64ad8b6">U_FrameType</a></div><div class="ttdeci">enum frametypes U_FrameType</div></div>
+<div class="ttc" id="aconstants_8h_html_a34a2c423b3ea385bdb64e0dbba3f901b"><div class="ttname"><a href="constants_8h.html#a34a2c423b3ea385bdb64e0dbba3f901b">components</a></div><div class="ttdeci">components</div><div class="ttdef"><b>Definition:</b> constants.h:87</div></div>
+<div class="ttc" id="aconstants_8h_html_a34a2c423b3ea385bdb64e0dbba3f901ba12504f8134dca019be7aee185b9b75c0"><div class="ttname"><a href="constants_8h.html#a34a2c423b3ea385bdb64e0dbba3f901ba12504f8134dca019be7aee185b9b75c0">LEFT_MOTOR</a></div><div class="ttdeci">@ LEFT_MOTOR</div><div class="ttdef"><b>Definition:</b> constants.h:88</div></div>
+<div class="ttc" id="aconstants_8h_html_a34a2c423b3ea385bdb64e0dbba3f901ba1f9f5df3258901c29fe6d481a9cef0c3"><div class="ttname"><a href="constants_8h.html#a34a2c423b3ea385bdb64e0dbba3f901ba1f9f5df3258901c29fe6d481a9cef0c3">ALL_MOTORS</a></div><div class="ttdeci">@ ALL_MOTORS</div><div class="ttdef"><b>Definition:</b> constants.h:88</div></div>
+<div class="ttc" id="aconstants_8h_html_a34a2c423b3ea385bdb64e0dbba3f901ba3b7e83cf53fef6c9a7a39ce9d68ec17b"><div class="ttname"><a href="constants_8h.html#a34a2c423b3ea385bdb64e0dbba3f901ba3b7e83cf53fef6c9a7a39ce9d68ec17b">RIGHT_MOTOR</a></div><div class="ttdeci">@ RIGHT_MOTOR</div><div class="ttdef"><b>Definition:</b> constants.h:88</div></div>
+<div class="ttc" id="aconstants_8h_html_a34a2c423b3ea385bdb64e0dbba3f901ba748ef6c124193a3aceb927ef32ff0338"><div class="ttname"><a href="constants_8h.html#a34a2c423b3ea385bdb64e0dbba3f901ba748ef6c124193a3aceb927ef32ff0338">DEFAULT_COMPONENT</a></div><div class="ttdeci">@ DEFAULT_COMPONENT</div><div class="ttdef"><b>Definition:</b> constants.h:88</div></div>
+<div class="ttc" id="aconstants_8h_html_a35f6afe79ab48a3034b81cb15d538155"><div class="ttname"><a href="constants_8h.html#a35f6afe79ab48a3034b81cb15d538155">U_Component</a></div><div class="ttdeci">enum components U_Component</div></div>
+<div class="ttc" id="aconstants_8h_html_a796eb6fe3758085a1379a7a873e41fff"><div class="ttname"><a href="constants_8h.html#a796eb6fe3758085a1379a7a873e41fff">requests</a></div><div class="ttdeci">requests</div><div class="ttdef"><b>Definition:</b> constants.h:91</div></div>
+<div class="ttc" id="aconstants_8h_html_a796eb6fe3758085a1379a7a873e41fffa0838ab756351b57465a66b7cae747f7f"><div class="ttname"><a href="constants_8h.html#a796eb6fe3758085a1379a7a873e41fffa0838ab756351b57465a66b7cae747f7f">RESET_TIMESTAMP</a></div><div class="ttdeci">@ RESET_TIMESTAMP</div><div class="ttdef"><b>Definition:</b> constants.h:92</div></div>
+<div class="ttc" id="aconstants_8h_html_a796eb6fe3758085a1379a7a873e41fffa2bf77c9c88e1af0b727fe7b0267fab1e"><div class="ttname"><a href="constants_8h.html#a796eb6fe3758085a1379a7a873e41fffa2bf77c9c88e1af0b727fe7b0267fab1e">PID_PARAMETER</a></div><div class="ttdeci">@ PID_PARAMETER</div><div class="ttdef"><b>Definition:</b> constants.h:92</div></div>
+<div class="ttc" id="aconstants_8h_html_a796eb6fe3758085a1379a7a873e41fffaadee695fe931a682da80d05ada835f38"><div class="ttname"><a href="constants_8h.html#a796eb6fe3758085a1379a7a873e41fffaadee695fe931a682da80d05ada835f38">DEFAULT_REQUEST</a></div><div class="ttdeci">@ DEFAULT_REQUEST</div><div class="ttdef"><b>Definition:</b> constants.h:92</div></div>
+<div class="ttc" id="aconstants_8h_html_a796eb6fe3758085a1379a7a873e41fffac1456ce8322785fad8add40e82104063"><div class="ttname"><a href="constants_8h.html#a796eb6fe3758085a1379a7a873e41fffac1456ce8322785fad8add40e82104063">DRIVE_ENCODER</a></div><div class="ttdeci">@ DRIVE_ENCODER</div><div class="ttdef"><b>Definition:</b> constants.h:92</div></div>
+<div class="ttc" id="aconstants_8h_html_a796eb6fe3758085a1379a7a873e41fffad1ea564b1c983f93e7b21dfc8fbc5f71"><div class="ttname"><a href="constants_8h.html#a796eb6fe3758085a1379a7a873e41fffad1ea564b1c983f93e7b21dfc8fbc5f71">DRIVE_MOTOR</a></div><div class="ttdeci">@ DRIVE_MOTOR</div><div class="ttdef"><b>Definition:</b> constants.h:92</div></div>
+<div class="ttc" id="aconstants_8h_html_a83703b84abb8c92901ec1c15e0bbad80"><div class="ttname"><a href="constants_8h.html#a83703b84abb8c92901ec1c15e0bbad80">U_Request</a></div><div class="ttdeci">enum requests U_Request</div></div>
+<div class="ttc" id="aconstants_8h_html_ab1199e2d349eb9a84bf67ce1ee919b99"><div class="ttname"><a href="constants_8h.html#ab1199e2d349eb9a84bf67ce1ee919b99">frametypes</a></div><div class="ttdeci">frametypes</div><div class="ttdef"><b>Definition:</b> constants.h:83</div></div>
+<div class="ttc" id="aconstants_8h_html_ab1199e2d349eb9a84bf67ce1ee919b99abaf6b8e08edf0e9d2eb38551fed1fb39"><div class="ttname"><a href="constants_8h.html#ab1199e2d349eb9a84bf67ce1ee919b99abaf6b8e08edf0e9d2eb38551fed1fb39">REQUEST</a></div><div class="ttdeci">@ REQUEST</div><div class="ttdef"><b>Definition:</b> constants.h:84</div></div>
+<div class="ttc" id="aconstants_8h_html_ab1199e2d349eb9a84bf67ce1ee919b99ad3a10aa8b647d6a6db651ef882ff8bff"><div class="ttname"><a href="constants_8h.html#ab1199e2d349eb9a84bf67ce1ee919b99ad3a10aa8b647d6a6db651ef882ff8bff">VALUE</a></div><div class="ttdeci">@ VALUE</div><div class="ttdef"><b>Definition:</b> constants.h:84</div></div>
+<div class="ttc" id="aconstants_8h_html_ab1199e2d349eb9a84bf67ce1ee919b99afb95ee545d749f11305939b93fe2bda3"><div class="ttname"><a href="constants_8h.html#ab1199e2d349eb9a84bf67ce1ee919b99afb95ee545d749f11305939b93fe2bda3">RESPONSE</a></div><div class="ttdeci">@ RESPONSE</div><div class="ttdef"><b>Definition:</b> constants.h:84</div></div>
+</div><!-- fragment --></div><!-- contents -->
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+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.1
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+}
+
+img.footer {
+	border: 0px;
+	vertical-align: middle;
+}
+
+/* @group Code Colorization */
+
+span.keyword {
+	color: #008000
+}
+
+span.keywordtype {
+	color: #604020
+}
+
+span.keywordflow {
+	color: #e08000
+}
+
+span.comment {
+	color: #800000
+}
+
+span.preprocessor {
+	color: #806020
+}
+
+span.stringliteral {
+	color: #002080
+}
+
+span.charliteral {
+	color: #008080
+}
+
+span.vhdldigit { 
+	color: #ff00ff 
+}
+
+span.vhdlchar { 
+	color: #000000 
+}
+
+span.vhdlkeyword { 
+	color: #700070 
+}
+
+span.vhdllogic { 
+	color: #ff0000 
+}
+
+blockquote {
+        background-color: #F7F8FB;
+        border-left: 2px solid #9CAFD4;
+        margin: 0 24px 0 4px;
+        padding: 0 12px 0 16px;
+}
+
+blockquote.DocNodeRTL {
+   border-left: 0;
+   border-right: 2px solid #9CAFD4;
+   margin: 0 4px 0 24px;
+   padding: 0 16px 0 12px;
+}
+
+/* @end */
+
+/*
+.search {
+	color: #003399;
+	font-weight: bold;
+}
+
+form.search {
+	margin-bottom: 0px;
+	margin-top: 0px;
+}
+
+input.search {
+	font-size: 75%;
+	color: #000080;
+	font-weight: normal;
+	background-color: #e8eef2;
+}
+*/
+
+td.tiny {
+	font-size: 75%;
+}
+
+.dirtab {
+	padding: 4px;
+	border-collapse: collapse;
+	border: 1px solid #A3B4D7;
+}
+
+th.dirtab {
+	background: #EBEFF6;
+	font-weight: bold;
+}
+
+hr {
+	height: 0px;
+	border: none;
+	border-top: 1px solid #4A6AAA;
+}
+
+hr.footer {
+	height: 1px;
+}
+
+/* @group Member Descriptions */
+
+table.memberdecls {
+	border-spacing: 0px;
+	padding: 0px;
+}
+
+.memberdecls td, .fieldtable tr {
+	-webkit-transition-property: background-color, box-shadow;
+	-webkit-transition-duration: 0.5s;
+	-moz-transition-property: background-color, box-shadow;
+	-moz-transition-duration: 0.5s;
+	-ms-transition-property: background-color, box-shadow;
+	-ms-transition-duration: 0.5s;
+	-o-transition-property: background-color, box-shadow;
+	-o-transition-duration: 0.5s;
+	transition-property: background-color, box-shadow;
+	transition-duration: 0.5s;
+}
+
+.memberdecls td.glow, .fieldtable tr.glow {
+	background-color: cyan;
+	box-shadow: 0 0 15px cyan;
+}
+
+.mdescLeft, .mdescRight,
+.memItemLeft, .memItemRight,
+.memTemplItemLeft, .memTemplItemRight, .memTemplParams {
+	background-color: #F9FAFC;
+	border: none;
+	margin: 4px;
+	padding: 1px 0 0 8px;
+}
+
+.mdescLeft, .mdescRight {
+	padding: 0px 8px 4px 8px;
+	color: #555;
+}
+
+.memSeparator {
+        border-bottom: 1px solid #DEE4F0;
+        line-height: 1px;
+        margin: 0px;
+        padding: 0px;
+}
+
+.memItemLeft, .memTemplItemLeft {
+        white-space: nowrap;
+}
+
+.memItemRight, .memTemplItemRight {
+	width: 100%;
+}
+
+.memTemplParams {
+	color: #4665A2;
+        white-space: nowrap;
+	font-size: 80%;
+}
+
+/* @end */
+
+/* @group Member Details */
+
+/* Styles for detailed member documentation */
+
+.memtitle {
+	padding: 8px;
+	border-top: 1px solid #A8B8D9;
+	border-left: 1px solid #A8B8D9;
+	border-right: 1px solid #A8B8D9;
+	border-top-right-radius: 4px;
+	border-top-left-radius: 4px;
+	margin-bottom: -1px;
+	background-image: url('nav_f.png');
+	background-repeat: repeat-x;
+	background-color: #E2E8F2;
+	line-height: 1.25;
+	font-weight: 300;
+	float:left;
+}
+
+.permalink
+{
+        font-size: 65%;
+        display: inline-block;
+        vertical-align: middle;
+}
+
+.memtemplate {
+	font-size: 80%;
+	color: #4665A2;
+	font-weight: normal;
+	margin-left: 9px;
+}
+
+.memnav {
+	background-color: #EBEFF6;
+	border: 1px solid #A3B4D7;
+	text-align: center;
+	margin: 2px;
+	margin-right: 15px;
+	padding: 2px;
+}
+
+.mempage {
+	width: 100%;
+}
+
+.memitem {
+	padding: 0;
+	margin-bottom: 10px;
+	margin-right: 5px;
+        -webkit-transition: box-shadow 0.5s linear;
+        -moz-transition: box-shadow 0.5s linear;
+        -ms-transition: box-shadow 0.5s linear;
+        -o-transition: box-shadow 0.5s linear;
+        transition: box-shadow 0.5s linear;
+        display: table !important;
+        width: 100%;
+}
+
+.memitem.glow {
+         box-shadow: 0 0 15px cyan;
+}
+
+.memname {
+        font-weight: 400;
+        margin-left: 6px;
+}
+
+.memname td {
+	vertical-align: bottom;
+}
+
+.memproto, dl.reflist dt {
+        border-top: 1px solid #A8B8D9;
+        border-left: 1px solid #A8B8D9;
+        border-right: 1px solid #A8B8D9;
+        padding: 6px 0px 6px 0px;
+        color: #253555;
+        font-weight: bold;
+        text-shadow: 0px 1px 1px rgba(255, 255, 255, 0.9);
+        background-color: #DFE5F1;
+        /* opera specific markup */
+        box-shadow: 5px 5px 5px rgba(0, 0, 0, 0.15);
+        border-top-right-radius: 4px;
+        /* firefox specific markup */
+        -moz-box-shadow: rgba(0, 0, 0, 0.15) 5px 5px 5px;
+        -moz-border-radius-topright: 4px;
+        /* webkit specific markup */
+        -webkit-box-shadow: 5px 5px 5px rgba(0, 0, 0, 0.15);
+        -webkit-border-top-right-radius: 4px;
+
+}
+
+.overload {
+        font-family: "courier new",courier,monospace;
+	font-size: 65%;
+}
+
+.memdoc, dl.reflist dd {
+        border-bottom: 1px solid #A8B8D9;      
+        border-left: 1px solid #A8B8D9;      
+        border-right: 1px solid #A8B8D9; 
+        padding: 6px 10px 2px 10px;
+        background-color: #FBFCFD;
+        border-top-width: 0;
+        background-image:url('nav_g.png');
+        background-repeat:repeat-x;
+        background-color: #FFFFFF;
+        /* opera specific markup */
+        border-bottom-left-radius: 4px;
+        border-bottom-right-radius: 4px;
+        box-shadow: 5px 5px 5px rgba(0, 0, 0, 0.15);
+        /* firefox specific markup */
+        -moz-border-radius-bottomleft: 4px;
+        -moz-border-radius-bottomright: 4px;
+        -moz-box-shadow: rgba(0, 0, 0, 0.15) 5px 5px 5px;
+        /* webkit specific markup */
+        -webkit-border-bottom-left-radius: 4px;
+        -webkit-border-bottom-right-radius: 4px;
+        -webkit-box-shadow: 5px 5px 5px rgba(0, 0, 0, 0.15);
+}
+
+dl.reflist dt {
+        padding: 5px;
+}
+
+dl.reflist dd {
+        margin: 0px 0px 10px 0px;
+        padding: 5px;
+}
+
+.paramkey {
+	text-align: right;
+}
+
+.paramtype {
+	white-space: nowrap;
+}
+
+.paramname {
+	color: #602020;
+	white-space: nowrap;
+}
+.paramname em {
+	font-style: normal;
+}
+.paramname code {
+        line-height: 14px;
+}
+
+.params, .retval, .exception, .tparams {
+        margin-left: 0px;
+        padding-left: 0px;
+}       
+
+.params .paramname, .retval .paramname, .tparams .paramname, .exception .paramname {
+        font-weight: bold;
+        vertical-align: top;
+}
+        
+.params .paramtype, .tparams .paramtype {
+        font-style: italic;
+        vertical-align: top;
+}       
+        
+.params .paramdir, .tparams .paramdir {
+        font-family: "courier new",courier,monospace;
+        vertical-align: top;
+}
+
+table.mlabels {
+	border-spacing: 0px;
+}
+
+td.mlabels-left {
+	width: 100%;
+	padding: 0px;
+}
+
+td.mlabels-right {
+	vertical-align: bottom;
+	padding: 0px;
+	white-space: nowrap;
+}
+
+span.mlabels {
+        margin-left: 8px;
+}
+
+span.mlabel {
+        background-color: #728DC1;
+        border-top:1px solid #5373B4;
+        border-left:1px solid #5373B4;
+        border-right:1px solid #C4CFE5;
+        border-bottom:1px solid #C4CFE5;
+	text-shadow: none;
+	color: white;
+	margin-right: 4px;
+	padding: 2px 3px;
+	border-radius: 3px;
+	font-size: 7pt;
+	white-space: nowrap;
+	vertical-align: middle;
+}
+
+
+
+/* @end */
+
+/* these are for tree view inside a (index) page */
+
+div.directory {
+        margin: 10px 0px;
+        border-top: 1px solid #9CAFD4;
+        border-bottom: 1px solid #9CAFD4;
+        width: 100%;
+}
+
+.directory table {
+        border-collapse:collapse;
+}
+
+.directory td {
+        margin: 0px;
+        padding: 0px;
+	vertical-align: top;
+}
+
+.directory td.entry {
+        white-space: nowrap;
+        padding-right: 6px;
+	padding-top: 3px;
+}
+
+.directory td.entry a {
+        outline:none;
+}
+
+.directory td.entry a img {
+        border: none;
+}
+
+.directory td.desc {
+        width: 100%;
+        padding-left: 6px;
+	padding-right: 6px;
+	padding-top: 3px;
+	border-left: 1px solid rgba(0,0,0,0.05);
+}
+
+.directory tr.even {
+	padding-left: 6px;
+	background-color: #F7F8FB;
+}
+
+.directory img {
+	vertical-align: -30%;
+}
+
+.directory .levels {
+        white-space: nowrap;
+        width: 100%;
+        text-align: right;
+        font-size: 9pt;
+}
+
+.directory .levels span {
+        cursor: pointer;
+        padding-left: 2px;
+        padding-right: 2px;
+	color: #3D578C;
+}
+
+.arrow {
+    color: #9CAFD4;
+    -webkit-user-select: none;
+    -khtml-user-select: none;
+    -moz-user-select: none;
+    -ms-user-select: none;
+    user-select: none;
+    cursor: pointer;
+    font-size: 80%;
+    display: inline-block;
+    width: 16px;
+    height: 22px;
+}
+
+.icon {
+    font-family: Arial, Helvetica;
+    font-weight: bold;
+    font-size: 12px;
+    height: 14px;
+    width: 16px;
+    display: inline-block;
+    background-color: #728DC1;
+    color: white;
+    text-align: center;
+    border-radius: 4px;
+    margin-left: 2px;
+    margin-right: 2px;
+}
+
+.icona {
+    width: 24px;
+    height: 22px;
+    display: inline-block;
+}
+
+.iconfopen {
+    width: 24px;
+    height: 18px;
+    margin-bottom: 4px;
+    background-image:url('folderopen.png');
+    background-position: 0px -4px;
+    background-repeat: repeat-y;
+    vertical-align:top;
+    display: inline-block;
+}
+
+.iconfclosed {
+    width: 24px;
+    height: 18px;
+    margin-bottom: 4px;
+    background-image:url('folderclosed.png');
+    background-position: 0px -4px;
+    background-repeat: repeat-y;
+    vertical-align:top;
+    display: inline-block;
+}
+
+.icondoc {
+    width: 24px;
+    height: 18px;
+    margin-bottom: 4px;
+    background-image:url('doc.png');
+    background-position: 0px -4px;
+    background-repeat: repeat-y;
+    vertical-align:top;
+    display: inline-block;
+}
+
+table.directory {
+    font: 400 14px Roboto,sans-serif;
+}
+
+/* @end */
+
+div.dynheader {
+        margin-top: 8px;
+	-webkit-touch-callout: none;
+	-webkit-user-select: none;
+	-khtml-user-select: none;
+	-moz-user-select: none;
+	-ms-user-select: none;
+	user-select: none;
+}
+
+address {
+	font-style: normal;
+	color: #2A3D61;
+}
+
+table.doxtable caption {
+	caption-side: top;
+}
+
+table.doxtable {
+	border-collapse:collapse;
+        margin-top: 4px;
+        margin-bottom: 4px;
+}
+
+table.doxtable td, table.doxtable th {
+	border: 1px solid #2D4068;
+	padding: 3px 7px 2px;
+}
+
+table.doxtable th {
+	background-color: #374F7F;
+	color: #FFFFFF;
+	font-size: 110%;
+	padding-bottom: 4px;
+	padding-top: 5px;
+}
+
+table.fieldtable {
+        /*width: 100%;*/
+        margin-bottom: 10px;
+        border: 1px solid #A8B8D9;
+        border-spacing: 0px;
+        -moz-border-radius: 4px;
+        -webkit-border-radius: 4px;
+        border-radius: 4px;
+        -moz-box-shadow: rgba(0, 0, 0, 0.15) 2px 2px 2px;
+        -webkit-box-shadow: 2px 2px 2px rgba(0, 0, 0, 0.15);
+        box-shadow: 2px 2px 2px rgba(0, 0, 0, 0.15);
+}
+
+.fieldtable td, .fieldtable th {
+        padding: 3px 7px 2px;
+}
+
+.fieldtable td.fieldtype, .fieldtable td.fieldname {
+        white-space: nowrap;
+        border-right: 1px solid #A8B8D9;
+        border-bottom: 1px solid #A8B8D9;
+        vertical-align: top;
+}
+
+.fieldtable td.fieldname {
+        padding-top: 3px;
+}
+
+.fieldtable td.fielddoc {
+        border-bottom: 1px solid #A8B8D9;
+        /*width: 100%;*/
+}
+
+.fieldtable td.fielddoc p:first-child {
+        margin-top: 0px;
+}       
+        
+.fieldtable td.fielddoc p:last-child {
+        margin-bottom: 2px;
+}
+
+.fieldtable tr:last-child td {
+        border-bottom: none;
+}
+
+.fieldtable th {
+        background-image:url('nav_f.png');
+        background-repeat:repeat-x;
+        background-color: #E2E8F2;
+        font-size: 90%;
+        color: #253555;
+        padding-bottom: 4px;
+        padding-top: 5px;
+        text-align:left;
+        font-weight: 400;
+        -moz-border-radius-topleft: 4px;
+        -moz-border-radius-topright: 4px;
+        -webkit-border-top-left-radius: 4px;
+        -webkit-border-top-right-radius: 4px;
+        border-top-left-radius: 4px;
+        border-top-right-radius: 4px;
+        border-bottom: 1px solid #A8B8D9;
+}
+
+
+.tabsearch {
+	top: 0px;
+	left: 10px;
+	height: 36px;
+	background-image: url('tab_b.png');
+	z-index: 101;
+	overflow: hidden;
+	font-size: 13px;
+}
+
+.navpath ul
+{
+	font-size: 11px;
+	background-image:url('tab_b.png');
+	background-repeat:repeat-x;
+	background-position: 0 -5px;
+	height:30px;
+	line-height:30px;
+	color:#8AA0CC;
+	border:solid 1px #C2CDE4;
+	overflow:hidden;
+	margin:0px;
+	padding:0px;
+}
+
+.navpath li
+{
+	list-style-type:none;
+	float:left;
+	padding-left:10px;
+	padding-right:15px;
+	background-image:url('bc_s.png');
+	background-repeat:no-repeat;
+	background-position:right;
+	color:#364D7C;
+}
+
+.navpath li.navelem a
+{
+	height:32px;
+	display:block;
+	text-decoration: none;
+	outline: none;
+	color: #283A5D;
+	font-family: 'Lucida Grande',Geneva,Helvetica,Arial,sans-serif;
+	text-shadow: 0px 1px 1px rgba(255, 255, 255, 0.9);
+	text-decoration: none;        
+}
+
+.navpath li.navelem a:hover
+{
+	color:#6884BD;
+}
+
+.navpath li.footer
+{
+        list-style-type:none;
+        float:right;
+        padding-left:10px;
+        padding-right:15px;
+        background-image:none;
+        background-repeat:no-repeat;
+        background-position:right;
+        color:#364D7C;
+        font-size: 8pt;
+}
+
+
+div.summary
+{
+	float: right;
+	font-size: 8pt;
+	padding-right: 5px;
+	width: 50%;
+	text-align: right;
+}       
+
+div.summary a
+{
+	white-space: nowrap;
+}
+
+table.classindex
+{
+        margin: 10px;
+        white-space: nowrap;
+        margin-left: 3%;
+        margin-right: 3%;
+        width: 94%;
+        border: 0;
+        border-spacing: 0; 
+        padding: 0;
+}
+
+div.ingroups
+{
+	font-size: 8pt;
+	width: 50%;
+	text-align: left;
+}
+
+div.ingroups a
+{
+	white-space: nowrap;
+}
+
+div.header
+{
+        background-image:url('nav_h.png');
+        background-repeat:repeat-x;
+	background-color: #F9FAFC;
+	margin:  0px;
+	border-bottom: 1px solid #C4CFE5;
+}
+
+div.headertitle
+{
+	padding: 5px 5px 5px 10px;
+}
+
+.PageDocRTL-title div.headertitle {
+  text-align: right;
+  direction: rtl;
+}
+
+dl {
+        padding: 0 0 0 0;
+}
+
+/* dl.note, dl.warning, dl.attention, dl.pre, dl.post, dl.invariant, dl.deprecated, dl.todo, dl.test, dl.bug, dl.examples */
+dl.section {
+	margin-left: 0px;
+	padding-left: 0px;
+}
+
+dl.section.DocNodeRTL {
+  margin-right: 0px;
+  padding-right: 0px;
+}
+
+dl.note {
+  margin-left: -7px;
+  padding-left: 3px;
+  border-left: 4px solid;
+  border-color: #D0C000;
+}
+
+dl.note.DocNodeRTL {
+  margin-left: 0;
+  padding-left: 0;
+  border-left: 0;
+  margin-right: -7px;
+  padding-right: 3px;
+  border-right: 4px solid;
+  border-color: #D0C000;
+}
+
+dl.warning, dl.attention {
+  margin-left: -7px;
+  padding-left: 3px;
+  border-left: 4px solid;
+  border-color: #FF0000;
+}
+
+dl.warning.DocNodeRTL, dl.attention.DocNodeRTL {
+  margin-left: 0;
+  padding-left: 0;
+  border-left: 0;
+  margin-right: -7px;
+  padding-right: 3px;
+  border-right: 4px solid;
+  border-color: #FF0000;
+}
+
+dl.pre, dl.post, dl.invariant {
+  margin-left: -7px;
+  padding-left: 3px;
+  border-left: 4px solid;
+  border-color: #00D000;
+}
+
+dl.pre.DocNodeRTL, dl.post.DocNodeRTL, dl.invariant.DocNodeRTL {
+  margin-left: 0;
+  padding-left: 0;
+  border-left: 0;
+  margin-right: -7px;
+  padding-right: 3px;
+  border-right: 4px solid;
+  border-color: #00D000;
+}
+
+dl.deprecated {
+  margin-left: -7px;
+  padding-left: 3px;
+  border-left: 4px solid;
+  border-color: #505050;
+}
+
+dl.deprecated.DocNodeRTL {
+  margin-left: 0;
+  padding-left: 0;
+  border-left: 0;
+  margin-right: -7px;
+  padding-right: 3px;
+  border-right: 4px solid;
+  border-color: #505050;
+}
+
+dl.todo {
+  margin-left: -7px;
+  padding-left: 3px;
+  border-left: 4px solid;
+  border-color: #00C0E0;
+}
+
+dl.todo.DocNodeRTL {
+  margin-left: 0;
+  padding-left: 0;
+  border-left: 0;
+  margin-right: -7px;
+  padding-right: 3px;
+  border-right: 4px solid;
+  border-color: #00C0E0;
+}
+
+dl.test {
+  margin-left: -7px;
+  padding-left: 3px;
+  border-left: 4px solid;
+  border-color: #3030E0;
+}
+
+dl.test.DocNodeRTL {
+  margin-left: 0;
+  padding-left: 0;
+  border-left: 0;
+  margin-right: -7px;
+  padding-right: 3px;
+  border-right: 4px solid;
+  border-color: #3030E0;
+}
+
+dl.bug {
+  margin-left: -7px;
+  padding-left: 3px;
+  border-left: 4px solid;
+  border-color: #C08050;
+}
+
+dl.bug.DocNodeRTL {
+  margin-left: 0;
+  padding-left: 0;
+  border-left: 0;
+  margin-right: -7px;
+  padding-right: 3px;
+  border-right: 4px solid;
+  border-color: #C08050;
+}
+
+dl.section dd {
+	margin-bottom: 6px;
+}
+
+
+#projectlogo
+{
+	text-align: center;
+	vertical-align: bottom;
+	border-collapse: separate;
+}
+ 
+#projectlogo img
+{ 
+	border: 0px none;
+}
+ 
+#projectalign
+{
+        vertical-align: middle;
+}
+
+#projectname
+{
+	font: 300% Tahoma, Arial,sans-serif;
+	margin: 0px;
+	padding: 2px 0px;
+}
+    
+#projectbrief
+{
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+}
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+}
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+}
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+}
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new file mode 100644
index 0000000..d42dad5
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+  <path d="m52.988 27.291c0.99602-1.0359 1.3944-1.8725 1.7928-3.1076l3.8247-0.03984c0.3113 1.6096 0.82413 2.5137 1.6335 3.1474z" fill="url(#b)" stroke="#000" stroke-width=".5"/>
+  <path d="m73.89 24.04 28.885-0.2011-0.12476 3.3879-31.033 0.16229c1.2621-1.0234 1.9665-2.2859 2.2724-3.3491z" fill="url(#c)" stroke="#000" stroke-width=".41788"/>
+ </g>
+</svg>
diff --git a/src/dcaitirobot/embedded/docs/html/dynsections.js b/src/dcaitirobot/embedded/docs/html/dynsections.js
new file mode 100644
index 0000000..3174bd7
--- /dev/null
+++ b/src/dcaitirobot/embedded/docs/html/dynsections.js
@@ -0,0 +1,121 @@
+/*
+ @licstart  The following is the entire license notice for the JavaScript code in this file.
+
+ The MIT License (MIT)
+
+ Copyright (C) 1997-2020 by Dimitri van Heesch
+
+ Permission is hereby granted, free of charge, to any person obtaining a copy of this software
+ and associated documentation files (the "Software"), to deal in the Software without restriction,
+ including without limitation the rights to use, copy, modify, merge, publish, distribute,
+ sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is
+ furnished to do so, subject to the following conditions:
+
+ The above copyright notice and this permission notice shall be included in all copies or
+ substantial portions of the Software.
+
+ THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING
+ BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
+ NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM,
+ DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+
+ @licend  The above is the entire license notice for the JavaScript code in this file
+ */
+function toggleVisibility(linkObj)
+{
+ var base = $(linkObj).attr('id');
+ var summary = $('#'+base+'-summary');
+ var content = $('#'+base+'-content');
+ var trigger = $('#'+base+'-trigger');
+ var src=$(trigger).attr('src');
+ if (content.is(':visible')===true) {
+   content.hide();
+   summary.show();
+   $(linkObj).addClass('closed').removeClass('opened');
+   $(trigger).attr('src',src.substring(0,src.length-8)+'closed.png');
+ } else {
+   content.show();
+   summary.hide();
+   $(linkObj).removeClass('closed').addClass('opened');
+   $(trigger).attr('src',src.substring(0,src.length-10)+'open.png');
+ }
+ return false;
+}
+
+function updateStripes()
+{
+  $('table.directory tr').
+       removeClass('even').filter(':visible:even').addClass('even');
+}
+
+function toggleLevel(level)
+{
+  $('table.directory tr').each(function() {
+    var l = this.id.split('_').length-1;
+    var i = $('#img'+this.id.substring(3));
+    var a = $('#arr'+this.id.substring(3));
+    if (l<level+1) {
+      i.removeClass('iconfopen iconfclosed').addClass('iconfopen');
+      a.html('&#9660;');
+      $(this).show();
+    } else if (l==level+1) {
+      i.removeClass('iconfclosed iconfopen').addClass('iconfclosed');
+      a.html('&#9658;');
+      $(this).show();
+    } else {
+      $(this).hide();
+    }
+  });
+  updateStripes();
+}
+
+function toggleFolder(id)
+{
+  // the clicked row
+  var currentRow = $('#row_'+id);
+
+  // all rows after the clicked row
+  var rows = currentRow.nextAll("tr");
+
+  var re = new RegExp('^row_'+id+'\\d+_$', "i"); //only one sub
+
+  // only match elements AFTER this one (can't hide elements before)
+  var childRows = rows.filter(function() { return this.id.match(re); });
+
+  // first row is visible we are HIDING
+  if (childRows.filter(':first').is(':visible')===true) {
+    // replace down arrow by right arrow for current row
+    var currentRowSpans = currentRow.find("span");
+    currentRowSpans.filter(".iconfopen").removeClass("iconfopen").addClass("iconfclosed");
+    currentRowSpans.filter(".arrow").html('&#9658;');
+    rows.filter("[id^=row_"+id+"]").hide(); // hide all children
+  } else { // we are SHOWING
+    // replace right arrow by down arrow for current row
+    var currentRowSpans = currentRow.find("span");
+    currentRowSpans.filter(".iconfclosed").removeClass("iconfclosed").addClass("iconfopen");
+    currentRowSpans.filter(".arrow").html('&#9660;');
+    // replace down arrows by right arrows for child rows
+    var childRowsSpans = childRows.find("span");
+    childRowsSpans.filter(".iconfopen").removeClass("iconfopen").addClass("iconfclosed");
+    childRowsSpans.filter(".arrow").html('&#9658;');
+    childRows.show(); //show all children
+  }
+  updateStripes();
+}
+
+
+function toggleInherit(id)
+{
+  var rows = $('tr.inherit.'+id);
+  var img = $('tr.inherit_header.'+id+' img');
+  var src = $(img).attr('src');
+  if (rows.filter(':first').is(':visible')===true) {
+    rows.css('display','none');
+    $(img).attr('src',src.substring(0,src.length-8)+'closed.png');
+  } else {
+    rows.css('display','table-row'); // using show() causes jump in firefox
+    $(img).attr('src',src.substring(0,src.length-10)+'open.png');
+  }
+}
+/* @license-end */
diff --git a/src/dcaitirobot/embedded/docs/html/files.html b/src/dcaitirobot/embedded/docs/html/files.html
new file mode 100644
index 0000000..e40c24d
--- /dev/null
+++ b/src/dcaitirobot/embedded/docs/html/files.html
@@ -0,0 +1,95 @@
+<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "https://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
+<html xmlns="http://www.w3.org/1999/xhtml">
+<head>
+<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
+<meta http-equiv="X-UA-Compatible" content="IE=9"/>
+<meta name="generator" content="Doxygen 1.9.1"/>
+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>DCAITI Robot Hardware: File List</title>
+<link href="tabs.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="jquery.js"></script>
+<script type="text/javascript" src="dynsections.js"></script>
+<link href="search/search.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="search/searchdata.js"></script>
+<script type="text/javascript" src="search/search.js"></script>
+<link href="doxygen.css" rel="stylesheet" type="text/css" />
+</head>
+<body>
+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
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+<script type="text/javascript" src="jquery.js"></script>
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+<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "https://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
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+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>DCAITI Robot Hardware: lib/PID_Beta6/fuzzy_table.h Source File</title>
+<link href="tabs.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="jquery.js"></script>
+<script type="text/javascript" src="dynsections.js"></script>
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+<body>
+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">DCAITI Robot Hardware
+   &#160;<span id="projectnumber">1.0</span>
+   </div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.9.1 -->
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
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+/* @license-end */
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+  $(document).ready(function() { init_search(); });
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+<!-- iframe showing the search results (closed by default) -->
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+  <ul>
+<li class="navelem"><a class="el" href="dir_97aefd0d527b934f1d99a682da8fe6a9.html">lib</a></li><li class="navelem"><a class="el" href="dir_20ba189d08eafd7afd9a71ede3a1ee33.html">PID_Beta6</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="headertitle">
+<div class="title">fuzzy_table.h</div>  </div>
+</div><!--header-->
+<div class="contents">
+<a href="fuzzy__table_8h.html">Go to the documentation of this file.</a><div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160; </div>
+<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="preprocessor">#if 0</span></div>
+<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="preprocessor">#ifndef _PID_TABLE_H_</span></div>
+<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="preprocessor">#define _PID_TABLE_H_</span></div>
+<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160; </div>
+<div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="preprocessor">#define PB              6</span></div>
+<div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="preprocessor">#define PM              5</span></div>
+<div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="preprocessor">#define PS              4</span></div>
+<div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="preprocessor">#define ZO              3</span></div>
+<div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;<span class="preprocessor">#define NS              2</span></div>
+<div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;<span class="preprocessor">#define NM              1</span></div>
+<div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;<span class="preprocessor">#define NB              0</span></div>
+<div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160; </div>
+<div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;<span class="preprocessor">#define DELTA_KP_IDX    0</span></div>
+<div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;<span class="preprocessor">#define DELATA_KI_IDX   1</span></div>
+<div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160;<span class="preprocessor">#define ERR             7</span></div>
+<div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160;<span class="preprocessor">#define DELTA_ERR       7</span></div>
+<div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160; </div>
+<div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160; </div>
+<div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160;<span class="keyword">const</span> <span class="keywordtype">char</span> pid_tbl[2][7][7]={</div>
+<div class="line"><a name="l00021"></a><span class="lineno">   21</span>&#160;                        {</div>
+<div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160;                            {PB,PB,PM,PM,PS,ZO,ZO},</div>
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+<div class="line"><a name="l00028"></a><span class="lineno">   28</span>&#160;                            {ZO,ZO,NM,NM,NM,NB,NB},</div>
+<div class="line"><a name="l00029"></a><span class="lineno">   29</span>&#160;                        },</div>
+<div class="line"><a name="l00030"></a><span class="lineno">   30</span>&#160;                        </div>
+<div class="line"><a name="l00031"></a><span class="lineno">   31</span>&#160;                        {</div>
+<div class="line"><a name="l00032"></a><span class="lineno">   32</span>&#160;                            {NB,NB,NM,NM,NS,ZO,ZO},</div>
+<div class="line"><a name="l00033"></a><span class="lineno">   33</span>&#160;                            {NB,NB,NM,NS,NS,ZO,ZO},</div>
+<div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160;                            {NB,NM,NS,NS,ZO,PS,PS},</div>
+<div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160;                            {NM,NM,NS,ZO,PS,PM,PM},</div>
+<div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;                            {NM,NS,ZO,PS,PS,PM,PB},</div>
+<div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160;                            {ZO,ZO,PS,PS,PM,PB,PB},</div>
+<div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;                            {ZO,ZO,PS,PM,PM,PB,PB},</div>
+<div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;                        },</div>
+<div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160;                     };</div>
+<div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160; </div>
+<div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;<span class="keyword">const</span> <span class="keywordtype">float</span> kp_tbl[ERR] = {</div>
+<div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;                        0.07987,</div>
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+<div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;                        0.70000,</div>
+<div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;                        0.76000,</div>
+<div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160;                    };</div>
+<div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160; </div>
+<div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160; </div>
+<div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160;<span class="keyword">const</span> <span class="keywordtype">float</span> ki_tbl[DELTA_ERR] = {</div>
+<div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160;                            0.02451,</div>
+<div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160;                            0.07353,</div>
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+<div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160;                            0.19608,</div>
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+<div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160;                           };</div>
+<div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160; </div>
+<div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160;<span class="preprocessor">#endif  _PID_TABLE_H_</span></div>
+<div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160; </div>
+<div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160;<span class="preprocessor">#endif</span></div>
+<div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160; </div>
+</div><!-- fragment --></div><!-- contents -->
+<!-- start footer part -->
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+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.1
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diff --git a/src/dcaitirobot/embedded/docs/html/globals.html b/src/dcaitirobot/embedded/docs/html/globals.html
new file mode 100644
index 0000000..4ed1a0e
--- /dev/null
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+<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "https://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
+<html xmlns="http://www.w3.org/1999/xhtml">
+<head>
+<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
+<meta http-equiv="X-UA-Compatible" content="IE=9"/>
+<meta name="generator" content="Doxygen 1.9.1"/>
+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>DCAITI Robot Hardware: File Members</title>
+<link href="tabs.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="jquery.js"></script>
+<script type="text/javascript" src="dynsections.js"></script>
+<link href="search/search.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="search/searchdata.js"></script>
+<script type="text/javascript" src="search/search.js"></script>
+<link href="doxygen.css" rel="stylesheet" type="text/css" />
+</head>
+<body>
+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">DCAITI Robot Hardware
+   &#160;<span id="projectnumber">1.0</span>
+   </div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.9.1 -->
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
+var searchBox = new SearchBox("searchBox", "search",false,'Search','.html');
+/* @license-end */
+</script>
+<script type="text/javascript" src="menudata.js"></script>
+<script type="text/javascript" src="menu.js"></script>
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
+$(function() {
+  initMenu('',true,false,'search.php','Search');
+  $(document).ready(function() { init_search(); });
+});
+/* @license-end */</script>
+<div id="main-nav"></div>
+</div><!-- top -->
+<!-- window showing the filter options -->
+<div id="MSearchSelectWindow"
+     onmouseover="return searchBox.OnSearchSelectShow()"
+     onmouseout="return searchBox.OnSearchSelectHide()"
+     onkeydown="return searchBox.OnSearchSelectKey(event)">
+</div>
+
+<!-- iframe showing the search results (closed by default) -->
+<div id="MSearchResultsWindow">
+<iframe src="javascript:void(0)" frameborder="0" 
+        name="MSearchResults" id="MSearchResults">
+</iframe>
+</div>
+
+<div class="contents">
+<div class="textblock">Here is a list of all file members with links to the files they belong to:</div>
+
+<h3><a id="index_a"></a>- a -</h3><ul>
+<li>ALL_MOTORS
+: <a class="el" href="constants_8h.html#a34a2c423b3ea385bdb64e0dbba3f901ba1f9f5df3258901c29fe6d481a9cef0c3">constants.h</a>
+</li>
+</ul>
+
+
+<h3><a id="index_c"></a>- c -</h3><ul>
+<li>CHAIN_LENGTH_M
+: <a class="el" href="constants_8h.html#a3104816b30fdf2161e0303ac82d64368">constants.h</a>
+</li>
+<li>clearPackage()
+: <a class="el" href="UARTCom_8cpp.html#a0f9de5ab46a6f02e563fdc4634cd1b26">UARTCom.cpp</a>
+</li>
+<li>COMMAND_POS
+: <a class="el" href="constants_8h.html#a0b5870a545d9cbfe8b3acfc3a9166f73">constants.h</a>
+</li>
+<li>COMPONENT_ENDBIT
+: <a class="el" href="constants_8h.html#aeb1d8064c126f31485d68575b2e56fac">constants.h</a>
+</li>
+<li>COMPONENT_POS
+: <a class="el" href="constants_8h.html#a52879c59942c2d1a074e7f36714102a4">constants.h</a>
+</li>
+<li>COMPONENT_STARTBIT
+: <a class="el" href="constants_8h.html#a2785c2310ae5cedbcf184d54c34de5be">constants.h</a>
+</li>
+<li>components
+: <a class="el" href="constants_8h.html#a34a2c423b3ea385bdb64e0dbba3f901b">constants.h</a>
+</li>
+<li>computeChecksum()
+: <a class="el" href="UARTCom_8cpp.html#a744c5a2f1e07b896f5dc1a3b352dfd2a">UARTCom.cpp</a>
+</li>
+<li>controlTimer
+: <a class="el" href="main_8cpp.html#a4808d2480bde6661fe8441af78547019">main.cpp</a>
+</li>
+<li>correctChecksum()
+: <a class="el" href="UARTCom_8cpp.html#a09ed133ea78335824acd3d296d6d8568">UARTCom.cpp</a>
+</li>
+<li>COUNT_PER_ROTATION
+: <a class="el" href="constants_8h.html#ab49c3741ce7f73ec48ab65fd973323a8">constants.h</a>
+</li>
+<li>CP_ALL_M_BV
+: <a class="el" href="constants_8h.html#aa3874a8ea4ef7c943b06a92f80068620">constants.h</a>
+</li>
+<li>CP_DEFAULT_BV
+: <a class="el" href="constants_8h.html#a35d5ccd13b20b08c77be860c769b07d3">constants.h</a>
+</li>
+<li>CP_LEFT_M_BV
+: <a class="el" href="constants_8h.html#a08ef3f733d9202f2086e69e2c08a363b">constants.h</a>
+</li>
+<li>CP_RIGHT_M_BV
+: <a class="el" href="constants_8h.html#a364373ad1acde28ba791da94a4652123">constants.h</a>
+</li>
+<li>currentParseIndex
+: <a class="el" href="UARTCom_8cpp.html#aa786999c8aa65490b5b03fb09a9f1f98">UARTCom.cpp</a>
+</li>
+<li>currentTimestamp
+: <a class="el" href="UARTCom_8cpp.html#aae4c1b8c8e6cca37d95276b38497b370">UARTCom.cpp</a>
+</li>
+</ul>
+
+
+<h3><a id="index_d"></a>- d -</h3><ul>
+<li>DEFAULT_COMPONENT
+: <a class="el" href="constants_8h.html#a34a2c423b3ea385bdb64e0dbba3f901ba748ef6c124193a3aceb927ef32ff0338">constants.h</a>
+</li>
+<li>DEFAULT_REQUEST
+: <a class="el" href="constants_8h.html#a796eb6fe3758085a1379a7a873e41fffaadee695fe931a682da80d05ada835f38">constants.h</a>
+</li>
+<li>DRIVE_ENCODER
+: <a class="el" href="constants_8h.html#a796eb6fe3758085a1379a7a873e41fffac1456ce8322785fad8add40e82104063">constants.h</a>
+</li>
+<li>DRIVE_MOTOR
+: <a class="el" href="constants_8h.html#a796eb6fe3758085a1379a7a873e41fffad1ea564b1c983f93e7b21dfc8fbc5f71">constants.h</a>
+</li>
+</ul>
+
+
+<h3><a id="index_e"></a>- e -</h3><ul>
+<li>ENC_1_A
+: <a class="el" href="constants_8h.html#ab230bca5d5ab35a62a429dfcda81d00b">constants.h</a>
+</li>
+<li>ENC_1_B
+: <a class="el" href="constants_8h.html#abb1e10ac4c5e4e02b9ede57753f34685">constants.h</a>
+</li>
+<li>ENC_2_A
+: <a class="el" href="constants_8h.html#a6e554e75e5487d2b3cd6fbf13771abfb">constants.h</a>
+</li>
+<li>ENC_2_B
+: <a class="el" href="constants_8h.html#aa8f35f5e8e4f5ffe95145bc22c4fcf72">constants.h</a>
+</li>
+</ul>
+
+
+<h3><a id="index_f"></a>- f -</h3><ul>
+<li>FRAME_TYPE_ENDBIT
+: <a class="el" href="constants_8h.html#a151ca839d9e7eafaee81144d4227c1e5">constants.h</a>
+</li>
+<li>FRAME_TYPE_POS
+: <a class="el" href="constants_8h.html#ac789a32f49ac90c7af7bfecd0145ca5b">constants.h</a>
+</li>
+<li>FRAME_TYPE_STARTBIT
+: <a class="el" href="constants_8h.html#a9b2553a99e4fc456528a2bb6064662e4">constants.h</a>
+</li>
+<li>frametypes
+: <a class="el" href="constants_8h.html#ab1199e2d349eb9a84bf67ce1ee919b99">constants.h</a>
+</li>
+<li>fromComponent()
+: <a class="el" href="UARTCom_8cpp.html#a050546b686b2c4648e34f5145e8e5c3a">UARTCom.cpp</a>
+</li>
+<li>fromFrameType()
+: <a class="el" href="UARTCom_8cpp.html#a4d3197ea3a99346e142f898a856eba6c">UARTCom.cpp</a>
+</li>
+<li>FT_REQUEST_BV
+: <a class="el" href="constants_8h.html#a4c64a972f5a1b3bd04ec67f823c89dde">constants.h</a>
+</li>
+<li>FT_RESPONSE_BV
+: <a class="el" href="constants_8h.html#a1a41281f1eb58c0ed14957e2760888f1">constants.h</a>
+</li>
+<li>FT_VALUE_BV
+: <a class="el" href="constants_8h.html#ac06a5ed8a1f01ec636f93ed032e01eab">constants.h</a>
+</li>
+</ul>
+
+
+<h3><a id="index_h"></a>- h -</h3><ul>
+<li>handlePackage()
+: <a class="el" href="UARTCom_8cpp.html#a86f7112e2f3c0cf6e89e6cc9ce0d35bc">UARTCom.cpp</a>
+</li>
+<li>handleRequest()
+: <a class="el" href="UARTCom_8cpp.html#a8f3f9f5697687756152cfc8045170646">UARTCom.cpp</a>
+</li>
+</ul>
+
+
+<h3><a id="index_i"></a>- i -</h3><ul>
+<li>irqISR()
+: <a class="el" href="main_8cpp.html#ab8ce9c774ade2f5a0701961718ace60b">main.cpp</a>
+</li>
+</ul>
+
+
+<h3><a id="index_k"></a>- k -</h3><ul>
+<li>KD_1
+: <a class="el" href="constants_8h.html#abba0b881fe43a16924e413bbd263c733">constants.h</a>
+</li>
+<li>KD_2
+: <a class="el" href="constants_8h.html#ab4459fe9bb0098b8277916436adbf888">constants.h</a>
+</li>
+<li>KI_1
+: <a class="el" href="constants_8h.html#ad6a3c042726ed32114f96e802646c63f">constants.h</a>
+</li>
+<li>KI_2
+: <a class="el" href="constants_8h.html#aacb7a3bd785a504dfa2894a0734a6469">constants.h</a>
+</li>
+<li>KP_1
+: <a class="el" href="constants_8h.html#a1e95591d371b6ccd1d99c7f947a52a62">constants.h</a>
+</li>
+<li>KP_2
+: <a class="el" href="constants_8h.html#a81021e39d3a0b1902dd4fee734b99345">constants.h</a>
+</li>
+</ul>
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+<li>LAST
+: <a class="el" href="constants_8h.html#af6dca909e42192cc5583a7e077c1a0d2">constants.h</a>
+</li>
+<li>LEFT_MOTOR
+: <a class="el" href="constants_8h.html#a34a2c423b3ea385bdb64e0dbba3f901ba12504f8134dca019be7aee185b9b75c0">constants.h</a>
+</li>
+<li>loop()
+: <a class="el" href="main_8cpp.html#a0b33edabd7f1c4e4a0bf32c67269be2f">main.cpp</a>
+</li>
+</ul>
+
+
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+<li>M1_DIR_PIN
+: <a class="el" href="constants_8h.html#a3d282621a75034d2d4206fe90b0da79a">constants.h</a>
+</li>
+<li>M1_EN_PIN
+: <a class="el" href="constants_8h.html#ac4207804f19ef064b5c62600e0b3e8a3">constants.h</a>
+</li>
+<li>M2_DIR_PIN
+: <a class="el" href="constants_8h.html#a5e364f19936b85c329f46243a4b5b234">constants.h</a>
+</li>
+<li>M2_EN_PIN
+: <a class="el" href="constants_8h.html#a160f7f51d684aa67d10d9e0ddac01b04">constants.h</a>
+</li>
+<li>MAX_PACKET_LENGTH
+: <a class="el" href="constants_8h.html#a973c680573b37fc359fc68d0707da355">constants.h</a>
+</li>
+<li>MAX_SPEED
+: <a class="el" href="constants_8h.html#ac2cd96d53dd3ba6407db6766c3d92b26">constants.h</a>
+</li>
+<li>MICROS_PER_SEC
+: <a class="el" href="main_8cpp.html#a81bcea712b48d6bf8f7193e3de40404b">main.cpp</a>
+</li>
+<li>MID
+: <a class="el" href="constants_8h.html#a35dfe6752b41f8931e45e6ae73b90dc9">constants.h</a>
+</li>
+</ul>
+
+
+<h3><a id="index_n"></a>- n -</h3><ul>
+<li>NUM_MOTORS
+: <a class="el" href="constants_8h.html#a52b56a381e777b55e1b59019d9ee072e">constants.h</a>
+</li>
+</ul>
+
+
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+<li>P_GAIN
+: <a class="el" href="constants_8h.html#a50efaeb0380deed26b8c63b0f4cbfabe">constants.h</a>
+</li>
+<li>PACKAGE_LENGTH_NO_P
+: <a class="el" href="constants_8h.html#a0a8722add1edc513f4e329a2032a3fef">constants.h</a>
+</li>
+<li>PACKAGE_PAUSE_MS
+: <a class="el" href="constants_8h.html#a4321ff0e2772f459d2ef6caa379e161a">constants.h</a>
+</li>
+<li>parseComponent()
+: <a class="el" href="UARTCom_8cpp.html#a2f281c7608e509d555fc0a09cfeff82a">UARTCom.cpp</a>
+</li>
+<li>parseFrameType()
+: <a class="el" href="UARTCom_8cpp.html#a5bfcc9a4d05eaa07aff6dbc5ffbc01a4">UARTCom.cpp</a>
+</li>
+<li>parseRequest()
+: <a class="el" href="UARTCom_8cpp.html#a67a111cec96745786304360702d7fb0d">UARTCom.cpp</a>
+</li>
+<li>parseTimestamp()
+: <a class="el" href="UARTCom_8cpp.html#ac85d37d78756559b8b923544852dd430">UARTCom.cpp</a>
+</li>
+<li>PAYLOAD_LENGTH_POS
+: <a class="el" href="constants_8h.html#aa9c8a41feedb969234368a73275821f2">constants.h</a>
+</li>
+<li>PAYLOAD_POS
+: <a class="el" href="constants_8h.html#a0c7e856e56bd17a39c617593fce860a7">constants.h</a>
+</li>
+<li>payloadLength
+: <a class="el" href="UARTCom_8cpp.html#a2eead10869c5f921ef036aa656683cd5">UARTCom.cpp</a>
+</li>
+<li>PID_PARAMETER
+: <a class="el" href="constants_8h.html#a796eb6fe3758085a1379a7a873e41fffa2bf77c9c88e1af0b727fe7b0267fab1e">constants.h</a>
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+<li>PRINT_RATE_MS
+: <a class="el" href="constants_8h.html#a351cd11e5cc01e0edf20943bed699610">constants.h</a>
+</li>
+</ul>
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+: <a class="el" href="constants_8h.html#a2cf114b9e06da52cc8852e5ff45d0287">constants.h</a>
+</li>
+<li>REQUEST_RESET_TIMESTAMP
+: <a class="el" href="constants_8h.html#a36df23d1e37cb67c03835318c00be7c6">constants.h</a>
+</li>
+<li>requests
+: <a class="el" href="constants_8h.html#a796eb6fe3758085a1379a7a873e41fff">constants.h</a>
+</li>
+<li>RESET_TIMESTAMP
+: <a class="el" href="constants_8h.html#a796eb6fe3758085a1379a7a873e41fffa0838ab756351b57465a66b7cae747f7f">constants.h</a>
+</li>
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+: <a class="el" href="constants_8h.html#ab1199e2d349eb9a84bf67ce1ee919b99afb95ee545d749f11305939b93fe2bda3">constants.h</a>
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+</li>
+<li>RX_328_PIN
+: <a class="el" href="constants_8h.html#a157494c83072aa2d40027e695d68a041">constants.h</a>
+</li>
+</ul>
+
+
+<h3><a id="index_s"></a>- s -</h3><ul>
+<li>setup()
+: <a class="el" href="main_8cpp.html#a7dfd9b79bc5a37d7df40207afbc5431f">main.cpp</a>
+</li>
+<li>showPackage()
+: <a class="el" href="UARTCom_8cpp.html#ac77fffc0c7f612ccf0db14af856e3277">UARTCom.cpp</a>
+</li>
+<li>speed
+: <a class="el" href="main_8cpp.html#a218b4f7c6cc2681a99c23a3b089d68b1">main.cpp</a>
+</li>
+<li>SPEED_THRESHOLD
+: <a class="el" href="constants_8h.html#ac061f2335adf821db2872a3cbb9c2b89">constants.h</a>
+</li>
+<li>START_BYTE
+: <a class="el" href="constants_8h.html#a30d2043ca397843e08c43ade3aaee5b2">constants.h</a>
+</li>
+<li>START_BYTE_POS
+: <a class="el" href="constants_8h.html#aa7fe6a12a1f3090e191f4c52c80bc328">constants.h</a>
+</li>
+</ul>
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+
+<h3><a id="index_t"></a>- t -</h3><ul>
+<li>TIMESTAMP_POS
+: <a class="el" href="constants_8h.html#a1716d2e75ba17bc148d19453b6ac72cb">constants.h</a>
+</li>
+<li>TX_328_PIN
+: <a class="el" href="constants_8h.html#ad92856c4b6e41cdaeb16801e242a75e4">constants.h</a>
+</li>
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+
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+<li>U_Component
+: <a class="el" href="constants_8h.html#a35f6afe79ab48a3034b81cb15d538155">constants.h</a>
+</li>
+<li>U_FrameType
+: <a class="el" href="constants_8h.html#a2cadd9c064904e21e2acd0d0f64ad8b6">constants.h</a>
+</li>
+<li>U_Request
+: <a class="el" href="constants_8h.html#a83703b84abb8c92901ec1c15e0bbad80">constants.h</a>
+</li>
+<li>UART_BAUD_RATE
+: <a class="el" href="constants_8h.html#a615aed21aa6825462b7c17b0c238ffe2">constants.h</a>
+</li>
+<li>UART_TRANSMIT_MS
+: <a class="el" href="constants_8h.html#aac88e302a836edae50d15353792529ba">constants.h</a>
+</li>
+<li>uartTransmitTimer
+: <a class="el" href="main_8cpp.html#a99e64e7a64d61f78fe2b391d3cdeabfd">main.cpp</a>
+</li>
+</ul>
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+
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+: <a class="el" href="constants_8h.html#ab1199e2d349eb9a84bf67ce1ee919b99ad3a10aa8b647d6a6db651ef882ff8bff">constants.h</a>
+</li>
+<li>VEL2TORQUE_RATIO
+: <a class="el" href="constants_8h.html#ac07fe36e41399741e71b84acd4b549e1">constants.h</a>
+</li>
+<li>VEL_UPDATE_RATE_MS
+: <a class="el" href="constants_8h.html#ab90fe37f81409f5e0793767b08d64231">constants.h</a>
+</li>
+</ul>
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+
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+</li>
+<li>COMMAND_POS
+: <a class="el" href="constants_8h.html#a0b5870a545d9cbfe8b3acfc3a9166f73">constants.h</a>
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+<li>COMPONENT_POS
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+: <a class="el" href="constants_8h.html#a2785c2310ae5cedbcf184d54c34de5be">constants.h</a>
+</li>
+<li>COUNT_PER_ROTATION
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+<li>CP_ALL_M_BV
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+<h3><a id="index_l"></a>- l -</h3><ul>
+<li>LAST
+: <a class="el" href="constants_8h.html#af6dca909e42192cc5583a7e077c1a0d2">constants.h</a>
+</li>
+</ul>
+
+
+<h3><a id="index_m"></a>- m -</h3><ul>
+<li>M1_DIR_PIN
+: <a class="el" href="constants_8h.html#a3d282621a75034d2d4206fe90b0da79a">constants.h</a>
+</li>
+<li>M1_EN_PIN
+: <a class="el" href="constants_8h.html#ac4207804f19ef064b5c62600e0b3e8a3">constants.h</a>
+</li>
+<li>M2_DIR_PIN
+: <a class="el" href="constants_8h.html#a5e364f19936b85c329f46243a4b5b234">constants.h</a>
+</li>
+<li>M2_EN_PIN
+: <a class="el" href="constants_8h.html#a160f7f51d684aa67d10d9e0ddac01b04">constants.h</a>
+</li>
+<li>MAX_PACKET_LENGTH
+: <a class="el" href="constants_8h.html#a973c680573b37fc359fc68d0707da355">constants.h</a>
+</li>
+<li>MAX_SPEED
+: <a class="el" href="constants_8h.html#ac2cd96d53dd3ba6407db6766c3d92b26">constants.h</a>
+</li>
+<li>MICROS_PER_SEC
+: <a class="el" href="main_8cpp.html#a81bcea712b48d6bf8f7193e3de40404b">main.cpp</a>
+</li>
+<li>MID
+: <a class="el" href="constants_8h.html#a35dfe6752b41f8931e45e6ae73b90dc9">constants.h</a>
+</li>
+</ul>
+
+
+<h3><a id="index_n"></a>- n -</h3><ul>
+<li>NUM_MOTORS
+: <a class="el" href="constants_8h.html#a52b56a381e777b55e1b59019d9ee072e">constants.h</a>
+</li>
+</ul>
+
+
+<h3><a id="index_p"></a>- p -</h3><ul>
+<li>P_GAIN
+: <a class="el" href="constants_8h.html#a50efaeb0380deed26b8c63b0f4cbfabe">constants.h</a>
+</li>
+<li>PACKAGE_LENGTH_NO_P
+: <a class="el" href="constants_8h.html#a0a8722add1edc513f4e329a2032a3fef">constants.h</a>
+</li>
+<li>PACKAGE_PAUSE_MS
+: <a class="el" href="constants_8h.html#a4321ff0e2772f459d2ef6caa379e161a">constants.h</a>
+</li>
+<li>PAYLOAD_LENGTH_POS
+: <a class="el" href="constants_8h.html#aa9c8a41feedb969234368a73275821f2">constants.h</a>
+</li>
+<li>PAYLOAD_POS
+: <a class="el" href="constants_8h.html#a0c7e856e56bd17a39c617593fce860a7">constants.h</a>
+</li>
+<li>PRINT_RATE_MS
+: <a class="el" href="constants_8h.html#a351cd11e5cc01e0edf20943bed699610">constants.h</a>
+</li>
+</ul>
+
+
+<h3><a id="index_r"></a>- r -</h3><ul>
+<li>REQUEST_DRIVE_MOTOR
+: <a class="el" href="constants_8h.html#a2cf114b9e06da52cc8852e5ff45d0287">constants.h</a>
+</li>
+<li>REQUEST_RESET_TIMESTAMP
+: <a class="el" href="constants_8h.html#a36df23d1e37cb67c03835318c00be7c6">constants.h</a>
+</li>
+<li>RX_328_PIN
+: <a class="el" href="constants_8h.html#a157494c83072aa2d40027e695d68a041">constants.h</a>
+</li>
+</ul>
+
+
+<h3><a id="index_s"></a>- s -</h3><ul>
+<li>SPEED_THRESHOLD
+: <a class="el" href="constants_8h.html#ac061f2335adf821db2872a3cbb9c2b89">constants.h</a>
+</li>
+<li>START_BYTE
+: <a class="el" href="constants_8h.html#a30d2043ca397843e08c43ade3aaee5b2">constants.h</a>
+</li>
+<li>START_BYTE_POS
+: <a class="el" href="constants_8h.html#aa7fe6a12a1f3090e191f4c52c80bc328">constants.h</a>
+</li>
+</ul>
+
+
+<h3><a id="index_t"></a>- t -</h3><ul>
+<li>TIMESTAMP_POS
+: <a class="el" href="constants_8h.html#a1716d2e75ba17bc148d19453b6ac72cb">constants.h</a>
+</li>
+<li>TX_328_PIN
+: <a class="el" href="constants_8h.html#ad92856c4b6e41cdaeb16801e242a75e4">constants.h</a>
+</li>
+</ul>
+
+
+<h3><a id="index_u"></a>- u -</h3><ul>
+<li>UART_BAUD_RATE
+: <a class="el" href="constants_8h.html#a615aed21aa6825462b7c17b0c238ffe2">constants.h</a>
+</li>
+<li>UART_TRANSMIT_MS
+: <a class="el" href="constants_8h.html#aac88e302a836edae50d15353792529ba">constants.h</a>
+</li>
+</ul>
+
+
+<h3><a id="index_v"></a>- v -</h3><ul>
+<li>VEL2TORQUE_RATIO
+: <a class="el" href="constants_8h.html#ac07fe36e41399741e71b84acd4b549e1">constants.h</a>
+</li>
+<li>VEL_UPDATE_RATE_MS
+: <a class="el" href="constants_8h.html#ab90fe37f81409f5e0793767b08d64231">constants.h</a>
+</li>
+</ul>
+</div><!-- contents -->
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+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.1
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+: <a class="el" href="constants_8h.html#a34a2c423b3ea385bdb64e0dbba3f901b">constants.h</a>
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+<li>frametypes
+: <a class="el" href="constants_8h.html#ab1199e2d349eb9a84bf67ce1ee919b99">constants.h</a>
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+<li>requests
+: <a class="el" href="constants_8h.html#a796eb6fe3758085a1379a7a873e41fff">constants.h</a>
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+<script type="text/javascript" src="jquery.js"></script>
+<script type="text/javascript" src="dynsections.js"></script>
+<link href="search/search.css" rel="stylesheet" type="text/css"/>
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+ <tr style="height: 56px;">
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+   &#160;<span id="projectnumber">1.0</span>
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+</table>
+</div>
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+<iframe src="javascript:void(0)" frameborder="0" 
+        name="MSearchResults" id="MSearchResults">
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+<div class="contents">
+&#160;<ul>
+<li>ALL_MOTORS
+: <a class="el" href="constants_8h.html#a34a2c423b3ea385bdb64e0dbba3f901ba1f9f5df3258901c29fe6d481a9cef0c3">constants.h</a>
+</li>
+<li>DEFAULT_COMPONENT
+: <a class="el" href="constants_8h.html#a34a2c423b3ea385bdb64e0dbba3f901ba748ef6c124193a3aceb927ef32ff0338">constants.h</a>
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+<li>DEFAULT_REQUEST
+: <a class="el" href="constants_8h.html#a796eb6fe3758085a1379a7a873e41fffaadee695fe931a682da80d05ada835f38">constants.h</a>
+</li>
+<li>DRIVE_ENCODER
+: <a class="el" href="constants_8h.html#a796eb6fe3758085a1379a7a873e41fffac1456ce8322785fad8add40e82104063">constants.h</a>
+</li>
+<li>DRIVE_MOTOR
+: <a class="el" href="constants_8h.html#a796eb6fe3758085a1379a7a873e41fffad1ea564b1c983f93e7b21dfc8fbc5f71">constants.h</a>
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+<li>LEFT_MOTOR
+: <a class="el" href="constants_8h.html#a34a2c423b3ea385bdb64e0dbba3f901ba12504f8134dca019be7aee185b9b75c0">constants.h</a>
+</li>
+<li>PID_PARAMETER
+: <a class="el" href="constants_8h.html#a796eb6fe3758085a1379a7a873e41fffa2bf77c9c88e1af0b727fe7b0267fab1e">constants.h</a>
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+<li>REQUEST
+: <a class="el" href="constants_8h.html#ab1199e2d349eb9a84bf67ce1ee919b99abaf6b8e08edf0e9d2eb38551fed1fb39">constants.h</a>
+</li>
+<li>RESET_TIMESTAMP
+: <a class="el" href="constants_8h.html#a796eb6fe3758085a1379a7a873e41fffa0838ab756351b57465a66b7cae747f7f">constants.h</a>
+</li>
+<li>RESPONSE
+: <a class="el" href="constants_8h.html#ab1199e2d349eb9a84bf67ce1ee919b99afb95ee545d749f11305939b93fe2bda3">constants.h</a>
+</li>
+<li>RIGHT_MOTOR
+: <a class="el" href="constants_8h.html#a34a2c423b3ea385bdb64e0dbba3f901ba3b7e83cf53fef6c9a7a39ce9d68ec17b">constants.h</a>
+</li>
+<li>VALUE
+: <a class="el" href="constants_8h.html#ab1199e2d349eb9a84bf67ce1ee919b99ad3a10aa8b647d6a6db651ef882ff8bff">constants.h</a>
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+</small></address>
+</body>
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+<script type="text/javascript" src="jquery.js"></script>
+<script type="text/javascript" src="dynsections.js"></script>
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+<li>clearPackage()
+: <a class="el" href="UARTCom_8cpp.html#a0f9de5ab46a6f02e563fdc4634cd1b26">UARTCom.cpp</a>
+</li>
+<li>computeChecksum()
+: <a class="el" href="UARTCom_8cpp.html#a744c5a2f1e07b896f5dc1a3b352dfd2a">UARTCom.cpp</a>
+</li>
+<li>correctChecksum()
+: <a class="el" href="UARTCom_8cpp.html#a09ed133ea78335824acd3d296d6d8568">UARTCom.cpp</a>
+</li>
+<li>fromComponent()
+: <a class="el" href="UARTCom_8cpp.html#a050546b686b2c4648e34f5145e8e5c3a">UARTCom.cpp</a>
+</li>
+<li>fromFrameType()
+: <a class="el" href="UARTCom_8cpp.html#a4d3197ea3a99346e142f898a856eba6c">UARTCom.cpp</a>
+</li>
+<li>handlePackage()
+: <a class="el" href="UARTCom_8cpp.html#a86f7112e2f3c0cf6e89e6cc9ce0d35bc">UARTCom.cpp</a>
+</li>
+<li>handleRequest()
+: <a class="el" href="UARTCom_8cpp.html#a8f3f9f5697687756152cfc8045170646">UARTCom.cpp</a>
+</li>
+<li>irqISR()
+: <a class="el" href="main_8cpp.html#ab8ce9c774ade2f5a0701961718ace60b">main.cpp</a>
+</li>
+<li>loop()
+: <a class="el" href="main_8cpp.html#a0b33edabd7f1c4e4a0bf32c67269be2f">main.cpp</a>
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+: <a class="el" href="UARTCom_8cpp.html#a2f281c7608e509d555fc0a09cfeff82a">UARTCom.cpp</a>
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+<li>parseFrameType()
+: <a class="el" href="UARTCom_8cpp.html#a5bfcc9a4d05eaa07aff6dbc5ffbc01a4">UARTCom.cpp</a>
+</li>
+<li>parseRequest()
+: <a class="el" href="UARTCom_8cpp.html#a67a111cec96745786304360702d7fb0d">UARTCom.cpp</a>
+</li>
+<li>parseTimestamp()
+: <a class="el" href="UARTCom_8cpp.html#ac85d37d78756559b8b923544852dd430">UARTCom.cpp</a>
+</li>
+<li>setup()
+: <a class="el" href="main_8cpp.html#a7dfd9b79bc5a37d7df40207afbc5431f">main.cpp</a>
+</li>
+<li>showPackage()
+: <a class="el" href="UARTCom_8cpp.html#ac77fffc0c7f612ccf0db14af856e3277">UARTCom.cpp</a>
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+<li>wheelLeft()
+: <a class="el" href="main_8cpp.html#a182227deb83319a10df08ddb6a228004">main.cpp</a>
+</li>
+<li>wheelRight()
+: <a class="el" href="main_8cpp.html#a1b87cd04fa37c8509ccee0cba8953d81">main.cpp</a>
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literal 0
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diff --git a/src/dcaitirobot/embedded/docs/html/inherit_graph_1.map b/src/dcaitirobot/embedded/docs/html/inherit_graph_1.map
new file mode 100644
index 0000000..5c7d5c3
--- /dev/null
+++ b/src/dcaitirobot/embedded/docs/html/inherit_graph_1.map
@@ -0,0 +1,3 @@
+<map id="Graphical Class Hierarchy" name="Graphical Class Hierarchy">
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+</map>
diff --git a/src/dcaitirobot/embedded/docs/html/inherit_graph_1.md5 b/src/dcaitirobot/embedded/docs/html/inherit_graph_1.md5
new file mode 100644
index 0000000..9fa36ef
--- /dev/null
+++ b/src/dcaitirobot/embedded/docs/html/inherit_graph_1.md5
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/src/dcaitirobot/embedded/docs/html/inherit_graph_1.png b/src/dcaitirobot/embedded/docs/html/inherit_graph_1.png
new file mode 100644
index 0000000000000000000000000000000000000000..3bf95a4c9fa6af99f025629b9f807f750b423b26
GIT binary patch
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literal 0
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diff --git a/src/dcaitirobot/embedded/docs/html/inherit_graph_2.map b/src/dcaitirobot/embedded/docs/html/inherit_graph_2.map
new file mode 100644
index 0000000..67352eb
--- /dev/null
+++ b/src/dcaitirobot/embedded/docs/html/inherit_graph_2.map
@@ -0,0 +1,3 @@
+<map id="Graphical Class Hierarchy" name="Graphical Class Hierarchy">
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+</map>
diff --git a/src/dcaitirobot/embedded/docs/html/inherit_graph_2.md5 b/src/dcaitirobot/embedded/docs/html/inherit_graph_2.md5
new file mode 100644
index 0000000..b53002c
--- /dev/null
+++ b/src/dcaitirobot/embedded/docs/html/inherit_graph_2.md5
@@ -0,0 +1 @@
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diff --git a/src/dcaitirobot/embedded/docs/html/inherit_graph_2.png b/src/dcaitirobot/embedded/docs/html/inherit_graph_2.png
new file mode 100644
index 0000000000000000000000000000000000000000..817ef439032fc61df36adf132d32ad626f5ef109
GIT binary patch
literal 1144
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literal 0
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diff --git a/src/dcaitirobot/embedded/docs/html/inherit_graph_3.map b/src/dcaitirobot/embedded/docs/html/inherit_graph_3.map
new file mode 100644
index 0000000..2705fb5
--- /dev/null
+++ b/src/dcaitirobot/embedded/docs/html/inherit_graph_3.map
@@ -0,0 +1,6 @@
+<map id="Graphical Class Hierarchy" name="Graphical Class Hierarchy">
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diff --git a/src/dcaitirobot/embedded/docs/html/inherit_graph_3.md5 b/src/dcaitirobot/embedded/docs/html/inherit_graph_3.md5
new file mode 100644
index 0000000..cc524a3
--- /dev/null
+++ b/src/dcaitirobot/embedded/docs/html/inherit_graph_3.md5
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diff --git a/src/dcaitirobot/embedded/docs/html/inherit_graph_3.png b/src/dcaitirobot/embedded/docs/html/inherit_graph_3.png
new file mode 100644
index 0000000000000000000000000000000000000000..286456efd5e4624ae6919faac0bd79b99853b2b8
GIT binary patch
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literal 0
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diff --git a/src/dcaitirobot/embedded/docs/html/inherit_graph_4.map b/src/dcaitirobot/embedded/docs/html/inherit_graph_4.map
new file mode 100644
index 0000000..5483903
--- /dev/null
+++ b/src/dcaitirobot/embedded/docs/html/inherit_graph_4.map
@@ -0,0 +1,3 @@
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diff --git a/src/dcaitirobot/embedded/docs/html/inherit_graph_4.md5 b/src/dcaitirobot/embedded/docs/html/inherit_graph_4.md5
new file mode 100644
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e=this;this._destroy(),t.each(this.classesElementLookup,function(t,i){e._removeClass(i,t)}),this.element.off(this.eventNamespace).removeData(this.widgetFullName),this.widget().off(this.eventNamespace).removeAttr("aria-disabled"),this.bindings.off(this.eventNamespace)},_destroy:t.noop,widget:function(){return this.element},option:function(e,i){var s,n,o,a=e;if(0===arguments.length)return t.widget.extend({},this.options);if("string"==typeof e)if(a={},s=e.split("."),e=s.shift(),s.length){for(n=a[e]=t.widget.extend({},this.options[e]),o=0;s.length-1>o;o++)n[s[o]]=n[s[o]]||{},n=n[s[o]];if(e=s.pop(),1===arguments.length)return void 0===n[e]?null:n[e];n[e]=i}else{if(1===arguments.length)return void 0===this.options[e]?null:this.options[e];a[e]=i}return this._setOptions(a),this},_setOptions:function(t){var e;for(e in t)this._setOption(e,t[e]);return this},_setOption:function(t,e){return"classes"===t&&this._setOptionClasses(e),this.options[t]=e,"disabled"===t&&this._setOptionDisabled(e),this},_setOptionClasses:function(e){var i,s,n;for(i in e)n=this.classesElementLookup[i],e[i]!==this.options.classes[i]&&n&&n.length&&(s=t(n.get()),this._removeClass(n,i),s.addClass(this._classes({element:s,keys:i,classes:e,add:!0})))},_setOptionDisabled:function(t){this._toggleClass(this.widget(),this.widgetFullName+"-disabled",null,!!t),t&&(this._removeClass(this.hoverable,null,"ui-state-hover"),this._removeClass(this.focusable,null,"ui-state-focus"))},enable:function(){return this._setOptions({disabled:!1})},disable:function(){return this._setOptions({disabled:!0})},_classes:function(e){function i(i,o){var a,r;for(r=0;i.length>r;r++)a=n.classesElementLookup[i[r]]||t(),a=e.add?t(t.unique(a.get().concat(e.element.get()))):t(a.not(e.element).get()),n.classesElementLookup[i[r]]=a,s.push(i[r]),o&&e.classes[i[r]]&&s.push(e.classes[i[r]])}var s=[],n=this;return e=t.extend({element:this.element,classes:this.options.classes||{}},e),this._on(e.element,{remove:"_untrackClassesElement"}),e.keys&&i(e.keys.match(/\S+/g)||[],!0),e.extra&&i(e.extra.match(/\S+/g)||[]),s.join(" ")},_untrackClassesElement:function(e){var i=this;t.each(i.classesElementLookup,function(s,n){-1!==t.inArray(e.target,n)&&(i.classesElementLookup[s]=t(n.not(e.target).get()))})},_removeClass:function(t,e,i){return this._toggleClass(t,e,i,!1)},_addClass:function(t,e,i){return this._toggleClass(t,e,i,!0)},_toggleClass:function(t,e,i,s){s="boolean"==typeof s?s:i;var n="string"==typeof t||null===t,o={extra:n?e:i,keys:n?t:e,element:n?this.element:t,add:s};return o.element.toggleClass(this._classes(o),s),this},_on:function(e,i,s){var n,o=this;"boolean"!=typeof e&&(s=i,i=e,e=!1),s?(i=n=t(i),this.bindings=this.bindings.add(i)):(s=i,i=this.element,n=this.widget()),t.each(s,function(s,a){function r(){return e||o.options.disabled!==!0&&!t(this).hasClass("ui-state-disabled")?("string"==typeof a?o[a]:a).apply(o,arguments):void 0}"string"!=typeof a&&(r.guid=a.guid=a.guid||r.guid||t.guid++);var h=s.match(/^([\w:-]*)\s*(.*)$/),l=h[1]+o.eventNamespace,c=h[2];c?n.on(l,c,r):i.on(l,r)})},_off:function(e,i){i=(i||"").split(" ").join(this.eventNamespace+" ")+this.eventNamespace,e.off(i).off(i),this.bindings=t(this.bindings.not(e).get()),this.focusable=t(this.focusable.not(e).get()),this.hoverable=t(this.hoverable.not(e).get())},_delay:function(t,e){function i(){return("string"==typeof t?s[t]:t).apply(s,arguments)}var s=this;return setTimeout(i,e||0)},_hoverable:function(e){this.hoverable=this.hoverable.add(e),this._on(e,{mouseenter:function(e){this._addClass(t(e.currentTarget),null,"ui-state-hover")},mouseleave:function(e){this._removeClass(t(e.currentTarget),null,"ui-state-hover")}})},_focusable:function(e){this.focusable=this.focusable.add(e),this._on(e,{focusin:function(e){this._addClass(t(e.currentTarget),null,"ui-state-focus")},focusout:function(e){this._removeClass(t(e.currentTarget),null,"ui-state-focus")}})},_trigger:function(e,i,s){var n,o,a=this.options[e];if(s=s||{},i=t.Event(i),i.type=(e===this.widgetEventPrefix?e:this.widgetEventPrefix+e).toLowerCase(),i.target=this.element[0],o=i.originalEvent)for(n in o)n in i||(i[n]=o[n]);return this.element.trigger(i,s),!(t.isFunction(a)&&a.apply(this.element[0],[i].concat(s))===!1||i.isDefaultPrevented())}},t.each({show:"fadeIn",hide:"fadeOut"},function(e,i){t.Widget.prototype["_"+e]=function(s,n,o){"string"==typeof n&&(n={effect:n});var a,r=n?n===!0||"number"==typeof n?i:n.effect||i:e;n=n||{},"number"==typeof n&&(n={duration:n}),a=!t.isEmptyObject(n),n.complete=o,n.delay&&s.delay(n.delay),a&&t.effects&&t.effects.effect[r]?s[e](n):r!==e&&s[r]?s[r](n.duration,n.easing,o):s.queue(function(i){t(this)[e](),o&&o.call(s[0]),i()})}}),t.widget,function(){function e(t,e,i){return[parseFloat(t[0])*(u.test(t[0])?e/100:1),parseFloat(t[1])*(u.test(t[1])?i/100:1)]}function i(e,i){return parseInt(t.css(e,i),10)||0}function s(e){var i=e[0];return 9===i.nodeType?{width:e.width(),height:e.height(),offset:{top:0,left:0}}:t.isWindow(i)?{width:e.width(),height:e.height(),offset:{top:e.scrollTop(),left:e.scrollLeft()}}:i.preventDefault?{width:0,height:0,offset:{top:i.pageY,left:i.pageX}}:{width:e.outerWidth(),height:e.outerHeight(),offset:e.offset()}}var n,o=Math.max,a=Math.abs,r=/left|center|right/,h=/top|center|bottom/,l=/[\+\-]\d+(\.[\d]+)?%?/,c=/^\w+/,u=/%$/,d=t.fn.position;t.position={scrollbarWidth:function(){if(void 0!==n)return n;var e,i,s=t("<div style='display:block;position:absolute;width:50px;height:50px;overflow:hidden;'><div style='height:100px;width:auto;'></div></div>"),o=s.children()[0];return t("body").append(s),e=o.offsetWidth,s.css("overflow","scroll"),i=o.offsetWidth,e===i&&(i=s[0].clientWidth),s.remove(),n=e-i},getScrollInfo:function(e){var i=e.isWindow||e.isDocument?"":e.element.css("overflow-x"),s=e.isWindow||e.isDocument?"":e.element.css("overflow-y"),n="scroll"===i||"auto"===i&&e.width<e.element[0].scrollWidth,o="scroll"===s||"auto"===s&&e.height<e.element[0].scrollHeight;return{width:o?t.position.scrollbarWidth():0,height:n?t.position.scrollbarWidth():0}},getWithinInfo:function(e){var i=t(e||window),s=t.isWindow(i[0]),n=!!i[0]&&9===i[0].nodeType,o=!s&&!n;return{element:i,isWindow:s,isDocument:n,offset:o?t(e).offset():{left:0,top:0},scrollLeft:i.scrollLeft(),scrollTop:i.scrollTop(),width:i.outerWidth(),height:i.outerHeight()}}},t.fn.position=function(n){if(!n||!n.of)return d.apply(this,arguments);n=t.extend({},n);var u,p,f,m,g,_,v=t(n.of),b=t.position.getWithinInfo(n.within),y=t.position.getScrollInfo(b),w=(n.collision||"flip").split(" "),x={};return _=s(v),v[0].preventDefault&&(n.at="left top"),p=_.width,f=_.height,m=_.offset,g=t.extend({},m),t.each(["my","at"],function(){var t,e,i=(n[this]||"").split(" ");1===i.length&&(i=r.test(i[0])?i.concat(["center"]):h.test(i[0])?["center"].concat(i):["center","center"]),i[0]=r.test(i[0])?i[0]:"center",i[1]=h.test(i[1])?i[1]:"center",t=l.exec(i[0]),e=l.exec(i[1]),x[this]=[t?t[0]:0,e?e[0]:0],n[this]=[c.exec(i[0])[0],c.exec(i[1])[0]]}),1===w.length&&(w[1]=w[0]),"right"===n.at[0]?g.left+=p:"center"===n.at[0]&&(g.left+=p/2),"bottom"===n.at[1]?g.top+=f:"center"===n.at[1]&&(g.top+=f/2),u=e(x.at,p,f),g.left+=u[0],g.top+=u[1],this.each(function(){var s,r,h=t(this),l=h.outerWidth(),c=h.outerHeight(),d=i(this,"marginLeft"),_=i(this,"marginTop"),k=l+d+i(this,"marginRight")+y.width,C=c+_+i(this,"marginBottom")+y.height,D=t.extend({},g),T=e(x.my,h.outerWidth(),h.outerHeight());"right"===n.my[0]?D.left-=l:"center"===n.my[0]&&(D.left-=l/2),"bottom"===n.my[1]?D.top-=c:"center"===n.my[1]&&(D.top-=c/2),D.left+=T[0],D.top+=T[1],s={marginLeft:d,marginTop:_},t.each(["left","top"],function(e,i){t.ui.position[w[e]]&&t.ui.position[w[e]][i](D,{targetWidth:p,targetHeight:f,elemWidth:l,elemHeight:c,collisionPosition:s,collisionWidth:k,collisionHeight:C,offset:[u[0]+T[0],u[1]+T[1]],my:n.my,at:n.at,within:b,elem:h})}),n.using&&(r=function(t){var e=m.left-D.left,i=e+p-l,s=m.top-D.top,r=s+f-c,u={target:{element:v,left:m.left,top:m.top,width:p,height:f},element:{element:h,left:D.left,top:D.top,width:l,height:c},horizontal:0>i?"left":e>0?"right":"center",vertical:0>r?"top":s>0?"bottom":"middle"};l>p&&p>a(e+i)&&(u.horizontal="center"),c>f&&f>a(s+r)&&(u.vertical="middle"),u.important=o(a(e),a(i))>o(a(s),a(r))?"horizontal":"vertical",n.using.call(this,t,u)}),h.offset(t.extend(D,{using:r}))})},t.ui.position={fit:{left:function(t,e){var i,s=e.within,n=s.isWindow?s.scrollLeft:s.offset.left,a=s.width,r=t.left-e.collisionPosition.marginLeft,h=n-r,l=r+e.collisionWidth-a-n;e.collisionWidth>a?h>0&&0>=l?(i=t.left+h+e.collisionWidth-a-n,t.left+=h-i):t.left=l>0&&0>=h?n:h>l?n+a-e.collisionWidth:n:h>0?t.left+=h:l>0?t.left-=l:t.left=o(t.left-r,t.left)},top:function(t,e){var i,s=e.within,n=s.isWindow?s.scrollTop:s.offset.top,a=e.within.height,r=t.top-e.collisionPosition.marginTop,h=n-r,l=r+e.collisionHeight-a-n;e.collisionHeight>a?h>0&&0>=l?(i=t.top+h+e.collisionHeight-a-n,t.top+=h-i):t.top=l>0&&0>=h?n:h>l?n+a-e.collisionHeight:n:h>0?t.top+=h:l>0?t.top-=l:t.top=o(t.top-r,t.top)}},flip:{left:function(t,e){var i,s,n=e.within,o=n.offset.left+n.scrollLeft,r=n.width,h=n.isWindow?n.scrollLeft:n.offset.left,l=t.left-e.collisionPosition.marginLeft,c=l-h,u=l+e.collisionWidth-r-h,d="left"===e.my[0]?-e.elemWidth:"right"===e.my[0]?e.elemWidth:0,p="left"===e.at[0]?e.targetWidth:"right"===e.at[0]?-e.targetWidth:0,f=-2*e.offset[0];0>c?(i=t.left+d+p+f+e.collisionWidth-r-o,(0>i||a(c)>i)&&(t.left+=d+p+f)):u>0&&(s=t.left-e.collisionPosition.marginLeft+d+p+f-h,(s>0||u>a(s))&&(t.left+=d+p+f))},top:function(t,e){var i,s,n=e.within,o=n.offset.top+n.scrollTop,r=n.height,h=n.isWindow?n.scrollTop:n.offset.top,l=t.top-e.collisionPosition.marginTop,c=l-h,u=l+e.collisionHeight-r-h,d="top"===e.my[1],p=d?-e.elemHeight:"bottom"===e.my[1]?e.elemHeight:0,f="top"===e.at[1]?e.targetHeight:"bottom"===e.at[1]?-e.targetHeight:0,m=-2*e.offset[1];0>c?(s=t.top+p+f+m+e.collisionHeight-r-o,(0>s||a(c)>s)&&(t.top+=p+f+m)):u>0&&(i=t.top-e.collisionPosition.marginTop+p+f+m-h,(i>0||u>a(i))&&(t.top+=p+f+m))}},flipfit:{left:function(){t.ui.position.flip.left.apply(this,arguments),t.ui.position.fit.left.apply(this,arguments)},top:function(){t.ui.position.flip.top.apply(this,arguments),t.ui.position.fit.top.apply(this,arguments)}}}}(),t.ui.position,t.extend(t.expr[":"],{data:t.expr.createPseudo?t.expr.createPseudo(function(e){return function(i){return!!t.data(i,e)}}):function(e,i,s){return!!t.data(e,s[3])}}),t.fn.extend({disableSelection:function(){var t="onselectstart"in document.createElement("div")?"selectstart":"mousedown";return function(){return this.on(t+".ui-disableSelection",function(t){t.preventDefault()})}}(),enableSelection:function(){return this.off(".ui-disableSelection")}}),t.ui.focusable=function(i,s){var n,o,a,r,h,l=i.nodeName.toLowerCase();return"area"===l?(n=i.parentNode,o=n.name,i.href&&o&&"map"===n.nodeName.toLowerCase()?(a=t("img[usemap='#"+o+"']"),a.length>0&&a.is(":visible")):!1):(/^(input|select|textarea|button|object)$/.test(l)?(r=!i.disabled,r&&(h=t(i).closest("fieldset")[0],h&&(r=!h.disabled))):r="a"===l?i.href||s:s,r&&t(i).is(":visible")&&e(t(i)))},t.extend(t.expr[":"],{focusable:function(e){return t.ui.focusable(e,null!=t.attr(e,"tabindex"))}}),t.ui.focusable,t.fn.form=function(){return"string"==typeof this[0].form?this.closest("form"):t(this[0].form)},t.ui.formResetMixin={_formResetHandler:function(){var e=t(this);setTimeout(function(){var i=e.data("ui-form-reset-instances");t.each(i,function(){this.refresh()})})},_bindFormResetHandler:function(){if(this.form=this.element.form(),this.form.length){var t=this.form.data("ui-form-reset-instances")||[];t.length||this.form.on("reset.ui-form-reset",this._formResetHandler),t.push(this),this.form.data("ui-form-reset-instances",t)}},_unbindFormResetHandler:function(){if(this.form.length){var e=this.form.data("ui-form-reset-instances");e.splice(t.inArray(this,e),1),e.length?this.form.data("ui-form-reset-instances",e):this.form.removeData("ui-form-reset-instances").off("reset.ui-form-reset")}}},"1.7"===t.fn.jquery.substring(0,3)&&(t.each(["Width","Height"],function(e,i){function s(e,i,s,o){return t.each(n,function(){i-=parseFloat(t.css(e,"padding"+this))||0,s&&(i-=parseFloat(t.css(e,"border"+this+"Width"))||0),o&&(i-=parseFloat(t.css(e,"margin"+this))||0)}),i}var n="Width"===i?["Left","Right"]:["Top","Bottom"],o=i.toLowerCase(),a={innerWidth:t.fn.innerWidth,innerHeight:t.fn.innerHeight,outerWidth:t.fn.outerWidth,outerHeight:t.fn.outerHeight};t.fn["inner"+i]=function(e){return void 0===e?a["inner"+i].call(this):this.each(function(){t(this).css(o,s(this,e)+"px")})},t.fn["outer"+i]=function(e,n){return"number"!=typeof e?a["outer"+i].call(this,e):this.each(function(){t(this).css(o,s(this,e,!0,n)+"px")})}}),t.fn.addBack=function(t){return this.add(null==t?this.prevObject:this.prevObject.filter(t))}),t.ui.keyCode={BACKSPACE:8,COMMA:188,DELETE:46,DOWN:40,END:35,ENTER:13,ESCAPE:27,HOME:36,LEFT:37,PAGE_DOWN:34,PAGE_UP:33,PERIOD:190,RIGHT:39,SPACE:32,TAB:9,UP:38},t.ui.escapeSelector=function(){var t=/([!"#$%&'()*+,./:;<=>?@[\]^`{|}~])/g;return function(e){return e.replace(t,"\\$1")}}(),t.fn.labels=function(){var e,i,s,n,o;return this[0].labels&&this[0].labels.length?this.pushStack(this[0].labels):(n=this.eq(0).parents("label"),s=this.attr("id"),s&&(e=this.eq(0).parents().last(),o=e.add(e.length?e.siblings():this.siblings()),i="label[for='"+t.ui.escapeSelector(s)+"']",n=n.add(o.find(i).addBack(i))),this.pushStack(n))},t.fn.scrollParent=function(e){var i=this.css("position"),s="absolute"===i,n=e?/(auto|scroll|hidden)/:/(auto|scroll)/,o=this.parents().filter(function(){var e=t(this);return s&&"static"===e.css("position")?!1:n.test(e.css("overflow")+e.css("overflow-y")+e.css("overflow-x"))}).eq(0);return"fixed"!==i&&o.length?o:t(this[0].ownerDocument||document)},t.extend(t.expr[":"],{tabbable:function(e){var i=t.attr(e,"tabindex"),s=null!=i;return(!s||i>=0)&&t.ui.focusable(e,s)}}),t.fn.extend({uniqueId:function(){var t=0;return function(){return this.each(function(){this.id||(this.id="ui-id-"+ ++t)})}}(),removeUniqueId:function(){return this.each(function(){/^ui-id-\d+$/.test(this.id)&&t(this).removeAttr("id")})}}),t.ui.ie=!!/msie [\w.]+/.exec(navigator.userAgent.toLowerCase());var n=!1;t(document).on("mouseup",function(){n=!1}),t.widget("ui.mouse",{version:"1.12.1",options:{cancel:"input, textarea, button, select, option",distance:1,delay:0},_mouseInit:function(){var e=this;this.element.on("mousedown."+this.widgetName,function(t){return e._mouseDown(t)}).on("click."+this.widgetName,function(i){return!0===t.data(i.target,e.widgetName+".preventClickEvent")?(t.removeData(i.target,e.widgetName+".preventClickEvent"),i.stopImmediatePropagation(),!1):void 0}),this.started=!1},_mouseDestroy:function(){this.element.off("."+this.widgetName),this._mouseMoveDelegate&&this.document.off("mousemove."+this.widgetName,this._mouseMoveDelegate).off("mouseup."+this.widgetName,this._mouseUpDelegate)},_mouseDown:function(e){if(!n){this._mouseMoved=!1,this._mouseStarted&&this._mouseUp(e),this._mouseDownEvent=e;var 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this._mouseUp(e);if(!e.which)if(e.originalEvent.altKey||e.originalEvent.ctrlKey||e.originalEvent.metaKey||e.originalEvent.shiftKey)this.ignoreMissingWhich=!0;else if(!this.ignoreMissingWhich)return this._mouseUp(e)}return(e.which||e.button)&&(this._mouseMoved=!0),this._mouseStarted?(this._mouseDrag(e),e.preventDefault()):(this._mouseDistanceMet(e)&&this._mouseDelayMet(e)&&(this._mouseStarted=this._mouseStart(this._mouseDownEvent,e)!==!1,this._mouseStarted?this._mouseDrag(e):this._mouseUp(e)),!this._mouseStarted)},_mouseUp:function(e){this.document.off("mousemove."+this.widgetName,this._mouseMoveDelegate).off("mouseup."+this.widgetName,this._mouseUpDelegate),this._mouseStarted&&(this._mouseStarted=!1,e.target===this._mouseDownEvent.target&&t.data(e.target,this.widgetName+".preventClickEvent",!0),this._mouseStop(e)),this._mouseDelayTimer&&(clearTimeout(this._mouseDelayTimer),delete 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t.extend(this._change.n.apply(this,arguments),this._change.w.apply(this,[e,i,s]))}},_propagate:function(e,i){t.ui.plugin.call(this,e,[i,this.ui()]),"resize"!==e&&this._trigger(e,i,this.ui())},plugins:{},ui:function(){return{originalElement:this.originalElement,element:this.element,helper:this.helper,position:this.position,size:this.size,originalSize:this.originalSize,originalPosition:this.originalPosition}}}),t.ui.plugin.add("resizable","animate",{stop:function(e){var i=t(this).resizable("instance"),s=i.options,n=i._proportionallyResizeElements,o=n.length&&/textarea/i.test(n[0].nodeName),a=o&&i._hasScroll(n[0],"left")?0:i.sizeDiff.height,r=o?0:i.sizeDiff.width,h={width:i.size.width-r,height:i.size.height-a},l=parseFloat(i.element.css("left"))+(i.position.left-i.originalPosition.left)||null,c=parseFloat(i.element.css("top"))+(i.position.top-i.originalPosition.top)||null;i.element.animate(t.extend(h,c&&l?{top:c,left:l}:{}),{duration:s.animateDuration,easing:s.animateEasing,step:function(){var s={width:parseFloat(i.element.css("width")),height:parseFloat(i.element.css("height")),top:parseFloat(i.element.css("top")),left:parseFloat(i.element.css("left"))};n&&n.length&&t(n[0]).css({width:s.width,height:s.height}),i._updateCache(s),i._propagate("resize",e)}})}}),t.ui.plugin.add("resizable","containment",{start:function(){var e,i,s,n,o,a,r,h=t(this).resizable("instance"),l=h.options,c=h.element,u=l.containment,d=u instanceof t?u.get(0):/parent/.test(u)?c.parent().get(0):u;d&&(h.containerElement=t(d),/document/.test(u)||u===document?(h.containerOffset={left:0,top:0},h.containerPosition={left:0,top:0},h.parentData={element:t(document),left:0,top:0,width:t(document).width(),height:t(document).height()||document.body.parentNode.scrollHeight}):(e=t(d),i=[],t(["Top","Right","Left","Bottom"]).each(function(t,s){i[t]=h._num(e.css("padding"+s))}),h.containerOffset=e.offset(),h.containerPosition=e.position(),h.containerSize={height:e.innerHeight()-i[3],width:e.innerWidth()-i[1]},s=h.containerOffset,n=h.containerSize.height,o=h.containerSize.width,a=h._hasScroll(d,"left")?d.scrollWidth:o,r=h._hasScroll(d)?d.scrollHeight:n,h.parentData={element:d,left:s.left,top:s.top,width:a,height:r}))},resize:function(e){var 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e=t(this).resizable("instance"),i=e.options,s=e.containerOffset,n=e.containerPosition,o=e.containerElement,a=t(e.helper),r=a.offset(),h=a.outerWidth()-e.sizeDiff.width,l=a.outerHeight()-e.sizeDiff.height;e._helper&&!i.animate&&/relative/.test(o.css("position"))&&t(this).css({left:r.left-n.left-s.left,width:h,height:l}),e._helper&&!i.animate&&/static/.test(o.css("position"))&&t(this).css({left:r.left-n.left-s.left,width:h,height:l})}}),t.ui.plugin.add("resizable","alsoResize",{start:function(){var e=t(this).resizable("instance"),i=e.options;t(i.alsoResize).each(function(){var e=t(this);e.data("ui-resizable-alsoresize",{width:parseFloat(e.width()),height:parseFloat(e.height()),left:parseFloat(e.css("left")),top:parseFloat(e.css("top"))})})},resize:function(e,i){var s=t(this).resizable("instance"),n=s.options,o=s.originalSize,a=s.originalPosition,r={height:s.size.height-o.height||0,width:s.size.width-o.width||0,top:s.position.top-a.top||0,left:s.position.left-a.left||0};t(n.alsoResize).each(function(){var e=t(this),s=t(this).data("ui-resizable-alsoresize"),n={},o=e.parents(i.originalElement[0]).length?["width","height"]:["width","height","top","left"];t.each(o,function(t,e){var i=(s[e]||0)+(r[e]||0);i&&i>=0&&(n[e]=i||null)}),e.css(n)})},stop:function(){t(this).removeData("ui-resizable-alsoresize")}}),t.ui.plugin.add("resizable","ghost",{start:function(){var e=t(this).resizable("instance"),i=e.size;e.ghost=e.originalElement.clone(),e.ghost.css({opacity:.25,display:"block",position:"relative",height:i.height,width:i.width,margin:0,left:0,top:0}),e._addClass(e.ghost,"ui-resizable-ghost"),t.uiBackCompat!==!1&&"string"==typeof e.options.ghost&&e.ghost.addClass(this.options.ghost),e.ghost.appendTo(e.helper)},resize:function(){var e=t(this).resizable("instance");e.ghost&&e.ghost.css({position:"relative",height:e.size.height,width:e.size.width})},stop:function(){var e=t(this).resizable("instance");e.ghost&&e.helper&&e.helper.get(0).removeChild(e.ghost.get(0))}}),t.ui.plugin.add("resizable","grid",{resize:function(){var e,i=t(this).resizable("instance"),s=i.options,n=i.size,o=i.originalSize,a=i.originalPosition,r=i.axis,h="number"==typeof 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+ * Copyright (c) 2007 Ariel Flesler - aflesler ○ gmail • com | https://github.com/flesler
+ * Licensed under MIT
+ * @author Ariel Flesler
+ * @version 2.1.2
+ */
+;(function(f){"use strict";"function"===typeof define&&define.amd?define(["jquery"],f):"undefined"!==typeof module&&module.exports?module.exports=f(require("jquery")):f(jQuery)})(function($){"use strict";function n(a){return!a.nodeName||-1!==$.inArray(a.nodeName.toLowerCase(),["iframe","#document","html","body"])}function h(a){return $.isFunction(a)||$.isPlainObject(a)?a:{top:a,left:a}}var p=$.scrollTo=function(a,d,b){return $(window).scrollTo(a,d,b)};p.defaults={axis:"xy",duration:0,limit:!0};$.fn.scrollTo=function(a,d,b){"object"=== typeof d&&(b=d,d=0);"function"===typeof b&&(b={onAfter:b});"max"===a&&(a=9E9);b=$.extend({},p.defaults,b);d=d||b.duration;var u=b.queue&&1<b.axis.length;u&&(d/=2);b.offset=h(b.offset);b.over=h(b.over);return this.each(function(){function k(a){var k=$.extend({},b,{queue:!0,duration:d,complete:a&&function(){a.call(q,e,b)}});r.animate(f,k)}if(null!==a){var l=n(this),q=l?this.contentWindow||window:this,r=$(q),e=a,f={},t;switch(typeof e){case "number":case "string":if(/^([+-]=?)?\d+(\.\d+)?(px|%)?$/.test(e)){e= h(e);break}e=l?$(e):$(e,q);case "object":if(e.length===0)return;if(e.is||e.style)t=(e=$(e)).offset()}var v=$.isFunction(b.offset)&&b.offset(q,e)||b.offset;$.each(b.axis.split(""),function(a,c){var d="x"===c?"Left":"Top",m=d.toLowerCase(),g="scroll"+d,h=r[g](),n=p.max(q,c);t?(f[g]=t[m]+(l?0:h-r.offset()[m]),b.margin&&(f[g]-=parseInt(e.css("margin"+d),10)||0,f[g]-=parseInt(e.css("border"+d+"Width"),10)||0),f[g]+=v[m]||0,b.over[m]&&(f[g]+=e["x"===c?"width":"height"]()*b.over[m])):(d=e[m],f[g]=d.slice&& "%"===d.slice(-1)?parseFloat(d)/100*n:d);b.limit&&/^\d+$/.test(f[g])&&(f[g]=0>=f[g]?0:Math.min(f[g],n));!a&&1<b.axis.length&&(h===f[g]?f={}:u&&(k(b.onAfterFirst),f={}))});k(b.onAfter)}})};p.max=function(a,d){var b="x"===d?"Width":"Height",h="scroll"+b;if(!n(a))return a[h]-$(a)[b.toLowerCase()]();var b="client"+b,k=a.ownerDocument||a.document,l=k.documentElement,k=k.body;return Math.max(l[h],k[h])-Math.min(l[b],k[b])};$.Tween.propHooks.scrollLeft=$.Tween.propHooks.scrollTop={get:function(a){return $(a.elem)[a.prop]()}, set:function(a){var d=this.get(a);if(a.options.interrupt&&a._last&&a._last!==d)return $(a.elem).stop();var b=Math.round(a.now);d!==b&&($(a.elem)[a.prop](b),a._last=this.get(a))}};return p});
+/*!
+ PowerTip v1.3.1 (2018-04-15)
+ https://stevenbenner.github.io/jquery-powertip/
+ Copyright (c) 2018 Steven Benner (http://stevenbenner.com/).
+ Released under MIT license.
+ https://raw.github.com/stevenbenner/jquery-powertip/master/LICENSE.txt
+*/
+(function(root,factory){if(typeof define==="function"&&define.amd){define(["jquery"],factory)}else if(typeof module==="object"&&module.exports){module.exports=factory(require("jquery"))}else{factory(root.jQuery)}})(this,function($){var $document=$(document),$window=$(window),$body=$("body");var DATA_DISPLAYCONTROLLER="displayController",DATA_HASACTIVEHOVER="hasActiveHover",DATA_FORCEDOPEN="forcedOpen",DATA_HASMOUSEMOVE="hasMouseMove",DATA_MOUSEONTOTIP="mouseOnToPopup",DATA_ORIGINALTITLE="originalTitle",DATA_POWERTIP="powertip",DATA_POWERTIPJQ="powertipjq",DATA_POWERTIPTARGET="powertiptarget",EVENT_NAMESPACE=".powertip",RAD2DEG=180/Math.PI,MOUSE_EVENTS=["click","dblclick","mousedown","mouseup","mousemove","mouseover","mouseout","mouseenter","mouseleave","contextmenu"];var 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viewportTop=session.scrollTop,viewportLeft=session.scrollLeft,viewportBottom=viewportTop+session.windowHeight,viewportRight=viewportLeft+session.windowWidth,collisions=Collision.none;if(coords.top<viewportTop||Math.abs(coords.bottom-session.windowHeight)-elementHeight<viewportTop){collisions|=Collision.top}if(coords.top+elementHeight>viewportBottom||Math.abs(coords.bottom-session.windowHeight)>viewportBottom){collisions|=Collision.bottom}if(coords.left<viewportLeft||coords.right+elementWidth>viewportRight){collisions|=Collision.left}if(coords.left+elementWidth>viewportRight||coords.right<viewportLeft){collisions|=Collision.right}return collisions}function countFlags(value){var count=0;while(value){value&=value-1;count++}return count}return $.powerTip});/*!
+ * jQuery UI Touch Punch 0.2.3
+ *
+ * Copyright 2011–2014, Dave Furfero
+ * Dual licensed under the MIT or GPL Version 2 licenses.
+ *
+ * Depends:
+ *  jquery.ui.widget.js
+ *  jquery.ui.mouse.js
+ */
+!function(a){function f(a,b){if(!(a.originalEvent.touches.length>1)){a.preventDefault();var c=a.originalEvent.changedTouches[0],d=document.createEvent("MouseEvents");d.initMouseEvent(b,!0,!0,window,1,c.screenX,c.screenY,c.clientX,c.clientY,!1,!1,!1,!1,0,null),a.target.dispatchEvent(d)}}if(a.support.touch="ontouchend"in document,a.support.touch){var e,b=a.ui.mouse.prototype,c=b._mouseInit,d=b._mouseDestroy;b._touchStart=function(a){var b=this;!e&&b._mouseCapture(a.originalEvent.changedTouches[0])&&(e=!0,b._touchMoved=!1,f(a,"mouseover"),f(a,"mousemove"),f(a,"mousedown"))},b._touchMove=function(a){e&&(this._touchMoved=!0,f(a,"mousemove"))},b._touchEnd=function(a){e&&(f(a,"mouseup"),f(a,"mouseout"),this._touchMoved||f(a,"click"),e=!1)},b._mouseInit=function(){var b=this;b.element.bind({touchstart:a.proxy(b,"_touchStart"),touchmove:a.proxy(b,"_touchMove"),touchend:a.proxy(b,"_touchEnd")}),c.call(b)},b._mouseDestroy=function(){var b=this;b.element.unbind({touchstart:a.proxy(b,"_touchStart"),touchmove:a.proxy(b,"_touchMove"),touchend:a.proxy(b,"_touchEnd")}),d.call(b)}}}(jQuery);/*! SmartMenus jQuery Plugin - v1.1.0 - September 17, 2017
+ * http://www.smartmenus.org/
+ * Copyright Vasil Dinkov, Vadikom Web Ltd. http://vadikom.com; Licensed MIT */(function(t){"function"==typeof define&&define.amd?define(["jquery"],t):"object"==typeof module&&"object"==typeof module.exports?module.exports=t(require("jquery")):t(jQuery)})(function($){function initMouseDetection(t){var e=".smartmenus_mouse";if(mouseDetectionEnabled||t)mouseDetectionEnabled&&t&&($(document).off(e),mouseDetectionEnabled=!1);else{var i=!0,s=null,o={mousemove:function(t){var e={x:t.pageX,y:t.pageY,timeStamp:(new Date).getTime()};if(s){var o=Math.abs(s.x-e.x),a=Math.abs(s.y-e.y);if((o>0||a>0)&&2>=o&&2>=a&&300>=e.timeStamp-s.timeStamp&&(mouse=!0,i)){var n=$(t.target).closest("a");n.is("a")&&$.each(menuTrees,function(){return $.contains(this.$root[0],n[0])?(this.itemEnter({currentTarget:n[0]}),!1):void 0}),i=!1}}s=e}};o[touchEvents?"touchstart":"pointerover pointermove pointerout MSPointerOver MSPointerMove 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i=".smartmenus";this.$root.data("smartmenus",this).attr("data-smartmenus-id",this.rootId).dataSM("level",1).on(getEventsNS({"mouseover focusin":$.proxy(this.rootOver,this),"mouseout focusout":$.proxy(this.rootOut,this),keydown:$.proxy(this.rootKeyDown,this)},i)).on(getEventsNS({mouseenter:$.proxy(this.itemEnter,this),mouseleave:$.proxy(this.itemLeave,this),mousedown:$.proxy(this.itemDown,this),focus:$.proxy(this.itemFocus,this),blur:$.proxy(this.itemBlur,this),click:$.proxy(this.itemClick,this)},i),"a"),i+=this.rootId,this.opts.hideOnClick&&$(document).on(getEventsNS({touchstart:$.proxy(this.docTouchStart,this),touchmove:$.proxy(this.docTouchMove,this),touchend:$.proxy(this.docTouchEnd,this),click:$.proxy(this.docClick,this)},i)),$(window).on(getEventsNS({"resize 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e=".smartmenus";this.$root.removeData("smartmenus").removeAttr("data-smartmenus-id").removeDataSM("level").off(e),e+=this.rootId,$(document).off(e),$(window).off(e),this.opts.subIndicators&&(this.$subArrow=null)}this.menuHideAll();var i=this;this.$root.find("ul").each(function(){var t=$(this);t.dataSM("scroll-arrows")&&t.dataSM("scroll-arrows").remove(),t.dataSM("shown-before")&&((i.opts.subMenusMinWidth||i.opts.subMenusMaxWidth)&&t.css({width:"",minWidth:"",maxWidth:""}).removeClass("sm-nowrap"),t.dataSM("scroll-arrows")&&t.dataSM("scroll-arrows").remove(),t.css({zIndex:"",top:"",left:"",marginLeft:"",marginTop:"",display:""})),0==(t.attr("id")||"").indexOf(i.accessIdPrefix)&&t.removeAttr("id")}).removeDataSM("in-mega").removeDataSM("shown-before").removeDataSM("scroll-arrows").removeDataSM("parent-a").removeDataSM("level").removeDataSM("beforefirstshowfired").removeAttr("role").removeAttr("aria-hidden").removeAttr("aria-labelledby").removeAttr("aria-expanded"),this.$root.find("a.has-submenu").each(function(){var t=$(this);0==t.attr("id").indexOf(i.accessIdPrefix)&&t.removeAttr("id")}).removeClass("has-submenu").removeDataSM("sub").removeAttr("aria-haspopup").removeAttr("aria-controls").removeAttr("aria-expanded").closest("li").removeDataSM("sub"),this.opts.subIndicators&&this.$root.find("span.sub-arrow").remove(),this.opts.markCurrentItem&&this.$root.find("a.current").removeClass("current"),t||(this.$root=null,this.$firstLink=null,this.$firstSub=null,this.$disableOverlay&&(this.$disableOverlay.remove(),this.$disableOverlay=null),menuTrees.splice($.inArray(this,menuTrees),1))},disable:function(t){if(!this.disabled){if(this.menuHideAll(),!t&&!this.opts.isPopup&&this.$root.is(":visible")){var e=this.$root.offset();this.$disableOverlay=$('<div class="sm-jquery-disable-overlay"/>').css({position:"absolute",top:e.top,left:e.left,width:this.$root.outerWidth(),height:this.$root.outerHeight(),zIndex:this.getStartZIndex(!0),opacity:0}).appendTo(document.body)}this.disabled=!0}},docClick:function(t){return this.$touchScrollingSub?(this.$touchScrollingSub=null,void 0):((this.visibleSubMenus.length&&!$.contains(this.$root[0],t.target)||$(t.target).closest("a").length)&&this.menuHideAll(),void 0)},docTouchEnd:function(){if(this.lastTouch){if(!(!this.visibleSubMenus.length||void 0!==this.lastTouch.x2&&this.lastTouch.x1!=this.lastTouch.x2||void 0!==this.lastTouch.y2&&this.lastTouch.y1!=this.lastTouch.y2||this.lastTouch.target&&$.contains(this.$root[0],this.lastTouch.target))){this.hideTimeout&&(clearTimeout(this.hideTimeout),this.hideTimeout=0);var t=this;this.hideTimeout=setTimeout(function(){t.menuHideAll()},350)}this.lastTouch=null}},docTouchMove:function(t){if(this.lastTouch){var e=t.originalEvent.touches[0];this.lastTouch.x2=e.pageX,this.lastTouch.y2=e.pageY}},docTouchStart:function(t){var e=t.originalEvent.touches[0];this.lastTouch={x1:e.pageX,y1:e.pageY,target:e.target}},enable:function(){this.disabled&&(this.$disableOverlay&&(this.$disableOverlay.remove(),this.$disableOverlay=null),this.disabled=!1)},getClosestMenu:function(t){for(var e=$(t).closest("ul");e.dataSM("in-mega");)e=e.parent().closest("ul");return e[0]||null},getHeight:function(t){return this.getOffset(t,!0)},getOffset:function(t,e){var i;"none"==t.css("display")&&(i={position:t[0].style.position,visibility:t[0].style.visibility},t.css({position:"absolute",visibility:"hidden"}).show());var s=t[0].getBoundingClientRect&&t[0].getBoundingClientRect(),o=s&&(e?s.height||s.bottom-s.top:s.width||s.right-s.left);return o||0===o||(o=e?t[0].offsetHeight:t[0].offsetWidth),i&&t.hide().css(i),o},getStartZIndex:function(t){var 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0}),t},isLinkInMegaMenu:function(t){return $(this.getClosestMenu(t[0])).hasClass("mega-menu")},isTouchMode:function(){return!mouse||this.opts.noMouseOver||this.isCollapsible()},itemActivate:function(t,e){var i=t.closest("ul"),s=i.dataSM("level");if(s>1&&(!this.activatedItems[s-2]||this.activatedItems[s-2][0]!=i.dataSM("parent-a")[0])){var o=this;$(i.parentsUntil("[data-smartmenus-id]","ul").get().reverse()).add(i).each(function(){o.itemActivate($(this).dataSM("parent-a"))})}if((!this.isCollapsible()||e)&&this.menuHideSubMenus(this.activatedItems[s-1]&&this.activatedItems[s-1][0]==t[0]?s:s-1),this.activatedItems[s-1]=t,this.$root.triggerHandler("activate.smapi",t[0])!==!1){var a=t.dataSM("sub");a&&(this.isTouchMode()||!this.opts.showOnClick||this.clickActivated)&&this.menuShow(a)}},itemBlur:function(t){var e=$(t.currentTarget);this.handleItemEvents(e)&&this.$root.triggerHandler("blur.smapi",e[0])},itemClick:function(t){var e=$(t.currentTarget);if(this.handleItemEvents(e)){if(this.$touchScrollingSub&&this.$touchScrollingSub[0]==e.closest("ul")[0])return this.$touchScrollingSub=null,t.stopPropagation(),!1;if(this.$root.triggerHandler("click.smapi",e[0])===!1)return!1;var i=$(t.target).is(".sub-arrow"),s=e.dataSM("sub"),o=s?2==s.dataSM("level"):!1,a=this.isCollapsible(),n=/toggle$/.test(this.opts.collapsibleBehavior),r=/link$/.test(this.opts.collapsibleBehavior),h=/^accordion/.test(this.opts.collapsibleBehavior);if(s&&!s.is(":visible")){if((!r||!a||i)&&(this.opts.showOnClick&&o&&(this.clickActivated=!0),this.itemActivate(e,h),s.is(":visible")))return this.focusActivated=!0,!1}else if(a&&(n||i))return this.itemActivate(e,h),this.menuHide(s),n&&(this.focusActivated=!1),!1;return this.opts.showOnClick&&o||e.hasClass("disabled")||this.$root.triggerHandler("select.smapi",e[0])===!1?!1:void 0}},itemDown:function(t){var e=$(t.currentTarget);this.handleItemEvents(e)&&e.dataSM("mousedown",!0)},itemEnter:function(t){var e=$(t.currentTarget);if(this.handleItemEvents(e)){if(!this.isTouchMode()){this.showTimeout&&(clearTimeout(this.showTimeout),this.showTimeout=0);var i=this;this.showTimeout=setTimeout(function(){i.itemActivate(e)},this.opts.showOnClick&&1==e.closest("ul").dataSM("level")?1:this.opts.showTimeout)}this.$root.triggerHandler("mouseenter.smapi",e[0])}},itemFocus:function(t){var e=$(t.currentTarget);this.handleItemEvents(e)&&(!this.focusActivated||this.isTouchMode()&&e.dataSM("mousedown")||this.activatedItems.length&&this.activatedItems[this.activatedItems.length-1][0]==e[0]||this.itemActivate(e,!0),this.$root.triggerHandler("focus.smapi",e[0]))},itemLeave:function(t){var e=$(t.currentTarget);this.handleItemEvents(e)&&(this.isTouchMode()||(e[0].blur(),this.showTimeout&&(clearTimeout(this.showTimeout),this.showTimeout=0)),e.removeDataSM("mousedown"),this.$root.triggerHandler("mouseleave.smapi",e[0]))},menuHide:function(t){if(this.$root.triggerHandler("beforehide.smapi",t[0])!==!1&&(canAnimate&&t.stop(!0,!0),"none"!=t.css("display"))){var e=function(){t.css("z-index","")};this.isCollapsible()?canAnimate&&this.opts.collapsibleHideFunction?this.opts.collapsibleHideFunction.call(this,t,e):t.hide(this.opts.collapsibleHideDuration,e):canAnimate&&this.opts.hideFunction?this.opts.hideFunction.call(this,t,e):t.hide(this.opts.hideDuration,e),t.dataSM("scroll")&&(this.menuScrollStop(t),t.css({"touch-action":"","-ms-touch-action":"","-webkit-transform":"",transform:""}).off(".smartmenus_scroll").removeDataSM("scroll").dataSM("scroll-arrows").hide()),t.dataSM("parent-a").removeClass("highlighted").attr("aria-expanded","false"),t.attr({"aria-expanded":"false","aria-hidden":"true"});var i=t.dataSM("level");this.activatedItems.splice(i-1,1),this.visibleSubMenus.splice($.inArray(t,this.visibleSubMenus),1),this.$root.triggerHandler("hide.smapi",t[0])}},menuHideAll:function(){this.showTimeout&&(clearTimeout(this.showTimeout),this.showTimeout=0);for(var t=this.opts.isPopup?1:0,e=this.visibleSubMenus.length-1;e>=t;e--)this.menuHide(this.visibleSubMenus[e]);this.opts.isPopup&&(canAnimate&&this.$root.stop(!0,!0),this.$root.is(":visible")&&(canAnimate&&this.opts.hideFunction?this.opts.hideFunction.call(this,this.$root):this.$root.hide(this.opts.hideDuration))),this.activatedItems=[],this.visibleSubMenus=[],this.clickActivated=!1,this.focusActivated=!1,this.zIndexInc=0,this.$root.triggerHandler("hideAll.smapi")},menuHideSubMenus:function(t){for(var e=this.activatedItems.length-1;e>=t;e--){var i=this.activatedItems[e].dataSM("sub");i&&this.menuHide(i)}},menuInit:function(t){if(!t.dataSM("in-mega")){t.hasClass("mega-menu")&&t.find("ul").dataSM("in-mega",!0);for(var e=2,i=t[0];(i=i.parentNode.parentNode)!=this.$root[0];)e++;var s=t.prevAll("a").eq(-1);s.length||(s=t.prevAll().find("a").eq(-1)),s.addClass("has-submenu").dataSM("sub",t),t.dataSM("parent-a",s).dataSM("level",e).parent().dataSM("sub",t);var o=s.attr("id")||this.accessIdPrefix+ 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e,i,s=t.dataSM("parent-a"),o=s.closest("li"),a=o.parent(),n=t.dataSM("level"),r=this.getWidth(t),h=this.getHeight(t),u=s.offset(),l=u.left,c=u.top,d=this.getWidth(s),m=this.getHeight(s),p=$(window),f=p.scrollLeft(),v=p.scrollTop(),b=this.getViewportWidth(),S=this.getViewportHeight(),g=a.parent().is("[data-sm-horizontal-sub]")||2==n&&!a.hasClass("sm-vertical"),M=this.opts.rightToLeftSubMenus&&!o.is("[data-sm-reverse]")||!this.opts.rightToLeftSubMenus&&o.is("[data-sm-reverse]"),w=2==n?this.opts.mainMenuSubOffsetX:this.opts.subMenusSubOffsetX,T=2==n?this.opts.mainMenuSubOffsetY:this.opts.subMenusSubOffsetY;if(g?(e=M?d-r-w:w,i=this.opts.bottomToTopSubMenus?-h-T:m+T):(e=M?w-r:d-w,i=this.opts.bottomToTopSubMenus?m-T-h:T),this.opts.keepInViewport){var y=l+e,I=c+i;if(M&&f>y?e=g?f-y+e:d-w:!M&&y+r>f+b&&(e=g?f+b-r-y+e:w-r),g||(S>h&&I+h>v+S?i+=v+S-h-I:(h>=S||v>I)&&(i+=v-I)),g&&(I+h>v+S+.49||v>I)||!g&&h>S+.49){var x=this;t.dataSM("scroll-arrows")||t.dataSM("scroll-arrows",$([$('<span 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r=t.dataSM("level");if(this.activatedItems[r-1]&&this.activatedItems[r-1].dataSM("sub")&&this.activatedItems[r-1].dataSM("sub").is(":visible")&&this.menuHideSubMenus(r-1),o.y=o.up&&o.y>=n||!o.up&&n>=o.y?o.y:Math.abs(n-o.y)>s?o.y+(o.up?s:-s):n,t.css(this.cssTransforms3d?{"-webkit-transform":"translate3d(0, "+o.y+"px, 0)",transform:"translate3d(0, "+o.y+"px, 0)"}:{marginTop:o.y}),mouse&&(o.up&&o.y>o.downEnd||!o.up&&o.y<o.upEnd)&&a.eq(o.up?1:0).show(),o.y==n)mouse&&a.eq(o.up?0:1).hide(),this.menuScrollStop(t);else if(!e){this.opts.scrollAccelerate&&o.step<this.opts.scrollStep&&(o.step+=.2);var h=this;this.scrollTimeout=requestAnimationFrame(function(){h.menuScroll(t)})}},menuScrollMousewheel:function(t,e){if(this.getClosestMenu(e.target)==t[0]){e=e.originalEvent;var i=(e.wheelDelta||-e.detail)>0;t.dataSM("scroll-arrows").eq(i?0:1).is(":visible")&&(t.dataSM("scroll").up=i,this.menuScroll(t,!0))}e.preventDefault()},menuScrollOut:function(t,e){mouse&&(/^scroll-(up|down)/.test((e.relatedTarget||"").className)||(t[0]==e.relatedTarget||$.contains(t[0],e.relatedTarget))&&this.getClosestMenu(e.relatedTarget)==t[0]||t.dataSM("scroll-arrows").css("visibility","hidden"))},menuScrollOver:function(t,e){if(mouse&&!/^scroll-(up|down)/.test(e.target.className)&&this.getClosestMenu(e.target)==t[0]){this.menuScrollRefreshData(t);var i=t.dataSM("scroll"),s=$(window).scrollTop()-t.dataSM("parent-a").offset().top-i.itemH;t.dataSM("scroll-arrows").eq(0).css("margin-top",s).end().eq(1).css("margin-top",s+this.getViewportHeight()-i.arrowDownH).end().css("visibility","visible")}},menuScrollRefreshData:function(t){var 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+          <td class="paramname">, </td>
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+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">isr1&#160;</td>
+          <td class="paramname">&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
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+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="ada0ab108e706a9c9cc278ba86a59f052"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ada0ab108e706a9c9cc278ba86a59f052">&#9670;&nbsp;</a></span>irqISR() <span class="overload">[2/2]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
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+          <td class="memname">irqISR </td>
+          <td>(</td>
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+          <td class="paramname">, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">isr2&#160;</td>
+          <td class="paramname">&#160;</td>
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+        <tr>
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+
+<div class="memitem">
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+          <td class="memname">void loop </td>
+          <td>(</td>
+          <td class="paramtype">void&#160;</td>
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+          <td></td>
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+ Copyright (C) 1997-2020 by Dimitri van Heesch
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+ Permission is hereby granted, free of charge, to any person obtaining a copy of this software
+ and associated documentation files (the "Software"), to deal in the Software without restriction,
+ including without limitation the rights to use, copy, modify, merge, publish, distribute,
+ sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is
+ furnished to do so, subject to the following conditions:
+
+ The above copyright notice and this permission notice shall be included in all copies or
+ substantial portions of the Software.
+
+ THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING
+ BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
+ NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM,
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+ The above copyright notice and this permission notice shall be included in all copies or
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+ THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING
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new file mode 100644
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+    box-shadow: inset 0.5px 0.5px 3px 0px #555;
+    z-index: 102;
+}
+
+#MSearchBox .left {
+    display: inline-block;
+    vertical-align: middle;
+    height: 1.4em;
+}
+
+#MSearchSelect {
+    display: inline-block;
+    vertical-align: middle;
+    height: 1.4em;
+    padding: 0 0 0 0.3em;
+    margin: 0;
+}
+
+#MSearchField {
+    display: inline-block;
+    vertical-align: middle;
+    width: 7.5em;
+    height: 1.1em;
+    margin: 0 0.15em;
+    padding: 0;
+    line-height: 1em;
+    border:none;
+    color: #909090;
+    outline: none;
+    font-family: Arial, Verdana, sans-serif;
+    -webkit-border-radius: 0px;
+    border-radius: 0px;
+    background: none;
+}
+
+
+#MSearchBox .right {
+    display: inline-block;
+    vertical-align: middle;
+    width: 1.4em;
+    height: 1.4em;
+}
+
+#MSearchClose {
+    display: none;
+    font-size: inherit;
+    background : none;
+    border: none;
+    margin: 0;
+    padding: 0;
+    outline: none;
+
+}
+
+#MSearchCloseImg {
+    height: 1.4em;
+    padding: 0.3em;
+    margin: 0;
+}
+
+.MSearchBoxActive #MSearchField {
+    color: #000000;
+}
+
+#main-menu > li:last-child {
+    /* This <li> object is the parent of the search bar */
+    display: flex;
+    justify-content: center;
+    align-items: center;
+    height: 36px;
+    margin-right: 1em;
+}
+
+/*---------------- Search filter selection */
+
+#MSearchSelectWindow {
+    display: none;
+    position: absolute;
+    left: 0; top: 0;
+    border: 1px solid #90A5CE;
+    background-color: #F9FAFC;
+    z-index: 10001;
+    padding-top: 4px;
+    padding-bottom: 4px;
+    -moz-border-radius: 4px;
+    -webkit-border-top-left-radius: 4px;
+    -webkit-border-top-right-radius: 4px;
+    -webkit-border-bottom-left-radius: 4px;
+    -webkit-border-bottom-right-radius: 4px;
+    -webkit-box-shadow: 5px 5px 5px rgba(0, 0, 0, 0.15);
+}
+
+.SelectItem {
+    font: 8pt Arial, Verdana, sans-serif;
+    padding-left:  2px;
+    padding-right: 12px;
+    border: 0px;
+}
+
+span.SelectionMark {
+    margin-right: 4px;
+    font-family: monospace;
+    outline-style: none;
+    text-decoration: none;
+}
+
+a.SelectItem {
+    display: block;
+    outline-style: none;
+    color: #000000; 
+    text-decoration: none;
+    padding-left:   6px;
+    padding-right: 12px;
+}
+
+a.SelectItem:focus,
+a.SelectItem:active {
+    color: #000000; 
+    outline-style: none;
+    text-decoration: none;
+}
+
+a.SelectItem:hover {
+    color: #FFFFFF;
+    background-color: #3D578C;
+    outline-style: none;
+    text-decoration: none;
+    cursor: pointer;
+    display: block;
+}
+
+/*---------------- Search results window */
+
+iframe#MSearchResults {
+    width: 60ex;
+    height: 15em;
+}
+
+#MSearchResultsWindow {
+    display: none;
+    position: absolute;
+    left: 0; top: 0;
+    border: 1px solid #000;
+    background-color: #EEF1F7;
+    z-index:10000;
+}
+
+/* ----------------------------------- */
+
+
+#SRIndex {
+    clear:both; 
+    padding-bottom: 15px;
+}
+
+.SREntry {
+    font-size: 10pt;
+    padding-left: 1ex;
+}
+
+.SRPage .SREntry {
+    font-size: 8pt;
+    padding: 1px 5px;
+}
+
+body.SRPage {
+    margin: 5px 2px;
+}
+
+.SRChildren {
+    padding-left: 3ex; padding-bottom: .5em 
+}
+
+.SRPage .SRChildren {
+    display: none;
+}
+
+.SRSymbol {
+    font-weight: bold; 
+    color: #425E97;
+    font-family: Arial, Verdana, sans-serif;
+    text-decoration: none;
+    outline: none;
+}
+
+a.SRScope {
+    display: block;
+    color: #425E97; 
+    font-family: Arial, Verdana, sans-serif;
+    text-decoration: none;
+    outline: none;
+}
+
+a.SRSymbol:focus, a.SRSymbol:active,
+a.SRScope:focus, a.SRScope:active {
+    text-decoration: underline;
+}
+
+span.SRScope {
+    padding-left: 4px;
+    font-family: Arial, Verdana, sans-serif;
+}
+
+.SRPage .SRStatus {
+    padding: 2px 5px;
+    font-size: 8pt;
+    font-style: italic;
+    font-family: Arial, Verdana, sans-serif;
+}
+
+.SRResult {
+    display: none;
+}
+
+div.searchresults {
+    margin-left: 10px;
+    margin-right: 10px;
+}
+
+/*---------------- External search page results */
+
+.searchresult {
+    background-color: #F0F3F8;
+}
+
+.pages b {
+   color: white;
+   padding: 5px 5px 3px 5px;
+   background-image: url("../tab_a.png");
+   background-repeat: repeat-x;
+   text-shadow: 0 1px 1px #000000;
+}
+
+.pages {
+    line-height: 17px;
+    margin-left: 4px;
+    text-decoration: none;
+}
+
+.hl {
+    font-weight: bold;
+}
+
+#searchresults {
+    margin-bottom: 20px;
+}
+
+.searchpages {
+    margin-top: 10px;
+}
+
diff --git a/src/dcaitirobot/embedded/docs/html/search/search.js b/src/dcaitirobot/embedded/docs/html/search/search.js
new file mode 100644
index 0000000..fb226f7
--- /dev/null
+++ b/src/dcaitirobot/embedded/docs/html/search/search.js
@@ -0,0 +1,816 @@
+/*
+ @licstart  The following is the entire license notice for the JavaScript code in this file.
+
+ The MIT License (MIT)
+
+ Copyright (C) 1997-2020 by Dimitri van Heesch
+
+ Permission is hereby granted, free of charge, to any person obtaining a copy of this software
+ and associated documentation files (the "Software"), to deal in the Software without restriction,
+ including without limitation the rights to use, copy, modify, merge, publish, distribute,
+ sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is
+ furnished to do so, subject to the following conditions:
+
+ The above copyright notice and this permission notice shall be included in all copies or
+ substantial portions of the Software.
+
+ THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING
+ BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
+ NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM,
+ DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+
+ @licend  The above is the entire license notice for the JavaScript code in this file
+ */
+function convertToId(search)
+{
+  var result = '';
+  for (i=0;i<search.length;i++)
+  {
+    var c = search.charAt(i);
+    var cn = c.charCodeAt(0);
+    if (c.match(/[a-z0-9\u0080-\uFFFF]/))
+    {
+      result+=c;
+    }
+    else if (cn<16)
+    {
+      result+="_0"+cn.toString(16);
+    }
+    else
+    {
+      result+="_"+cn.toString(16);
+    }
+  }
+  return result;
+}
+
+function getXPos(item)
+{
+  var x = 0;
+  if (item.offsetWidth)
+  {
+    while (item && item!=document.body)
+    {
+      x   += item.offsetLeft;
+      item = item.offsetParent;
+    }
+  }
+  return x;
+}
+
+function getYPos(item)
+{
+  var y = 0;
+  if (item.offsetWidth)
+  {
+     while (item && item!=document.body)
+     {
+       y   += item.offsetTop;
+       item = item.offsetParent;
+     }
+  }
+  return y;
+}
+
+/* A class handling everything associated with the search panel.
+
+   Parameters:
+   name - The name of the global variable that will be
+          storing this instance.  Is needed to be able to set timeouts.
+   resultPath - path to use for external files
+*/
+function SearchBox(name, resultsPath, inFrame, label, extension)
+{
+  if (!name || !resultsPath) {  alert("Missing parameters to SearchBox."); }
+  if (!extension || extension == "") { extension = ".html"; }
+
+  // ---------- Instance variables
+  this.name                  = name;
+  this.resultsPath           = resultsPath;
+  this.keyTimeout            = 0;
+  this.keyTimeoutLength      = 500;
+  this.closeSelectionTimeout = 300;
+  this.lastSearchValue       = "";
+  this.lastResultsPage       = "";
+  this.hideTimeout           = 0;
+  this.searchIndex           = 0;
+  this.searchActive          = false;
+  this.insideFrame           = inFrame;
+  this.searchLabel           = label;
+  this.extension             = extension;
+
+  // ----------- DOM Elements
+
+  this.DOMSearchField = function()
+  {  return document.getElementById("MSearchField");  }
+
+  this.DOMSearchSelect = function()
+  {  return document.getElementById("MSearchSelect");  }
+
+  this.DOMSearchSelectWindow = function()
+  {  return document.getElementById("MSearchSelectWindow");  }
+
+  this.DOMPopupSearchResults = function()
+  {  return document.getElementById("MSearchResults");  }
+
+  this.DOMPopupSearchResultsWindow = function()
+  {  return document.getElementById("MSearchResultsWindow");  }
+
+  this.DOMSearchClose = function()
+  {  return document.getElementById("MSearchClose"); }
+
+  this.DOMSearchBox = function()
+  {  return document.getElementById("MSearchBox");  }
+
+  // ------------ Event Handlers
+
+  // Called when focus is added or removed from the search field.
+  this.OnSearchFieldFocus = function(isActive)
+  {
+    this.Activate(isActive);
+  }
+
+  this.OnSearchSelectShow = function()
+  {
+    var searchSelectWindow = this.DOMSearchSelectWindow();
+    var searchField        = this.DOMSearchSelect();
+
+    if (this.insideFrame)
+    {
+      var left = getXPos(searchField);
+      var top  = getYPos(searchField);
+      left += searchField.offsetWidth + 6;
+      top += searchField.offsetHeight;
+
+      // show search selection popup
+      searchSelectWindow.style.display='block';
+      left -= searchSelectWindow.offsetWidth;
+      searchSelectWindow.style.left =  left + 'px';
+      searchSelectWindow.style.top  =  top  + 'px';
+    }
+    else
+    {
+      var left = getXPos(searchField);
+      var top  = getYPos(searchField);
+      top += searchField.offsetHeight;
+
+      // show search selection popup
+      searchSelectWindow.style.display='block';
+      searchSelectWindow.style.left =  left + 'px';
+      searchSelectWindow.style.top  =  top  + 'px';
+    }
+
+    // stop selection hide timer
+    if (this.hideTimeout)
+    {
+      clearTimeout(this.hideTimeout);
+      this.hideTimeout=0;
+    }
+    return false; // to avoid "image drag" default event
+  }
+
+  this.OnSearchSelectHide = function()
+  {
+    this.hideTimeout = setTimeout(this.name +".CloseSelectionWindow()",
+                                  this.closeSelectionTimeout);
+  }
+
+  // Called when the content of the search field is changed.
+  this.OnSearchFieldChange = function(evt)
+  {
+    if (this.keyTimeout) // kill running timer
+    {
+      clearTimeout(this.keyTimeout);
+      this.keyTimeout = 0;
+    }
+
+    var e  = (evt) ? evt : window.event; // for IE
+    if (e.keyCode==40 || e.keyCode==13)
+    {
+      if (e.shiftKey==1)
+      {
+        this.OnSearchSelectShow();
+        var win=this.DOMSearchSelectWindow();
+        for (i=0;i<win.childNodes.length;i++)
+        {
+          var child = win.childNodes[i]; // get span within a
+          if (child.className=='SelectItem')
+          {
+            child.focus();
+            return;
+          }
+        }
+        return;
+      }
+      else
+      {
+        window.frames.MSearchResults.postMessage("take_focus", "*");
+      }
+    }
+    else if (e.keyCode==27) // Escape out of the search field
+    {
+      this.DOMSearchField().blur();
+      this.DOMPopupSearchResultsWindow().style.display = 'none';
+      this.DOMSearchClose().style.display = 'none';
+      this.lastSearchValue = '';
+      this.Activate(false);
+      return;
+    }
+
+    // strip whitespaces
+    var searchValue = this.DOMSearchField().value.replace(/ +/g, "");
+
+    if (searchValue != this.lastSearchValue) // search value has changed
+    {
+      if (searchValue != "") // non-empty search
+      {
+        // set timer for search update
+        this.keyTimeout = setTimeout(this.name + '.Search()',
+                                     this.keyTimeoutLength);
+      }
+      else // empty search field
+      {
+        this.DOMPopupSearchResultsWindow().style.display = 'none';
+        this.DOMSearchClose().style.display = 'none';
+        this.lastSearchValue = '';
+      }
+    }
+  }
+
+  this.SelectItemCount = function(id)
+  {
+    var count=0;
+    var win=this.DOMSearchSelectWindow();
+    for (i=0;i<win.childNodes.length;i++)
+    {
+      var child = win.childNodes[i]; // get span within a
+      if (child.className=='SelectItem')
+      {
+        count++;
+      }
+    }
+    return count;
+  }
+
+  this.SelectItemSet = function(id)
+  {
+    var i,j=0;
+    var win=this.DOMSearchSelectWindow();
+    for (i=0;i<win.childNodes.length;i++)
+    {
+      var child = win.childNodes[i]; // get span within a
+      if (child.className=='SelectItem')
+      {
+        var node = child.firstChild;
+        if (j==id)
+        {
+          node.innerHTML='&#8226;';
+        }
+        else
+        {
+          node.innerHTML='&#160;';
+        }
+        j++;
+      }
+    }
+  }
+
+  // Called when an search filter selection is made.
+  // set item with index id as the active item
+  this.OnSelectItem = function(id)
+  {
+    this.searchIndex = id;
+    this.SelectItemSet(id);
+    var searchValue = this.DOMSearchField().value.replace(/ +/g, "");
+    if (searchValue!="" && this.searchActive) // something was found -> do a search
+    {
+      this.Search();
+    }
+  }
+
+  this.OnSearchSelectKey = function(evt)
+  {
+    var e = (evt) ? evt : window.event; // for IE
+    if (e.keyCode==40 && this.searchIndex<this.SelectItemCount()) // Down
+    {
+      this.searchIndex++;
+      this.OnSelectItem(this.searchIndex);
+    }
+    else if (e.keyCode==38 && this.searchIndex>0) // Up
+    {
+      this.searchIndex--;
+      this.OnSelectItem(this.searchIndex);
+    }
+    else if (e.keyCode==13 || e.keyCode==27)
+    {
+      this.OnSelectItem(this.searchIndex);
+      this.CloseSelectionWindow();
+      this.DOMSearchField().focus();
+    }
+    return false;
+  }
+
+  // --------- Actions
+
+  // Closes the results window.
+  this.CloseResultsWindow = function()
+  {
+    this.DOMPopupSearchResultsWindow().style.display = 'none';
+    this.DOMSearchClose().style.display = 'none';
+    this.Activate(false);
+  }
+
+  this.CloseSelectionWindow = function()
+  {
+    this.DOMSearchSelectWindow().style.display = 'none';
+  }
+
+  // Performs a search.
+  this.Search = function()
+  {
+    this.keyTimeout = 0;
+
+    // strip leading whitespace
+    var searchValue = this.DOMSearchField().value.replace(/^ +/, "");
+
+    var code = searchValue.toLowerCase().charCodeAt(0);
+    var idxChar = searchValue.substr(0, 1).toLowerCase();
+    if ( 0xD800 <= code && code <= 0xDBFF && searchValue > 1) // surrogate pair
+    {
+      idxChar = searchValue.substr(0, 2);
+    }
+
+    var resultsPage;
+    var resultsPageWithSearch;
+    var hasResultsPage;
+
+    var idx = indexSectionsWithContent[this.searchIndex].indexOf(idxChar);
+    if (idx!=-1)
+    {
+       var hexCode=idx.toString(16);
+       resultsPage = this.resultsPath + '/' + indexSectionNames[this.searchIndex] + '_' + hexCode + this.extension;
+       resultsPageWithSearch = resultsPage+'?'+escape(searchValue);
+       hasResultsPage = true;
+    }
+    else // nothing available for this search term
+    {
+       resultsPage = this.resultsPath + '/nomatches' + this.extension;
+       resultsPageWithSearch = resultsPage;
+       hasResultsPage = false;
+    }
+
+    window.frames.MSearchResults.location = resultsPageWithSearch;
+    var domPopupSearchResultsWindow = this.DOMPopupSearchResultsWindow();
+
+    if (domPopupSearchResultsWindow.style.display!='block')
+    {
+       var domSearchBox = this.DOMSearchBox();
+       this.DOMSearchClose().style.display = 'inline-block';
+       if (this.insideFrame)
+       {
+         var domPopupSearchResults = this.DOMPopupSearchResults();
+         domPopupSearchResultsWindow.style.position = 'relative';
+         domPopupSearchResultsWindow.style.display  = 'block';
+         var width = document.body.clientWidth - 8; // the -8 is for IE :-(
+         domPopupSearchResultsWindow.style.width    = width + 'px';
+         domPopupSearchResults.style.width          = width + 'px';
+       }
+       else
+       {
+         var domPopupSearchResults = this.DOMPopupSearchResults();
+         var left = getXPos(domSearchBox) + 150; // domSearchBox.offsetWidth;
+         var top  = getYPos(domSearchBox) + 20;  // domSearchBox.offsetHeight + 1;
+         domPopupSearchResultsWindow.style.display = 'block';
+         left -= domPopupSearchResults.offsetWidth;
+         domPopupSearchResultsWindow.style.top     = top  + 'px';
+         domPopupSearchResultsWindow.style.left    = left + 'px';
+       }
+    }
+
+    this.lastSearchValue = searchValue;
+    this.lastResultsPage = resultsPage;
+  }
+
+  // -------- Activation Functions
+
+  // Activates or deactivates the search panel, resetting things to
+  // their default values if necessary.
+  this.Activate = function(isActive)
+  {
+    if (isActive || // open it
+        this.DOMPopupSearchResultsWindow().style.display == 'block'
+       )
+    {
+      this.DOMSearchBox().className = 'MSearchBoxActive';
+
+      var searchField = this.DOMSearchField();
+
+      if (searchField.value == this.searchLabel) // clear "Search" term upon entry
+      {
+        searchField.value = '';
+        this.searchActive = true;
+      }
+    }
+    else if (!isActive) // directly remove the panel
+    {
+      this.DOMSearchBox().className = 'MSearchBoxInactive';
+      this.DOMSearchField().value   = this.searchLabel;
+      this.searchActive             = false;
+      this.lastSearchValue          = ''
+      this.lastResultsPage          = '';
+    }
+  }
+}
+
+// -----------------------------------------------------------------------
+
+// The class that handles everything on the search results page.
+function SearchResults(name)
+{
+    // The number of matches from the last run of <Search()>.
+    this.lastMatchCount = 0;
+    this.lastKey = 0;
+    this.repeatOn = false;
+
+    // Toggles the visibility of the passed element ID.
+    this.FindChildElement = function(id)
+    {
+      var parentElement = document.getElementById(id);
+      var element = parentElement.firstChild;
+
+      while (element && element!=parentElement)
+      {
+        if (element.nodeName.toLowerCase() == 'div' && element.className == 'SRChildren')
+        {
+          return element;
+        }
+
+        if (element.nodeName.toLowerCase() == 'div' && element.hasChildNodes())
+        {
+           element = element.firstChild;
+        }
+        else if (element.nextSibling)
+        {
+           element = element.nextSibling;
+        }
+        else
+        {
+          do
+          {
+            element = element.parentNode;
+          }
+          while (element && element!=parentElement && !element.nextSibling);
+
+          if (element && element!=parentElement)
+          {
+            element = element.nextSibling;
+          }
+        }
+      }
+    }
+
+    this.Toggle = function(id)
+    {
+      var element = this.FindChildElement(id);
+      if (element)
+      {
+        if (element.style.display == 'block')
+        {
+          element.style.display = 'none';
+        }
+        else
+        {
+          element.style.display = 'block';
+        }
+      }
+    }
+
+    // Searches for the passed string.  If there is no parameter,
+    // it takes it from the URL query.
+    //
+    // Always returns true, since other documents may try to call it
+    // and that may or may not be possible.
+    this.Search = function(search)
+    {
+      if (!search) // get search word from URL
+      {
+        search = window.location.search;
+        search = search.substring(1);  // Remove the leading '?'
+        search = unescape(search);
+      }
+
+      search = search.replace(/^ +/, ""); // strip leading spaces
+      search = search.replace(/ +$/, ""); // strip trailing spaces
+      search = search.toLowerCase();
+      search = convertToId(search);
+
+      var resultRows = document.getElementsByTagName("div");
+      var matches = 0;
+
+      var i = 0;
+      while (i < resultRows.length)
+      {
+        var row = resultRows.item(i);
+        if (row.className == "SRResult")
+        {
+          var rowMatchName = row.id.toLowerCase();
+          rowMatchName = rowMatchName.replace(/^sr\d*_/, ''); // strip 'sr123_'
+
+          if (search.length<=rowMatchName.length &&
+             rowMatchName.substr(0, search.length)==search)
+          {
+            row.style.display = 'block';
+            matches++;
+          }
+          else
+          {
+            row.style.display = 'none';
+          }
+        }
+        i++;
+      }
+      document.getElementById("Searching").style.display='none';
+      if (matches == 0) // no results
+      {
+        document.getElementById("NoMatches").style.display='block';
+      }
+      else // at least one result
+      {
+        document.getElementById("NoMatches").style.display='none';
+      }
+      this.lastMatchCount = matches;
+      return true;
+    }
+
+    // return the first item with index index or higher that is visible
+    this.NavNext = function(index)
+    {
+      var focusItem;
+      while (1)
+      {
+        var focusName = 'Item'+index;
+        focusItem = document.getElementById(focusName);
+        if (focusItem && focusItem.parentNode.parentNode.style.display=='block')
+        {
+          break;
+        }
+        else if (!focusItem) // last element
+        {
+          break;
+        }
+        focusItem=null;
+        index++;
+      }
+      return focusItem;
+    }
+
+    this.NavPrev = function(index)
+    {
+      var focusItem;
+      while (1)
+      {
+        var focusName = 'Item'+index;
+        focusItem = document.getElementById(focusName);
+        if (focusItem && focusItem.parentNode.parentNode.style.display=='block')
+        {
+          break;
+        }
+        else if (!focusItem) // last element
+        {
+          break;
+        }
+        focusItem=null;
+        index--;
+      }
+      return focusItem;
+    }
+
+    this.ProcessKeys = function(e)
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+      else if (e.type == "keypress")
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+      else if (e.type == "keyup")
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+      if (this.lastKey==38) // Up
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+        parent.searchBox.CloseResultsWindow();
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+      return false;
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+}
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+function setKeyActions(elem,action)
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+}
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+  <div class="summary">
+<a href="#pub-attribs">Public Attributes</a> &#124;
+<a href="structISRVars-members.html">List of all members</a>  </div>
+  <div class="headertitle">
+<div class="title">ISRVars Struct Reference</div>  </div>
+</div><!--header-->
+<div class="contents">
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+<p><code>#include &lt;<a class="el" href="MotorWheel_8h_source.html">MotorWheel.h</a>&gt;</code></p>
+<table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-attribs"></a>
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+<tr class="separator:a5fb13f185745e43667ba30d2c0481f74"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="memitem:a24a642bb0d154409a0c7799c6e79552a"><td class="memItemLeft" align="right" valign="top">unsigned char&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structISRVars.html#a24a642bb0d154409a0c7799c6e79552a">pinIRQB</a></td></tr>
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+<tr class="memitem:ac1eba4ab5f07f4751a050d9cbcedc797"><td class="memItemLeft" align="right" valign="top">unsigned char&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structISRVars.html#ac1eba4ab5f07f4751a050d9cbcedc797">pinIRQ</a></td></tr>
+<tr class="separator:ac1eba4ab5f07f4751a050d9cbcedc797"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<h2 class="groupheader">Member Data Documentation</h2>
+<a id="a9db372787f75f20b71f24706af08878e"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a9db372787f75f20b71f24706af08878e">&#9670;&nbsp;</a></span>currDirection</h2>
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+</div>
+</div>
+<a id="a24a642bb0d154409a0c7799c6e79552a"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a24a642bb0d154409a0c7799c6e79552a">&#9670;&nbsp;</a></span>pinIRQB</h2>
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+<div class="memitem">
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+          <td class="memname">volatile unsigned int ISRVars::speedPPS</td>
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+</div>
+</div>
+<hr/>The documentation for this struct was generated from the following file:<ul>
+<li>lib/MotorWheel/<a class="el" href="MotorWheel_8h_source.html">MotorWheel.h</a></li>
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diff --git a/src/dcaitirobot/embedded/docs/latex/Makefile b/src/dcaitirobot/embedded/docs/latex/Makefile
new file mode 100644
index 0000000..877c9cc
--- /dev/null
+++ b/src/dcaitirobot/embedded/docs/latex/Makefile
@@ -0,0 +1,23 @@
+LATEX_CMD=pdflatex
+
+all: refman.pdf
+
+pdf: refman.pdf
+
+refman.pdf: clean refman.tex
+	$(LATEX_CMD) refman
+	makeindex refman.idx
+	$(LATEX_CMD) refman
+	latex_count=8 ; \
+	while egrep -s 'Rerun (LaTeX|to get cross-references right)' refman.log && [ $$latex_count -gt 0 ] ;\
+	    do \
+	      echo "Rerunning latex...." ;\
+	      $(LATEX_CMD) refman ;\
+	      latex_count=`expr $$latex_count - 1` ;\
+	    done
+	makeindex refman.idx
+	$(LATEX_CMD) refman
+
+
+clean:
+	rm -f *.ps *.dvi *.aux *.toc *.idx *.ind *.ilg *.log *.out *.brf *.blg *.bbl refman.pdf
diff --git a/src/dcaitirobot/embedded/docs/latex/MotorWheel_8cpp.tex b/src/dcaitirobot/embedded/docs/latex/MotorWheel_8cpp.tex
new file mode 100644
index 0000000..8caead0
--- /dev/null
+++ b/src/dcaitirobot/embedded/docs/latex/MotorWheel_8cpp.tex
@@ -0,0 +1,11 @@
+\hypertarget{MotorWheel_8cpp}{}\doxysection{lib/\+Motor\+Wheel/\+Motor\+Wheel.cpp File Reference}
+\label{MotorWheel_8cpp}\index{lib/MotorWheel/MotorWheel.cpp@{lib/MotorWheel/MotorWheel.cpp}}
+{\ttfamily \#include $<$Motor\+Wheel.\+h$>$}\newline
+Include dependency graph for Motor\+Wheel.\+cpp\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=350pt]{MotorWheel_8cpp__incl}
+\end{center}
+\end{figure}
diff --git a/src/dcaitirobot/embedded/docs/latex/MotorWheel_8cpp__incl.md5 b/src/dcaitirobot/embedded/docs/latex/MotorWheel_8cpp__incl.md5
new file mode 100644
index 0000000..545efc1
--- /dev/null
+++ b/src/dcaitirobot/embedded/docs/latex/MotorWheel_8cpp__incl.md5
@@ -0,0 +1 @@
+adb520aa3e12701c7731e4a90766c65e
\ No newline at end of file
diff --git a/src/dcaitirobot/embedded/docs/latex/MotorWheel_8cpp__incl.pdf b/src/dcaitirobot/embedded/docs/latex/MotorWheel_8cpp__incl.pdf
new file mode 100644
index 0000000000000000000000000000000000000000..74f795c669fb0f6089c0d8335041905902bb21d1
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diff --git a/src/dcaitirobot/embedded/docs/latex/MotorWheel_8h.tex b/src/dcaitirobot/embedded/docs/latex/MotorWheel_8h.tex
new file mode 100644
index 0000000..7dc62ac
--- /dev/null
+++ b/src/dcaitirobot/embedded/docs/latex/MotorWheel_8h.tex
@@ -0,0 +1,232 @@
+\hypertarget{MotorWheel_8h}{}\doxysection{lib/\+Motor\+Wheel/\+Motor\+Wheel.h File Reference}
+\label{MotorWheel_8h}\index{lib/MotorWheel/MotorWheel.h@{lib/MotorWheel/MotorWheel.h}}
+{\ttfamily \#include $<$PID\+\_\+\+Beta6.\+h$>$}\newline
+{\ttfamily \#include $<$Pin\+Change\+Int.\+h$>$}\newline
+Include dependency graph for Motor\+Wheel.\+h\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=350pt]{MotorWheel_8h__incl}
+\end{center}
+\end{figure}
+This graph shows which files directly or indirectly include this file\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=350pt]{MotorWheel_8h__dep__incl}
+\end{center}
+\end{figure}
+\doxysubsection*{Classes}
+\begin{DoxyCompactItemize}
+\item 
+struct \mbox{\hyperlink{structISRVars}{ISRVars}}
+\item 
+class \mbox{\hyperlink{classMotor}{Motor}}
+\item 
+class \mbox{\hyperlink{classGearedMotor}{Geared\+Motor}}
+\item 
+class \mbox{\hyperlink{classMotorWheel}{Motor\+Wheel}}
+\end{DoxyCompactItemize}
+\doxysubsection*{Macros}
+\begin{DoxyCompactItemize}
+\item 
+\#define \mbox{\hyperlink{MotorWheel_8h_a4ba93a34cdd9c7b4d1f72021b449906e}{DIR\+\_\+\+ADVANCE}}~HIGH
+\item 
+\#define \mbox{\hyperlink{MotorWheel_8h_ad52f8b2bf56da6fe72ca2bf9da935ee7}{DIR\+\_\+\+BACKOFF}}~LOW
+\item 
+\#define \mbox{\hyperlink{MotorWheel_8h_adf4d6e9fc5cbf047c65ce74b4fa14117}{PIN\+\_\+\+UNDEFINED}}~255
+\item 
+\#define \mbox{\hyperlink{MotorWheel_8h_a2d979268f4539332ee9b1abc5b58e974}{REF\+\_\+\+VOLT}}~12
+\item 
+\#define \mbox{\hyperlink{MotorWheel_8h_a1df990f1a1fc97b95e8d53f719968026}{MAX\+\_\+\+PWM}}~255
+\item 
+\#define \mbox{\hyperlink{MotorWheel_8h_a86de85f5177dabb5ff712bf180db43aa}{TRIGGER}}~CHANGE
+\item 
+\#define \mbox{\hyperlink{MotorWheel_8h_ad8f1771d4051eafad228df4d397d7e47}{CPR}}~24
+\item 
+\#define \mbox{\hyperlink{MotorWheel_8h_a37aea0c86f1a366a15e54142dbcd0f45}{DIR\+\_\+\+INVERSE}}~!
+\item 
+\#define \mbox{\hyperlink{MotorWheel_8h_a545c3d33941dafc6ffd8cd9a61f6fca4}{REDUCTION\+\_\+\+RATIO}}~64
+\item 
+\#define \mbox{\hyperlink{MotorWheel_8h_a81d84c8ab20039cad6024ab239ee4086}{MAX\+\_\+\+SPEEDRPM}}~8000
+\item 
+\#define \mbox{\hyperlink{MotorWheel_8h_ac47b302f1b8d2a7a9c035c417247be76}{SEC\+\_\+\+PER\+\_\+\+MIN}}~60
+\item 
+\#define \mbox{\hyperlink{MotorWheel_8h_a81bcea712b48d6bf8f7193e3de40404b}{MICROS\+\_\+\+PER\+\_\+\+SEC}}~1000000
+\item 
+\#define \mbox{\hyperlink{MotorWheel_8h_a2ab9b66762dd6eb975292a7e83116bec}{SPEEDPPS2\+SPEEDRPM}}(freq)~((unsigned long)(freq)$\ast$(\mbox{\hyperlink{MotorWheel_8h_ac47b302f1b8d2a7a9c035c417247be76}{SEC\+\_\+\+PER\+\_\+\+MIN}})/(\mbox{\hyperlink{MotorWheel_8h_ad8f1771d4051eafad228df4d397d7e47}{CPR}}))
+\item 
+\#define \mbox{\hyperlink{MotorWheel_8h_a73764abcca0b8bbf6bf355d9f1bab0b9}{KC}}~0.\+31
+\item 
+\#define \mbox{\hyperlink{MotorWheel_8h_a73c066690ee81cb3f9c801205a237acd}{TAUI}}~0.\+02
+\item 
+\#define \mbox{\hyperlink{MotorWheel_8h_a75450bf317fb4edd6c44dbe6b2ff7673}{TAUD}}~0.\+00
+\item 
+\#define \mbox{\hyperlink{MotorWheel_8h_a755b9528bf80376f0476829e8078a0da}{SAMPLETIME}}~5
+\item 
+\#define \mbox{\hyperlink{MotorWheel_8h_ab201ec4c4f600966de3779313f08d2c3}{Baudrate}}~19200
+\item 
+\#define \mbox{\hyperlink{MotorWheel_8h_aa8f0efe0d1ee33354f41f8898d0ee8dd}{debug}}()~\{\}
+\item 
+\#define \mbox{\hyperlink{MotorWheel_8h_a9812ffc02e34cfd1b5809ba2811a98ae}{irq\+ISR}}(y,  x)
+\item 
+\#define \mbox{\hyperlink{MotorWheel_8h_a598a3330b3c21701223ee0ca14316eca}{PI}}~3.\+1416
+\item 
+\#define \mbox{\hyperlink{MotorWheel_8h_a557b8031c21a790194ec252c281dc404}{CIRMM}}~314
+\end{DoxyCompactItemize}
+
+
+\doxysubsection{Macro Definition Documentation}
+\mbox{\Hypertarget{MotorWheel_8h_ab201ec4c4f600966de3779313f08d2c3}\label{MotorWheel_8h_ab201ec4c4f600966de3779313f08d2c3}} 
+\index{MotorWheel.h@{MotorWheel.h}!Baudrate@{Baudrate}}
+\index{Baudrate@{Baudrate}!MotorWheel.h@{MotorWheel.h}}
+\doxysubsubsection{\texorpdfstring{Baudrate}{Baudrate}}
+{\footnotesize\ttfamily \#define Baudrate~19200}
+
+\mbox{\Hypertarget{MotorWheel_8h_a557b8031c21a790194ec252c281dc404}\label{MotorWheel_8h_a557b8031c21a790194ec252c281dc404}} 
+\index{MotorWheel.h@{MotorWheel.h}!CIRMM@{CIRMM}}
+\index{CIRMM@{CIRMM}!MotorWheel.h@{MotorWheel.h}}
+\doxysubsubsection{\texorpdfstring{CIRMM}{CIRMM}}
+{\footnotesize\ttfamily \#define CIRMM~314}
+
+\mbox{\Hypertarget{MotorWheel_8h_ad8f1771d4051eafad228df4d397d7e47}\label{MotorWheel_8h_ad8f1771d4051eafad228df4d397d7e47}} 
+\index{MotorWheel.h@{MotorWheel.h}!CPR@{CPR}}
+\index{CPR@{CPR}!MotorWheel.h@{MotorWheel.h}}
+\doxysubsubsection{\texorpdfstring{CPR}{CPR}}
+{\footnotesize\ttfamily \#define CPR~24}
+
+\mbox{\Hypertarget{MotorWheel_8h_aa8f0efe0d1ee33354f41f8898d0ee8dd}\label{MotorWheel_8h_aa8f0efe0d1ee33354f41f8898d0ee8dd}} 
+\index{MotorWheel.h@{MotorWheel.h}!debug@{debug}}
+\index{debug@{debug}!MotorWheel.h@{MotorWheel.h}}
+\doxysubsubsection{\texorpdfstring{debug}{debug}}
+{\footnotesize\ttfamily \#define debug(\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})~\{\}}
+
+\mbox{\Hypertarget{MotorWheel_8h_a4ba93a34cdd9c7b4d1f72021b449906e}\label{MotorWheel_8h_a4ba93a34cdd9c7b4d1f72021b449906e}} 
+\index{MotorWheel.h@{MotorWheel.h}!DIR\_ADVANCE@{DIR\_ADVANCE}}
+\index{DIR\_ADVANCE@{DIR\_ADVANCE}!MotorWheel.h@{MotorWheel.h}}
+\doxysubsubsection{\texorpdfstring{DIR\_ADVANCE}{DIR\_ADVANCE}}
+{\footnotesize\ttfamily \#define DIR\+\_\+\+ADVANCE~HIGH}
+
+\mbox{\Hypertarget{MotorWheel_8h_ad52f8b2bf56da6fe72ca2bf9da935ee7}\label{MotorWheel_8h_ad52f8b2bf56da6fe72ca2bf9da935ee7}} 
+\index{MotorWheel.h@{MotorWheel.h}!DIR\_BACKOFF@{DIR\_BACKOFF}}
+\index{DIR\_BACKOFF@{DIR\_BACKOFF}!MotorWheel.h@{MotorWheel.h}}
+\doxysubsubsection{\texorpdfstring{DIR\_BACKOFF}{DIR\_BACKOFF}}
+{\footnotesize\ttfamily \#define DIR\+\_\+\+BACKOFF~LOW}
+
+\mbox{\Hypertarget{MotorWheel_8h_a37aea0c86f1a366a15e54142dbcd0f45}\label{MotorWheel_8h_a37aea0c86f1a366a15e54142dbcd0f45}} 
+\index{MotorWheel.h@{MotorWheel.h}!DIR\_INVERSE@{DIR\_INVERSE}}
+\index{DIR\_INVERSE@{DIR\_INVERSE}!MotorWheel.h@{MotorWheel.h}}
+\doxysubsubsection{\texorpdfstring{DIR\_INVERSE}{DIR\_INVERSE}}
+{\footnotesize\ttfamily \#define DIR\+\_\+\+INVERSE~!}
+
+\mbox{\Hypertarget{MotorWheel_8h_a9812ffc02e34cfd1b5809ba2811a98ae}\label{MotorWheel_8h_a9812ffc02e34cfd1b5809ba2811a98ae}} 
+\index{MotorWheel.h@{MotorWheel.h}!irqISR@{irqISR}}
+\index{irqISR@{irqISR}!MotorWheel.h@{MotorWheel.h}}
+\doxysubsubsection{\texorpdfstring{irqISR}{irqISR}}
+{\footnotesize\ttfamily \#define irq\+ISR(\begin{DoxyParamCaption}\item[{}]{y,  }\item[{}]{x }\end{DoxyParamCaption})}
+
+{\bfseries Value\+:}
+\begin{DoxyCode}{0}
+\DoxyCodeLine{    \textcolor{keywordtype}{void} x(); \(\backslash\)}
+\DoxyCodeLine{    struct \mbox{\hyperlink{structISRVars}{ISRVars}} y=\{x\}; \(\backslash\)}
+\DoxyCodeLine{    void x() \{ \(\backslash\)}
+\DoxyCodeLine{        static \textcolor{keywordtype}{bool} first\_pulse=\textcolor{keyword}{true}; \(\backslash\)}
+\DoxyCodeLine{        y.\mbox{\hyperlink{structISRVars_a935b7a7cfe9c5a33902ce56256980846}{pulseEndMicros}}=micros(); \(\backslash\)}
+\DoxyCodeLine{        if(first\_pulse==\textcolor{keyword}{false} \&\& y.pulseEndMicros>y.pulseStartMicros) \{ \(\backslash\)}
+\DoxyCodeLine{            y.speedPPS=\mbox{\hyperlink{MotorWheel_8h_a81bcea712b48d6bf8f7193e3de40404b}{MICROS\_PER\_SEC}}/(y.pulseEndMicros-\/y.pulseStartMicros); \(\backslash\)}
+\DoxyCodeLine{            \textcolor{comment}{/* y.accPPSS=(y.speedPPS-\/y.lastSpeedPPS)*y.speedPPS; */} \(\backslash\)}
+\DoxyCodeLine{        \} \textcolor{keywordflow}{else} first\_pulse=\textcolor{keyword}{false}; \(\backslash\)}
+\DoxyCodeLine{        y.pulseStartMicros=y.pulseEndMicros; \(\backslash\)}
+\DoxyCodeLine{        \textcolor{comment}{/* y.lastSpeedPPS=y.speedPPS; */} \(\backslash\)}
+\DoxyCodeLine{        if(y.pinIRQB!=\mbox{\hyperlink{MotorWheel_8h_adf4d6e9fc5cbf047c65ce74b4fa14117}{PIN\_UNDEFINED}}) \(\backslash\)}
+\DoxyCodeLine{            y.currDirection=\mbox{\hyperlink{MotorWheel_8h_a37aea0c86f1a366a15e54142dbcd0f45}{DIR\_INVERSE}}(digitalRead(y.pinIRQ)\string^digitalRead(y.pinIRQB)); \(\backslash\)}
+\DoxyCodeLine{        y.currDirection==\mbox{\hyperlink{MotorWheel_8h_a4ba93a34cdd9c7b4d1f72021b449906e}{DIR\_ADVANCE}}?++y.pulses:-\/-\/y.pulses; \(\backslash\)}
+\DoxyCodeLine{    \}}
+
+\end{DoxyCode}
+\mbox{\Hypertarget{MotorWheel_8h_a73764abcca0b8bbf6bf355d9f1bab0b9}\label{MotorWheel_8h_a73764abcca0b8bbf6bf355d9f1bab0b9}} 
+\index{MotorWheel.h@{MotorWheel.h}!KC@{KC}}
+\index{KC@{KC}!MotorWheel.h@{MotorWheel.h}}
+\doxysubsubsection{\texorpdfstring{KC}{KC}}
+{\footnotesize\ttfamily \#define KC~0.\+31}
+
+\mbox{\Hypertarget{MotorWheel_8h_a1df990f1a1fc97b95e8d53f719968026}\label{MotorWheel_8h_a1df990f1a1fc97b95e8d53f719968026}} 
+\index{MotorWheel.h@{MotorWheel.h}!MAX\_PWM@{MAX\_PWM}}
+\index{MAX\_PWM@{MAX\_PWM}!MotorWheel.h@{MotorWheel.h}}
+\doxysubsubsection{\texorpdfstring{MAX\_PWM}{MAX\_PWM}}
+{\footnotesize\ttfamily \#define MAX\+\_\+\+PWM~255}
+
+\mbox{\Hypertarget{MotorWheel_8h_a81d84c8ab20039cad6024ab239ee4086}\label{MotorWheel_8h_a81d84c8ab20039cad6024ab239ee4086}} 
+\index{MotorWheel.h@{MotorWheel.h}!MAX\_SPEEDRPM@{MAX\_SPEEDRPM}}
+\index{MAX\_SPEEDRPM@{MAX\_SPEEDRPM}!MotorWheel.h@{MotorWheel.h}}
+\doxysubsubsection{\texorpdfstring{MAX\_SPEEDRPM}{MAX\_SPEEDRPM}}
+{\footnotesize\ttfamily \#define MAX\+\_\+\+SPEEDRPM~8000}
+
+\mbox{\Hypertarget{MotorWheel_8h_a81bcea712b48d6bf8f7193e3de40404b}\label{MotorWheel_8h_a81bcea712b48d6bf8f7193e3de40404b}} 
+\index{MotorWheel.h@{MotorWheel.h}!MICROS\_PER\_SEC@{MICROS\_PER\_SEC}}
+\index{MICROS\_PER\_SEC@{MICROS\_PER\_SEC}!MotorWheel.h@{MotorWheel.h}}
+\doxysubsubsection{\texorpdfstring{MICROS\_PER\_SEC}{MICROS\_PER\_SEC}}
+{\footnotesize\ttfamily \#define MICROS\+\_\+\+PER\+\_\+\+SEC~1000000}
+
+\mbox{\Hypertarget{MotorWheel_8h_a598a3330b3c21701223ee0ca14316eca}\label{MotorWheel_8h_a598a3330b3c21701223ee0ca14316eca}} 
+\index{MotorWheel.h@{MotorWheel.h}!PI@{PI}}
+\index{PI@{PI}!MotorWheel.h@{MotorWheel.h}}
+\doxysubsubsection{\texorpdfstring{PI}{PI}}
+{\footnotesize\ttfamily \#define PI~3.\+1416}
+
+\mbox{\Hypertarget{MotorWheel_8h_adf4d6e9fc5cbf047c65ce74b4fa14117}\label{MotorWheel_8h_adf4d6e9fc5cbf047c65ce74b4fa14117}} 
+\index{MotorWheel.h@{MotorWheel.h}!PIN\_UNDEFINED@{PIN\_UNDEFINED}}
+\index{PIN\_UNDEFINED@{PIN\_UNDEFINED}!MotorWheel.h@{MotorWheel.h}}
+\doxysubsubsection{\texorpdfstring{PIN\_UNDEFINED}{PIN\_UNDEFINED}}
+{\footnotesize\ttfamily \#define PIN\+\_\+\+UNDEFINED~255}
+
+\mbox{\Hypertarget{MotorWheel_8h_a545c3d33941dafc6ffd8cd9a61f6fca4}\label{MotorWheel_8h_a545c3d33941dafc6ffd8cd9a61f6fca4}} 
+\index{MotorWheel.h@{MotorWheel.h}!REDUCTION\_RATIO@{REDUCTION\_RATIO}}
+\index{REDUCTION\_RATIO@{REDUCTION\_RATIO}!MotorWheel.h@{MotorWheel.h}}
+\doxysubsubsection{\texorpdfstring{REDUCTION\_RATIO}{REDUCTION\_RATIO}}
+{\footnotesize\ttfamily \#define REDUCTION\+\_\+\+RATIO~64}
+
+\mbox{\Hypertarget{MotorWheel_8h_a2d979268f4539332ee9b1abc5b58e974}\label{MotorWheel_8h_a2d979268f4539332ee9b1abc5b58e974}} 
+\index{MotorWheel.h@{MotorWheel.h}!REF\_VOLT@{REF\_VOLT}}
+\index{REF\_VOLT@{REF\_VOLT}!MotorWheel.h@{MotorWheel.h}}
+\doxysubsubsection{\texorpdfstring{REF\_VOLT}{REF\_VOLT}}
+{\footnotesize\ttfamily \#define REF\+\_\+\+VOLT~12}
+
+\mbox{\Hypertarget{MotorWheel_8h_a755b9528bf80376f0476829e8078a0da}\label{MotorWheel_8h_a755b9528bf80376f0476829e8078a0da}} 
+\index{MotorWheel.h@{MotorWheel.h}!SAMPLETIME@{SAMPLETIME}}
+\index{SAMPLETIME@{SAMPLETIME}!MotorWheel.h@{MotorWheel.h}}
+\doxysubsubsection{\texorpdfstring{SAMPLETIME}{SAMPLETIME}}
+{\footnotesize\ttfamily \#define SAMPLETIME~5}
+
+\mbox{\Hypertarget{MotorWheel_8h_ac47b302f1b8d2a7a9c035c417247be76}\label{MotorWheel_8h_ac47b302f1b8d2a7a9c035c417247be76}} 
+\index{MotorWheel.h@{MotorWheel.h}!SEC\_PER\_MIN@{SEC\_PER\_MIN}}
+\index{SEC\_PER\_MIN@{SEC\_PER\_MIN}!MotorWheel.h@{MotorWheel.h}}
+\doxysubsubsection{\texorpdfstring{SEC\_PER\_MIN}{SEC\_PER\_MIN}}
+{\footnotesize\ttfamily \#define SEC\+\_\+\+PER\+\_\+\+MIN~60}
+
+\mbox{\Hypertarget{MotorWheel_8h_a2ab9b66762dd6eb975292a7e83116bec}\label{MotorWheel_8h_a2ab9b66762dd6eb975292a7e83116bec}} 
+\index{MotorWheel.h@{MotorWheel.h}!SPEEDPPS2SPEEDRPM@{SPEEDPPS2SPEEDRPM}}
+\index{SPEEDPPS2SPEEDRPM@{SPEEDPPS2SPEEDRPM}!MotorWheel.h@{MotorWheel.h}}
+\doxysubsubsection{\texorpdfstring{SPEEDPPS2SPEEDRPM}{SPEEDPPS2SPEEDRPM}}
+{\footnotesize\ttfamily \#define SPEEDPPS2\+SPEEDRPM(\begin{DoxyParamCaption}\item[{}]{freq }\end{DoxyParamCaption})~((unsigned long)(freq)$\ast$(\mbox{\hyperlink{MotorWheel_8h_ac47b302f1b8d2a7a9c035c417247be76}{SEC\+\_\+\+PER\+\_\+\+MIN}})/(\mbox{\hyperlink{MotorWheel_8h_ad8f1771d4051eafad228df4d397d7e47}{CPR}}))}
+
+\mbox{\Hypertarget{MotorWheel_8h_a75450bf317fb4edd6c44dbe6b2ff7673}\label{MotorWheel_8h_a75450bf317fb4edd6c44dbe6b2ff7673}} 
+\index{MotorWheel.h@{MotorWheel.h}!TAUD@{TAUD}}
+\index{TAUD@{TAUD}!MotorWheel.h@{MotorWheel.h}}
+\doxysubsubsection{\texorpdfstring{TAUD}{TAUD}}
+{\footnotesize\ttfamily \#define TAUD~0.\+00}
+
+\mbox{\Hypertarget{MotorWheel_8h_a73c066690ee81cb3f9c801205a237acd}\label{MotorWheel_8h_a73c066690ee81cb3f9c801205a237acd}} 
+\index{MotorWheel.h@{MotorWheel.h}!TAUI@{TAUI}}
+\index{TAUI@{TAUI}!MotorWheel.h@{MotorWheel.h}}
+\doxysubsubsection{\texorpdfstring{TAUI}{TAUI}}
+{\footnotesize\ttfamily \#define TAUI~0.\+02}
+
+\mbox{\Hypertarget{MotorWheel_8h_a86de85f5177dabb5ff712bf180db43aa}\label{MotorWheel_8h_a86de85f5177dabb5ff712bf180db43aa}} 
+\index{MotorWheel.h@{MotorWheel.h}!TRIGGER@{TRIGGER}}
+\index{TRIGGER@{TRIGGER}!MotorWheel.h@{MotorWheel.h}}
+\doxysubsubsection{\texorpdfstring{TRIGGER}{TRIGGER}}
+{\footnotesize\ttfamily \#define TRIGGER~CHANGE}
+
diff --git a/src/dcaitirobot/embedded/docs/latex/MotorWheel_8h__dep__incl.md5 b/src/dcaitirobot/embedded/docs/latex/MotorWheel_8h__dep__incl.md5
new file mode 100644
index 0000000..f5421de
--- /dev/null
+++ b/src/dcaitirobot/embedded/docs/latex/MotorWheel_8h__dep__incl.md5
@@ -0,0 +1 @@
+b92dd5ffde7887ae8a7bc6b0c6dccd64
\ No newline at end of file
diff --git a/src/dcaitirobot/embedded/docs/latex/MotorWheel_8h__dep__incl.pdf b/src/dcaitirobot/embedded/docs/latex/MotorWheel_8h__dep__incl.pdf
new file mode 100644
index 0000000000000000000000000000000000000000..b790e088c1448d181a855beac7f5df5d5fa35aa0
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diff --git a/src/dcaitirobot/embedded/docs/latex/MotorWheel_8h__incl.md5 b/src/dcaitirobot/embedded/docs/latex/MotorWheel_8h__incl.md5
new file mode 100644
index 0000000..ceea48e
--- /dev/null
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\ No newline at end of file
diff --git a/src/dcaitirobot/embedded/docs/latex/MotorWheel_8h__incl.pdf b/src/dcaitirobot/embedded/docs/latex/MotorWheel_8h__incl.pdf
new file mode 100644
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diff --git a/src/dcaitirobot/embedded/docs/latex/PID__Beta6_8cpp.tex b/src/dcaitirobot/embedded/docs/latex/PID__Beta6_8cpp.tex
new file mode 100644
index 0000000..c0cdd74
--- /dev/null
+++ b/src/dcaitirobot/embedded/docs/latex/PID__Beta6_8cpp.tex
@@ -0,0 +1,15 @@
+\hypertarget{PID__Beta6_8cpp}{}\doxysection{lib/\+PID\+\_\+\+Beta6/\+PID\+\_\+\+Beta6.cpp File Reference}
+\label{PID__Beta6_8cpp}\index{lib/PID\_Beta6/PID\_Beta6.cpp@{lib/PID\_Beta6/PID\_Beta6.cpp}}
+{\ttfamily \#include \char`\"{}wiring.\+h\char`\"{}}\newline
+{\ttfamily \#include $<$PID\+\_\+\+Beta6.\+h$>$}\newline
+{\ttfamily \#include \char`\"{}fuzzy\+\_\+table.\+h\char`\"{}}\newline
+{\ttfamily \#include $<$wiring\+\_\+private.\+h$>$}\newline
+{\ttfamily \#include $<$Hardware\+Serial.\+h$>$}\newline
+Include dependency graph for PID\+\_\+\+Beta6.\+cpp\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=350pt]{PID__Beta6_8cpp__incl}
+\end{center}
+\end{figure}
diff --git a/src/dcaitirobot/embedded/docs/latex/PID__Beta6_8cpp__incl.md5 b/src/dcaitirobot/embedded/docs/latex/PID__Beta6_8cpp__incl.md5
new file mode 100644
index 0000000..25d29a7
--- /dev/null
+++ b/src/dcaitirobot/embedded/docs/latex/PID__Beta6_8cpp__incl.md5
@@ -0,0 +1 @@
+d5bbb7c6145ce3e02752d241d7d4c061
\ No newline at end of file
diff --git a/src/dcaitirobot/embedded/docs/latex/PID__Beta6_8cpp__incl.pdf b/src/dcaitirobot/embedded/docs/latex/PID__Beta6_8cpp__incl.pdf
new file mode 100644
index 0000000000000000000000000000000000000000..6bd321654cc7187e7ff39c1fbea28c7dca0935a5
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diff --git a/src/dcaitirobot/embedded/docs/latex/PID__Beta6_8h.tex b/src/dcaitirobot/embedded/docs/latex/PID__Beta6_8h.tex
new file mode 100644
index 0000000..debbaaf
--- /dev/null
+++ b/src/dcaitirobot/embedded/docs/latex/PID__Beta6_8h.tex
@@ -0,0 +1,45 @@
+\hypertarget{PID__Beta6_8h}{}\doxysection{lib/\+PID\+\_\+\+Beta6/\+PID\+\_\+\+Beta6.h File Reference}
+\label{PID__Beta6_8h}\index{lib/PID\_Beta6/PID\_Beta6.h@{lib/PID\_Beta6/PID\_Beta6.h}}
+This graph shows which files directly or indirectly include this file\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=350pt]{PID__Beta6_8h__dep__incl}
+\end{center}
+\end{figure}
+\doxysubsection*{Classes}
+\begin{DoxyCompactItemize}
+\item 
+class \mbox{\hyperlink{classPID}{PID}}
+\end{DoxyCompactItemize}
+\doxysubsection*{Macros}
+\begin{DoxyCompactItemize}
+\item 
+\#define \mbox{\hyperlink{PID__Beta6_8h_a0cc6f7717df9fbdc0f33efb88720a639}{AUTO}}~1
+\item 
+\#define \mbox{\hyperlink{PID__Beta6_8h_a8187a9af791c0a44ba67edd9cf266961}{MANUAL}}~0
+\item 
+\#define \mbox{\hyperlink{PID__Beta6_8h_a8650e6793d46032c617bb7b824f90bfd}{LIBRARY\+\_\+\+VERSION}}~0.\+6
+\end{DoxyCompactItemize}
+
+
+\doxysubsection{Macro Definition Documentation}
+\mbox{\Hypertarget{PID__Beta6_8h_a0cc6f7717df9fbdc0f33efb88720a639}\label{PID__Beta6_8h_a0cc6f7717df9fbdc0f33efb88720a639}} 
+\index{PID\_Beta6.h@{PID\_Beta6.h}!AUTO@{AUTO}}
+\index{AUTO@{AUTO}!PID\_Beta6.h@{PID\_Beta6.h}}
+\doxysubsubsection{\texorpdfstring{AUTO}{AUTO}}
+{\footnotesize\ttfamily \#define AUTO~1}
+
+\mbox{\Hypertarget{PID__Beta6_8h_a8650e6793d46032c617bb7b824f90bfd}\label{PID__Beta6_8h_a8650e6793d46032c617bb7b824f90bfd}} 
+\index{PID\_Beta6.h@{PID\_Beta6.h}!LIBRARY\_VERSION@{LIBRARY\_VERSION}}
+\index{LIBRARY\_VERSION@{LIBRARY\_VERSION}!PID\_Beta6.h@{PID\_Beta6.h}}
+\doxysubsubsection{\texorpdfstring{LIBRARY\_VERSION}{LIBRARY\_VERSION}}
+{\footnotesize\ttfamily \#define LIBRARY\+\_\+\+VERSION~0.\+6}
+
+\mbox{\Hypertarget{PID__Beta6_8h_a8187a9af791c0a44ba67edd9cf266961}\label{PID__Beta6_8h_a8187a9af791c0a44ba67edd9cf266961}} 
+\index{PID\_Beta6.h@{PID\_Beta6.h}!MANUAL@{MANUAL}}
+\index{MANUAL@{MANUAL}!PID\_Beta6.h@{PID\_Beta6.h}}
+\doxysubsubsection{\texorpdfstring{MANUAL}{MANUAL}}
+{\footnotesize\ttfamily \#define MANUAL~0}
+
diff --git a/src/dcaitirobot/embedded/docs/latex/PID__Beta6_8h__dep__incl.md5 b/src/dcaitirobot/embedded/docs/latex/PID__Beta6_8h__dep__incl.md5
new file mode 100644
index 0000000..1e97d74
--- /dev/null
+++ b/src/dcaitirobot/embedded/docs/latex/PID__Beta6_8h__dep__incl.md5
@@ -0,0 +1 @@
+9779d6bea9327d1b6c8f29a26dc9331f
\ No newline at end of file
diff --git a/src/dcaitirobot/embedded/docs/latex/PID__Beta6_8h__dep__incl.pdf b/src/dcaitirobot/embedded/docs/latex/PID__Beta6_8h__dep__incl.pdf
new file mode 100644
index 0000000000000000000000000000000000000000..e71770858dbe303f37c43e59f76692a7c4398bc5
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diff --git a/src/dcaitirobot/embedded/docs/latex/PinChangeIntConfig_8h.tex b/src/dcaitirobot/embedded/docs/latex/PinChangeIntConfig_8h.tex
new file mode 100644
index 0000000..390678a
--- /dev/null
+++ b/src/dcaitirobot/embedded/docs/latex/PinChangeIntConfig_8h.tex
@@ -0,0 +1,10 @@
+\hypertarget{PinChangeIntConfig_8h}{}\doxysection{lib/\+Pin\+Change\+Int/\+Pin\+Change\+Int\+Config.h File Reference}
+\label{PinChangeIntConfig_8h}\index{lib/PinChangeInt/PinChangeIntConfig.h@{lib/PinChangeInt/PinChangeIntConfig.h}}
+This graph shows which files directly or indirectly include this file\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=350pt]{PinChangeIntConfig_8h__dep__incl}
+\end{center}
+\end{figure}
diff --git a/src/dcaitirobot/embedded/docs/latex/PinChangeIntConfig_8h__dep__incl.md5 b/src/dcaitirobot/embedded/docs/latex/PinChangeIntConfig_8h__dep__incl.md5
new file mode 100644
index 0000000..13b679c
--- /dev/null
+++ b/src/dcaitirobot/embedded/docs/latex/PinChangeIntConfig_8h__dep__incl.md5
@@ -0,0 +1 @@
+1387b60f4b85981d7f6abde57d92d861
\ No newline at end of file
diff --git a/src/dcaitirobot/embedded/docs/latex/PinChangeIntConfig_8h__dep__incl.pdf b/src/dcaitirobot/embedded/docs/latex/PinChangeIntConfig_8h__dep__incl.pdf
new file mode 100644
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diff --git a/src/dcaitirobot/embedded/docs/latex/PinChangeInt_8cpp.tex b/src/dcaitirobot/embedded/docs/latex/PinChangeInt_8cpp.tex
new file mode 100644
index 0000000..647fb07
--- /dev/null
+++ b/src/dcaitirobot/embedded/docs/latex/PinChangeInt_8cpp.tex
@@ -0,0 +1,65 @@
+\hypertarget{PinChangeInt_8cpp}{}\doxysection{lib/\+Pin\+Change\+Int/\+Pin\+Change\+Int.cpp File Reference}
+\label{PinChangeInt_8cpp}\index{lib/PinChangeInt/PinChangeInt.cpp@{lib/PinChangeInt/PinChangeInt.cpp}}
+{\ttfamily \#include $<$Pin\+Change\+Int.\+h$>$}\newline
+Include dependency graph for Pin\+Change\+Int.\+cpp\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=350pt]{PinChangeInt_8cpp__incl}
+\end{center}
+\end{figure}
+\doxysubsection*{Functions}
+\begin{DoxyCompactItemize}
+\item 
+\mbox{\hyperlink{PinChangeInt_8cpp_aa64c6dce15e9de9105b4ae9533c9a267}{ISR}} (PCINT0\+\_\+vect)
+\item 
+\mbox{\hyperlink{PinChangeInt_8cpp_afe6035149a64d5f448fbda08e9d1b67f}{ISR}} (PCINT1\+\_\+vect)
+\item 
+\mbox{\hyperlink{PinChangeInt_8cpp_a9c4665742c6b6eb1f0bb9dde41f7cba3}{ISR}} (PCINT2\+\_\+vect)
+\end{DoxyCompactItemize}
+
+
+\doxysubsection{Function Documentation}
+\mbox{\Hypertarget{PinChangeInt_8cpp_aa64c6dce15e9de9105b4ae9533c9a267}\label{PinChangeInt_8cpp_aa64c6dce15e9de9105b4ae9533c9a267}} 
+\index{PinChangeInt.cpp@{PinChangeInt.cpp}!ISR@{ISR}}
+\index{ISR@{ISR}!PinChangeInt.cpp@{PinChangeInt.cpp}}
+\doxysubsubsection{\texorpdfstring{ISR()}{ISR()}\hspace{0.1cm}{\footnotesize\ttfamily [1/3]}}
+{\footnotesize\ttfamily ISR (\begin{DoxyParamCaption}\item[{PCINT0\+\_\+vect}]{ }\end{DoxyParamCaption})}
+
+Here is the call graph for this function\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=241pt]{PinChangeInt_8cpp_aa64c6dce15e9de9105b4ae9533c9a267_cgraph}
+\end{center}
+\end{figure}
+\mbox{\Hypertarget{PinChangeInt_8cpp_afe6035149a64d5f448fbda08e9d1b67f}\label{PinChangeInt_8cpp_afe6035149a64d5f448fbda08e9d1b67f}} 
+\index{PinChangeInt.cpp@{PinChangeInt.cpp}!ISR@{ISR}}
+\index{ISR@{ISR}!PinChangeInt.cpp@{PinChangeInt.cpp}}
+\doxysubsubsection{\texorpdfstring{ISR()}{ISR()}\hspace{0.1cm}{\footnotesize\ttfamily [2/3]}}
+{\footnotesize\ttfamily ISR (\begin{DoxyParamCaption}\item[{PCINT1\+\_\+vect}]{ }\end{DoxyParamCaption})}
+
+Here is the call graph for this function\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=241pt]{PinChangeInt_8cpp_afe6035149a64d5f448fbda08e9d1b67f_cgraph}
+\end{center}
+\end{figure}
+\mbox{\Hypertarget{PinChangeInt_8cpp_a9c4665742c6b6eb1f0bb9dde41f7cba3}\label{PinChangeInt_8cpp_a9c4665742c6b6eb1f0bb9dde41f7cba3}} 
+\index{PinChangeInt.cpp@{PinChangeInt.cpp}!ISR@{ISR}}
+\index{ISR@{ISR}!PinChangeInt.cpp@{PinChangeInt.cpp}}
+\doxysubsubsection{\texorpdfstring{ISR()}{ISR()}\hspace{0.1cm}{\footnotesize\ttfamily [3/3]}}
+{\footnotesize\ttfamily ISR (\begin{DoxyParamCaption}\item[{PCINT2\+\_\+vect}]{ }\end{DoxyParamCaption})}
+
+Here is the call graph for this function\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=241pt]{PinChangeInt_8cpp_a9c4665742c6b6eb1f0bb9dde41f7cba3_cgraph}
+\end{center}
+\end{figure}
diff --git a/src/dcaitirobot/embedded/docs/latex/PinChangeInt_8cpp__incl.md5 b/src/dcaitirobot/embedded/docs/latex/PinChangeInt_8cpp__incl.md5
new file mode 100644
index 0000000..f7b9685
--- /dev/null
+++ b/src/dcaitirobot/embedded/docs/latex/PinChangeInt_8cpp__incl.md5
@@ -0,0 +1 @@
+3c9250b405a38621e0f42b0a237fede3
\ No newline at end of file
diff --git a/src/dcaitirobot/embedded/docs/latex/PinChangeInt_8cpp__incl.pdf b/src/dcaitirobot/embedded/docs/latex/PinChangeInt_8cpp__incl.pdf
new file mode 100644
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new file mode 100644
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new file mode 100644
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@@ -0,0 +1 @@
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diff --git a/src/dcaitirobot/embedded/docs/latex/PinChangeInt_8cpp_afe6035149a64d5f448fbda08e9d1b67f_cgraph.md5 b/src/dcaitirobot/embedded/docs/latex/PinChangeInt_8cpp_afe6035149a64d5f448fbda08e9d1b67f_cgraph.md5
new file mode 100644
index 0000000..f83a772
--- /dev/null
+++ b/src/dcaitirobot/embedded/docs/latex/PinChangeInt_8cpp_afe6035149a64d5f448fbda08e9d1b67f_cgraph.md5
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diff --git a/src/dcaitirobot/embedded/docs/latex/PinChangeInt_8h.tex b/src/dcaitirobot/embedded/docs/latex/PinChangeInt_8h.tex
new file mode 100644
index 0000000..5303772
--- /dev/null
+++ b/src/dcaitirobot/embedded/docs/latex/PinChangeInt_8h.tex
@@ -0,0 +1,80 @@
+\hypertarget{PinChangeInt_8h}{}\doxysection{lib/\+Pin\+Change\+Int/\+Pin\+Change\+Int.h File Reference}
+\label{PinChangeInt_8h}\index{lib/PinChangeInt/PinChangeInt.h@{lib/PinChangeInt/PinChangeInt.h}}
+{\ttfamily \#include \char`\"{}WProgram.\+h\char`\"{}}\newline
+{\ttfamily \#include \char`\"{}Pin\+Change\+Int\+Config.\+h\char`\"{}}\newline
+{\ttfamily \#include \char`\"{}pins\+\_\+arduino.\+h\char`\"{}}\newline
+Include dependency graph for Pin\+Change\+Int.\+h\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=350pt]{PinChangeInt_8h__incl}
+\end{center}
+\end{figure}
+This graph shows which files directly or indirectly include this file\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=350pt]{PinChangeInt_8h__dep__incl}
+\end{center}
+\end{figure}
+\doxysubsection*{Classes}
+\begin{DoxyCompactItemize}
+\item 
+class \mbox{\hyperlink{classPCintPort}{PCint\+Port}}
+\item 
+class \mbox{\hyperlink{classPCintPort_1_1PCintPin}{PCint\+Port\+::\+PCint\+Pin}}
+\end{DoxyCompactItemize}
+\doxysubsection*{Macros}
+\begin{DoxyCompactItemize}
+\item 
+\#define \mbox{\hyperlink{PinChangeInt_8h_adc5e9b3687e8ad666a52ec695a69081c}{MAX\+\_\+\+PIN\+\_\+\+CHANGE\+\_\+\+PINS}}~8
+\item 
+\#define \mbox{\hyperlink{PinChangeInt_8h_affe455978cc6fe5b0cff09a1b93202c7}{INLINE\+\_\+\+PCINT}}
+\item 
+\#define \mbox{\hyperlink{PinChangeInt_8h_a6b21b6a0a033a5a5c0ae3c07aa899a9f}{PCdetach\+Interrupt}}(pin)~\mbox{\hyperlink{classPCintPort_a7787c29d639bc6c1a30a14acb0f9fb9a}{PCint\+Port\+::detach\+Interrupt}}(pin)
+\item 
+\#define \mbox{\hyperlink{PinChangeInt_8h_aa5908a22250605213e3874e2b0288a5d}{PCattach\+Interrupt}}(pin,  user\+Func,  mode)~\mbox{\hyperlink{classPCintPort_a8e6c9a8a860c39f6840a8b986c00e8d7}{PCint\+Port\+::attach\+Interrupt}}(pin, user\+Func,mode)
+\end{DoxyCompactItemize}
+\doxysubsection*{Typedefs}
+\begin{DoxyCompactItemize}
+\item 
+typedef void($\ast$ \mbox{\hyperlink{PinChangeInt_8h_a40b7734100b16d4ac170f568c7914d0a}{PCIntvoid\+Func\+Ptr}}) (void)
+\end{DoxyCompactItemize}
+
+
+\doxysubsection{Macro Definition Documentation}
+\mbox{\Hypertarget{PinChangeInt_8h_affe455978cc6fe5b0cff09a1b93202c7}\label{PinChangeInt_8h_affe455978cc6fe5b0cff09a1b93202c7}} 
+\index{PinChangeInt.h@{PinChangeInt.h}!INLINE\_PCINT@{INLINE\_PCINT}}
+\index{INLINE\_PCINT@{INLINE\_PCINT}!PinChangeInt.h@{PinChangeInt.h}}
+\doxysubsubsection{\texorpdfstring{INLINE\_PCINT}{INLINE\_PCINT}}
+{\footnotesize\ttfamily \#define INLINE\+\_\+\+PCINT}
+
+\mbox{\Hypertarget{PinChangeInt_8h_adc5e9b3687e8ad666a52ec695a69081c}\label{PinChangeInt_8h_adc5e9b3687e8ad666a52ec695a69081c}} 
+\index{PinChangeInt.h@{PinChangeInt.h}!MAX\_PIN\_CHANGE\_PINS@{MAX\_PIN\_CHANGE\_PINS}}
+\index{MAX\_PIN\_CHANGE\_PINS@{MAX\_PIN\_CHANGE\_PINS}!PinChangeInt.h@{PinChangeInt.h}}
+\doxysubsubsection{\texorpdfstring{MAX\_PIN\_CHANGE\_PINS}{MAX\_PIN\_CHANGE\_PINS}}
+{\footnotesize\ttfamily \#define MAX\+\_\+\+PIN\+\_\+\+CHANGE\+\_\+\+PINS~8}
+
+\mbox{\Hypertarget{PinChangeInt_8h_aa5908a22250605213e3874e2b0288a5d}\label{PinChangeInt_8h_aa5908a22250605213e3874e2b0288a5d}} 
+\index{PinChangeInt.h@{PinChangeInt.h}!PCattachInterrupt@{PCattachInterrupt}}
+\index{PCattachInterrupt@{PCattachInterrupt}!PinChangeInt.h@{PinChangeInt.h}}
+\doxysubsubsection{\texorpdfstring{PCattachInterrupt}{PCattachInterrupt}}
+{\footnotesize\ttfamily \#define PCattach\+Interrupt(\begin{DoxyParamCaption}\item[{}]{pin,  }\item[{}]{user\+Func,  }\item[{}]{mode }\end{DoxyParamCaption})~\mbox{\hyperlink{classPCintPort_a8e6c9a8a860c39f6840a8b986c00e8d7}{PCint\+Port\+::attach\+Interrupt}}(pin, user\+Func,mode)}
+
+\mbox{\Hypertarget{PinChangeInt_8h_a6b21b6a0a033a5a5c0ae3c07aa899a9f}\label{PinChangeInt_8h_a6b21b6a0a033a5a5c0ae3c07aa899a9f}} 
+\index{PinChangeInt.h@{PinChangeInt.h}!PCdetachInterrupt@{PCdetachInterrupt}}
+\index{PCdetachInterrupt@{PCdetachInterrupt}!PinChangeInt.h@{PinChangeInt.h}}
+\doxysubsubsection{\texorpdfstring{PCdetachInterrupt}{PCdetachInterrupt}}
+{\footnotesize\ttfamily \#define PCdetach\+Interrupt(\begin{DoxyParamCaption}\item[{}]{pin }\end{DoxyParamCaption})~\mbox{\hyperlink{classPCintPort_a7787c29d639bc6c1a30a14acb0f9fb9a}{PCint\+Port\+::detach\+Interrupt}}(pin)}
+
+
+
+\doxysubsection{Typedef Documentation}
+\mbox{\Hypertarget{PinChangeInt_8h_a40b7734100b16d4ac170f568c7914d0a}\label{PinChangeInt_8h_a40b7734100b16d4ac170f568c7914d0a}} 
+\index{PinChangeInt.h@{PinChangeInt.h}!PCIntvoidFuncPtr@{PCIntvoidFuncPtr}}
+\index{PCIntvoidFuncPtr@{PCIntvoidFuncPtr}!PinChangeInt.h@{PinChangeInt.h}}
+\doxysubsubsection{\texorpdfstring{PCIntvoidFuncPtr}{PCIntvoidFuncPtr}}
+{\footnotesize\ttfamily typedef void($\ast$ PCIntvoid\+Func\+Ptr) (void)}
+
diff --git a/src/dcaitirobot/embedded/docs/latex/PinChangeInt_8h__dep__incl.md5 b/src/dcaitirobot/embedded/docs/latex/PinChangeInt_8h__dep__incl.md5
new file mode 100644
index 0000000..6835a3c
--- /dev/null
+++ b/src/dcaitirobot/embedded/docs/latex/PinChangeInt_8h__dep__incl.md5
@@ -0,0 +1 @@
+91d25907f9d2caca6ccca87d17538de7
\ No newline at end of file
diff --git a/src/dcaitirobot/embedded/docs/latex/PinChangeInt_8h__dep__incl.pdf b/src/dcaitirobot/embedded/docs/latex/PinChangeInt_8h__dep__incl.pdf
new file mode 100644
index 0000000000000000000000000000000000000000..3547a8e8920bf03864bd661b7eed4aaeffe31c09
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diff --git a/src/dcaitirobot/embedded/docs/latex/PinChangeInt_8h__incl.md5 b/src/dcaitirobot/embedded/docs/latex/PinChangeInt_8h__incl.md5
new file mode 100644
index 0000000..dcc3bf9
--- /dev/null
+++ b/src/dcaitirobot/embedded/docs/latex/PinChangeInt_8h__incl.md5
@@ -0,0 +1 @@
+86fd5f8a515f8c95db4922b3d90ba191
\ No newline at end of file
diff --git a/src/dcaitirobot/embedded/docs/latex/PinChangeInt_8h__incl.pdf b/src/dcaitirobot/embedded/docs/latex/PinChangeInt_8h__incl.pdf
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diff --git a/src/dcaitirobot/embedded/docs/latex/UARTCom_8cpp.tex b/src/dcaitirobot/embedded/docs/latex/UARTCom_8cpp.tex
new file mode 100644
index 0000000..ad73c80
--- /dev/null
+++ b/src/dcaitirobot/embedded/docs/latex/UARTCom_8cpp.tex
@@ -0,0 +1,409 @@
+\hypertarget{UARTCom_8cpp}{}\doxysection{src/communication/\+UARTCom.cpp File Reference}
+\label{UARTCom_8cpp}\index{src/communication/UARTCom.cpp@{src/communication/UARTCom.cpp}}
+{\ttfamily \#include \char`\"{}communication/\+UARTCom.\+hpp\char`\"{}}\newline
+{\ttfamily \#include \char`\"{}communication/\+UCommands.\+hpp\char`\"{}}\newline
+{\ttfamily \#include \char`\"{}communication/\+UValue.\+hpp\char`\"{}}\newline
+{\ttfamily \#include \char`\"{}misc/\+Utils.\+hpp\char`\"{}}\newline
+{\ttfamily \#include \char`\"{}constants.\+h\char`\"{}}\newline
+{\ttfamily \#include \char`\"{}Motor\+Wheel.\+h\char`\"{}}\newline
+Include dependency graph for UARTCom.\+cpp\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=350pt]{UARTCom_8cpp__incl}
+\end{center}
+\end{figure}
+\doxysubsection*{Functions}
+\begin{DoxyCompactItemize}
+\item 
+\mbox{\hyperlink{constants_8h_a2cadd9c064904e21e2acd0d0f64ad8b6}{U\+\_\+\+Frame\+Type}} \mbox{\hyperlink{UARTCom_8cpp_a5bfcc9a4d05eaa07aff6dbc5ffbc01a4}{parse\+Frame\+Type}} (uint8\+\_\+t $\ast$d)
+\begin{DoxyCompactList}\small\item\em extracts frametype from data package \end{DoxyCompactList}\item 
+uint8\+\_\+t \mbox{\hyperlink{UARTCom_8cpp_a4d3197ea3a99346e142f898a856eba6c}{from\+Frame\+Type}} (\mbox{\hyperlink{constants_8h_a2cadd9c064904e21e2acd0d0f64ad8b6}{U\+\_\+\+Frame\+Type}} ft)
+\begin{DoxyCompactList}\small\item\em translates frametype to corresponding byte value \end{DoxyCompactList}\item 
+\mbox{\hyperlink{constants_8h_a35f6afe79ab48a3034b81cb15d538155}{U\+\_\+\+Component}} \mbox{\hyperlink{UARTCom_8cpp_a2f281c7608e509d555fc0a09cfeff82a}{parse\+Component}} (uint8\+\_\+t $\ast$d)
+\begin{DoxyCompactList}\small\item\em extract component information \end{DoxyCompactList}\item 
+uint8\+\_\+t \mbox{\hyperlink{UARTCom_8cpp_a050546b686b2c4648e34f5145e8e5c3a}{from\+Component}} (\mbox{\hyperlink{constants_8h_a35f6afe79ab48a3034b81cb15d538155}{U\+\_\+\+Component}} cp)
+\begin{DoxyCompactList}\small\item\em translates component into byte value \end{DoxyCompactList}\item 
+\mbox{\hyperlink{constants_8h_a83703b84abb8c92901ec1c15e0bbad80}{U\+\_\+\+Request}} \mbox{\hyperlink{UARTCom_8cpp_a67a111cec96745786304360702d7fb0d}{parse\+Request}} (uint8\+\_\+t $\ast$d)
+\begin{DoxyCompactList}\small\item\em extracts request information from data package \end{DoxyCompactList}\item 
+uint32\+\_\+t \mbox{\hyperlink{UARTCom_8cpp_ac85d37d78756559b8b923544852dd430}{parse\+Timestamp}} (uint8\+\_\+t $\ast$d)
+\begin{DoxyCompactList}\small\item\em extracts timestamp from data package \end{DoxyCompactList}\item 
+uint16\+\_\+t \mbox{\hyperlink{UARTCom_8cpp_a744c5a2f1e07b896f5dc1a3b352dfd2a}{compute\+Checksum}} (uint8\+\_\+t $\ast$d, uint8\+\_\+t pl)
+\begin{DoxyCompactList}\small\item\em computes checksum from data package \end{DoxyCompactList}\item 
+int \mbox{\hyperlink{UARTCom_8cpp_a09ed133ea78335824acd3d296d6d8568}{correct\+Checksum}} (uint8\+\_\+t $\ast$d)
+\begin{DoxyCompactList}\small\item\em checks if checksum inside package and computed checksum from package data are the same \end{DoxyCompactList}\item 
+void \mbox{\hyperlink{UARTCom_8cpp_ac77fffc0c7f612ccf0db14af856e3277}{show\+Package}} (uint8\+\_\+t $\ast$d, int pl)
+\begin{DoxyCompactList}\small\item\em debugging function, prints out package data \end{DoxyCompactList}\item 
+void \mbox{\hyperlink{UARTCom_8cpp_a0f9de5ab46a6f02e563fdc4634cd1b26}{clear\+Package}} (uint8\+\_\+t $\ast$d)
+\begin{DoxyCompactList}\small\item\em erases all package data and sets the array to 0 \end{DoxyCompactList}\item 
+void \mbox{\hyperlink{UARTCom_8cpp_a8f3f9f5697687756152cfc8045170646}{handle\+Request}} (uint8\+\_\+t $\ast$d)
+\begin{DoxyCompactList}\small\item\em executes commands according to incoming request \end{DoxyCompactList}\item 
+void \mbox{\hyperlink{UARTCom_8cpp_a86f7112e2f3c0cf6e89e6cc9ce0d35bc}{handle\+Package}} (uint8\+\_\+t $\ast$d, int pl)
+\begin{DoxyCompactList}\small\item\em package handler, checks for errors first, then proceeds to extract information from the data package \end{DoxyCompactList}\end{DoxyCompactItemize}
+\doxysubsection*{Variables}
+\begin{DoxyCompactItemize}
+\item 
+uint8\+\_\+t \mbox{\hyperlink{UARTCom_8cpp_aa786999c8aa65490b5b03fb09a9f1f98}{current\+Parse\+Index}}
+\item 
+int \mbox{\hyperlink{UARTCom_8cpp_a2eead10869c5f921ef036aa656683cd5}{payload\+Length}}
+\item 
+uint32\+\_\+t \mbox{\hyperlink{UARTCom_8cpp_aae4c1b8c8e6cca37d95276b38497b370}{current\+Timestamp}} = 0
+\item 
+Motor\+Wheel \mbox{\hyperlink{UARTCom_8cpp_adeaeefb426fbd7c5a72fffec28ee0c46}{wheel\+Left}}
+\item 
+Motor\+Wheel \mbox{\hyperlink{UARTCom_8cpp_a5ab69515b5724f039c137585cbf24787}{wheel\+Right}}
+\end{DoxyCompactItemize}
+
+
+\doxysubsection{Function Documentation}
+\mbox{\Hypertarget{UARTCom_8cpp_a0f9de5ab46a6f02e563fdc4634cd1b26}\label{UARTCom_8cpp_a0f9de5ab46a6f02e563fdc4634cd1b26}} 
+\index{UARTCom.cpp@{UARTCom.cpp}!clearPackage@{clearPackage}}
+\index{clearPackage@{clearPackage}!UARTCom.cpp@{UARTCom.cpp}}
+\doxysubsubsection{\texorpdfstring{clearPackage()}{clearPackage()}}
+{\footnotesize\ttfamily void clear\+Package (\begin{DoxyParamCaption}\item[{uint8\+\_\+t $\ast$}]{d }\end{DoxyParamCaption})}
+
+
+
+erases all package data and sets the array to 0 
+
+
+\begin{DoxyParams}{Parameters}
+{\em d} & data package \\
+\hline
+\end{DoxyParams}
+Here is the caller graph for this function\+:\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=350pt]{UARTCom_8cpp_a0f9de5ab46a6f02e563fdc4634cd1b26_icgraph}
+\end{center}
+\end{figure}
+\mbox{\Hypertarget{UARTCom_8cpp_a744c5a2f1e07b896f5dc1a3b352dfd2a}\label{UARTCom_8cpp_a744c5a2f1e07b896f5dc1a3b352dfd2a}} 
+\index{UARTCom.cpp@{UARTCom.cpp}!computeChecksum@{computeChecksum}}
+\index{computeChecksum@{computeChecksum}!UARTCom.cpp@{UARTCom.cpp}}
+\doxysubsubsection{\texorpdfstring{computeChecksum()}{computeChecksum()}}
+{\footnotesize\ttfamily uint16\+\_\+t compute\+Checksum (\begin{DoxyParamCaption}\item[{uint8\+\_\+t $\ast$}]{d,  }\item[{uint8\+\_\+t}]{pl }\end{DoxyParamCaption})}
+
+
+
+computes checksum from data package 
+
+
+\begin{DoxyParams}{Parameters}
+{\em d} & data package \\
+\hline
+{\em pl} & payload length \\
+\hline
+\end{DoxyParams}
+\begin{DoxyReturn}{Returns}
+uint16\+\_\+t 
+\end{DoxyReturn}
+Here is the caller graph for this function\+:\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=350pt]{UARTCom_8cpp_a744c5a2f1e07b896f5dc1a3b352dfd2a_icgraph}
+\end{center}
+\end{figure}
+\mbox{\Hypertarget{UARTCom_8cpp_a09ed133ea78335824acd3d296d6d8568}\label{UARTCom_8cpp_a09ed133ea78335824acd3d296d6d8568}} 
+\index{UARTCom.cpp@{UARTCom.cpp}!correctChecksum@{correctChecksum}}
+\index{correctChecksum@{correctChecksum}!UARTCom.cpp@{UARTCom.cpp}}
+\doxysubsubsection{\texorpdfstring{correctChecksum()}{correctChecksum()}}
+{\footnotesize\ttfamily int correct\+Checksum (\begin{DoxyParamCaption}\item[{uint8\+\_\+t $\ast$}]{d }\end{DoxyParamCaption})}
+
+
+
+checks if checksum inside package and computed checksum from package data are the same 
+
+
+\begin{DoxyParams}{Parameters}
+{\em d} & data package \\
+\hline
+\end{DoxyParams}
+\begin{DoxyReturn}{Returns}
+int 
+\end{DoxyReturn}
+Here is the call graph for this function\+:\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=327pt]{UARTCom_8cpp_a09ed133ea78335824acd3d296d6d8568_cgraph}
+\end{center}
+\end{figure}
+Here is the caller graph for this function\+:\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=350pt]{UARTCom_8cpp_a09ed133ea78335824acd3d296d6d8568_icgraph}
+\end{center}
+\end{figure}
+\mbox{\Hypertarget{UARTCom_8cpp_a050546b686b2c4648e34f5145e8e5c3a}\label{UARTCom_8cpp_a050546b686b2c4648e34f5145e8e5c3a}} 
+\index{UARTCom.cpp@{UARTCom.cpp}!fromComponent@{fromComponent}}
+\index{fromComponent@{fromComponent}!UARTCom.cpp@{UARTCom.cpp}}
+\doxysubsubsection{\texorpdfstring{fromComponent()}{fromComponent()}}
+{\footnotesize\ttfamily uint8\+\_\+t from\+Component (\begin{DoxyParamCaption}\item[{\mbox{\hyperlink{constants_8h_a35f6afe79ab48a3034b81cb15d538155}{U\+\_\+\+Component}}}]{cp }\end{DoxyParamCaption})}
+
+
+
+translates component into byte value 
+
+
+\begin{DoxyParams}{Parameters}
+{\em cp} & component \\
+\hline
+\end{DoxyParams}
+\begin{DoxyReturn}{Returns}
+uint8\+\_\+t 
+\end{DoxyReturn}
+Here is the caller graph for this function\+:\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=350pt]{UARTCom_8cpp_a050546b686b2c4648e34f5145e8e5c3a_icgraph}
+\end{center}
+\end{figure}
+\mbox{\Hypertarget{UARTCom_8cpp_a4d3197ea3a99346e142f898a856eba6c}\label{UARTCom_8cpp_a4d3197ea3a99346e142f898a856eba6c}} 
+\index{UARTCom.cpp@{UARTCom.cpp}!fromFrameType@{fromFrameType}}
+\index{fromFrameType@{fromFrameType}!UARTCom.cpp@{UARTCom.cpp}}
+\doxysubsubsection{\texorpdfstring{fromFrameType()}{fromFrameType()}}
+{\footnotesize\ttfamily uint8\+\_\+t from\+Frame\+Type (\begin{DoxyParamCaption}\item[{\mbox{\hyperlink{constants_8h_a2cadd9c064904e21e2acd0d0f64ad8b6}{U\+\_\+\+Frame\+Type}}}]{ft }\end{DoxyParamCaption})}
+
+
+
+translates frametype to corresponding byte value 
+
+
+\begin{DoxyParams}{Parameters}
+{\em ft} & frametype \\
+\hline
+\end{DoxyParams}
+\begin{DoxyReturn}{Returns}
+uint8\+\_\+t 
+\end{DoxyReturn}
+Here is the caller graph for this function\+:\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=350pt]{UARTCom_8cpp_a4d3197ea3a99346e142f898a856eba6c_icgraph}
+\end{center}
+\end{figure}
+\mbox{\Hypertarget{UARTCom_8cpp_a86f7112e2f3c0cf6e89e6cc9ce0d35bc}\label{UARTCom_8cpp_a86f7112e2f3c0cf6e89e6cc9ce0d35bc}} 
+\index{UARTCom.cpp@{UARTCom.cpp}!handlePackage@{handlePackage}}
+\index{handlePackage@{handlePackage}!UARTCom.cpp@{UARTCom.cpp}}
+\doxysubsubsection{\texorpdfstring{handlePackage()}{handlePackage()}}
+{\footnotesize\ttfamily void handle\+Package (\begin{DoxyParamCaption}\item[{uint8\+\_\+t $\ast$}]{d,  }\item[{int}]{pl }\end{DoxyParamCaption})}
+
+
+
+package handler, checks for errors first, then proceeds to extract information from the data package 
+
+
+\begin{DoxyParams}{Parameters}
+{\em d} & \\
+\hline
+{\em pl} & \\
+\hline
+\end{DoxyParams}
+Here is the call graph for this function\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=350pt]{UARTCom_8cpp_a86f7112e2f3c0cf6e89e6cc9ce0d35bc_cgraph}
+\end{center}
+\end{figure}
+Here is the caller graph for this function\+:\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=350pt]{UARTCom_8cpp_a86f7112e2f3c0cf6e89e6cc9ce0d35bc_icgraph}
+\end{center}
+\end{figure}
+\mbox{\Hypertarget{UARTCom_8cpp_a8f3f9f5697687756152cfc8045170646}\label{UARTCom_8cpp_a8f3f9f5697687756152cfc8045170646}} 
+\index{UARTCom.cpp@{UARTCom.cpp}!handleRequest@{handleRequest}}
+\index{handleRequest@{handleRequest}!UARTCom.cpp@{UARTCom.cpp}}
+\doxysubsubsection{\texorpdfstring{handleRequest()}{handleRequest()}}
+{\footnotesize\ttfamily void handle\+Request (\begin{DoxyParamCaption}\item[{uint8\+\_\+t $\ast$}]{d }\end{DoxyParamCaption})}
+
+
+
+executes commands according to incoming request 
+
+
+\begin{DoxyParams}{Parameters}
+{\em d} & data package \\
+\hline
+\end{DoxyParams}
+Here is the call graph for this function\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=350pt]{UARTCom_8cpp_a8f3f9f5697687756152cfc8045170646_cgraph}
+\end{center}
+\end{figure}
+Here is the caller graph for this function\+:\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=350pt]{UARTCom_8cpp_a8f3f9f5697687756152cfc8045170646_icgraph}
+\end{center}
+\end{figure}
+\mbox{\Hypertarget{UARTCom_8cpp_a2f281c7608e509d555fc0a09cfeff82a}\label{UARTCom_8cpp_a2f281c7608e509d555fc0a09cfeff82a}} 
+\index{UARTCom.cpp@{UARTCom.cpp}!parseComponent@{parseComponent}}
+\index{parseComponent@{parseComponent}!UARTCom.cpp@{UARTCom.cpp}}
+\doxysubsubsection{\texorpdfstring{parseComponent()}{parseComponent()}}
+{\footnotesize\ttfamily \mbox{\hyperlink{constants_8h_a35f6afe79ab48a3034b81cb15d538155}{U\+\_\+\+Component}} parse\+Component (\begin{DoxyParamCaption}\item[{uint8\+\_\+t $\ast$}]{d }\end{DoxyParamCaption})}
+
+
+
+extract component information 
+
+
+\begin{DoxyParams}{Parameters}
+{\em d} & data package \\
+\hline
+\end{DoxyParams}
+\begin{DoxyReturn}{Returns}
+U\+\_\+\+Component 
+\end{DoxyReturn}
+Here is the caller graph for this function\+:\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=350pt]{UARTCom_8cpp_a2f281c7608e509d555fc0a09cfeff82a_icgraph}
+\end{center}
+\end{figure}
+\mbox{\Hypertarget{UARTCom_8cpp_a5bfcc9a4d05eaa07aff6dbc5ffbc01a4}\label{UARTCom_8cpp_a5bfcc9a4d05eaa07aff6dbc5ffbc01a4}} 
+\index{UARTCom.cpp@{UARTCom.cpp}!parseFrameType@{parseFrameType}}
+\index{parseFrameType@{parseFrameType}!UARTCom.cpp@{UARTCom.cpp}}
+\doxysubsubsection{\texorpdfstring{parseFrameType()}{parseFrameType()}}
+{\footnotesize\ttfamily \mbox{\hyperlink{constants_8h_a2cadd9c064904e21e2acd0d0f64ad8b6}{U\+\_\+\+Frame\+Type}} parse\+Frame\+Type (\begin{DoxyParamCaption}\item[{uint8\+\_\+t $\ast$}]{d }\end{DoxyParamCaption})}
+
+
+
+extracts frametype from data package 
+
+
+\begin{DoxyParams}{Parameters}
+{\em d} & data package \\
+\hline
+\end{DoxyParams}
+\begin{DoxyReturn}{Returns}
+U\+\_\+\+Frame\+Type 
+\end{DoxyReturn}
+Here is the caller graph for this function\+:\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=350pt]{UARTCom_8cpp_a5bfcc9a4d05eaa07aff6dbc5ffbc01a4_icgraph}
+\end{center}
+\end{figure}
+\mbox{\Hypertarget{UARTCom_8cpp_a67a111cec96745786304360702d7fb0d}\label{UARTCom_8cpp_a67a111cec96745786304360702d7fb0d}} 
+\index{UARTCom.cpp@{UARTCom.cpp}!parseRequest@{parseRequest}}
+\index{parseRequest@{parseRequest}!UARTCom.cpp@{UARTCom.cpp}}
+\doxysubsubsection{\texorpdfstring{parseRequest()}{parseRequest()}}
+{\footnotesize\ttfamily \mbox{\hyperlink{constants_8h_a83703b84abb8c92901ec1c15e0bbad80}{U\+\_\+\+Request}} parse\+Request (\begin{DoxyParamCaption}\item[{uint8\+\_\+t $\ast$}]{d }\end{DoxyParamCaption})}
+
+
+
+extracts request information from data package 
+
+
+\begin{DoxyParams}{Parameters}
+{\em d} & data package \\
+\hline
+\end{DoxyParams}
+\begin{DoxyReturn}{Returns}
+U\+\_\+\+Request 
+\end{DoxyReturn}
+Here is the caller graph for this function\+:\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=350pt]{UARTCom_8cpp_a67a111cec96745786304360702d7fb0d_icgraph}
+\end{center}
+\end{figure}
+\mbox{\Hypertarget{UARTCom_8cpp_ac85d37d78756559b8b923544852dd430}\label{UARTCom_8cpp_ac85d37d78756559b8b923544852dd430}} 
+\index{UARTCom.cpp@{UARTCom.cpp}!parseTimestamp@{parseTimestamp}}
+\index{parseTimestamp@{parseTimestamp}!UARTCom.cpp@{UARTCom.cpp}}
+\doxysubsubsection{\texorpdfstring{parseTimestamp()}{parseTimestamp()}}
+{\footnotesize\ttfamily uint32\+\_\+t parse\+Timestamp (\begin{DoxyParamCaption}\item[{uint8\+\_\+t $\ast$}]{d }\end{DoxyParamCaption})}
+
+
+
+extracts timestamp from data package 
+
+
+\begin{DoxyParams}{Parameters}
+{\em d} & data package \\
+\hline
+\end{DoxyParams}
+\begin{DoxyReturn}{Returns}
+uint32\+\_\+t 
+\end{DoxyReturn}
+Here is the call graph for this function\+:\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=309pt]{UARTCom_8cpp_ac85d37d78756559b8b923544852dd430_cgraph}
+\end{center}
+\end{figure}
+\mbox{\Hypertarget{UARTCom_8cpp_ac77fffc0c7f612ccf0db14af856e3277}\label{UARTCom_8cpp_ac77fffc0c7f612ccf0db14af856e3277}} 
+\index{UARTCom.cpp@{UARTCom.cpp}!showPackage@{showPackage}}
+\index{showPackage@{showPackage}!UARTCom.cpp@{UARTCom.cpp}}
+\doxysubsubsection{\texorpdfstring{showPackage()}{showPackage()}}
+{\footnotesize\ttfamily void show\+Package (\begin{DoxyParamCaption}\item[{uint8\+\_\+t $\ast$}]{d,  }\item[{int}]{pl }\end{DoxyParamCaption})}
+
+
+
+debugging function, prints out package data 
+
+
+\begin{DoxyParams}{Parameters}
+{\em d} & data package \\
+\hline
+{\em pl} & payload length \\
+\hline
+\end{DoxyParams}
+Here is the caller graph for this function\+:\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=350pt]{UARTCom_8cpp_ac77fffc0c7f612ccf0db14af856e3277_icgraph}
+\end{center}
+\end{figure}
+
+
+\doxysubsection{Variable Documentation}
+\mbox{\Hypertarget{UARTCom_8cpp_aa786999c8aa65490b5b03fb09a9f1f98}\label{UARTCom_8cpp_aa786999c8aa65490b5b03fb09a9f1f98}} 
+\index{UARTCom.cpp@{UARTCom.cpp}!currentParseIndex@{currentParseIndex}}
+\index{currentParseIndex@{currentParseIndex}!UARTCom.cpp@{UARTCom.cpp}}
+\doxysubsubsection{\texorpdfstring{currentParseIndex}{currentParseIndex}}
+{\footnotesize\ttfamily uint8\+\_\+t current\+Parse\+Index}
+
+\mbox{\Hypertarget{UARTCom_8cpp_aae4c1b8c8e6cca37d95276b38497b370}\label{UARTCom_8cpp_aae4c1b8c8e6cca37d95276b38497b370}} 
+\index{UARTCom.cpp@{UARTCom.cpp}!currentTimestamp@{currentTimestamp}}
+\index{currentTimestamp@{currentTimestamp}!UARTCom.cpp@{UARTCom.cpp}}
+\doxysubsubsection{\texorpdfstring{currentTimestamp}{currentTimestamp}}
+{\footnotesize\ttfamily uint32\+\_\+t current\+Timestamp = 0}
+
+\mbox{\Hypertarget{UARTCom_8cpp_a2eead10869c5f921ef036aa656683cd5}\label{UARTCom_8cpp_a2eead10869c5f921ef036aa656683cd5}} 
+\index{UARTCom.cpp@{UARTCom.cpp}!payloadLength@{payloadLength}}
+\index{payloadLength@{payloadLength}!UARTCom.cpp@{UARTCom.cpp}}
+\doxysubsubsection{\texorpdfstring{payloadLength}{payloadLength}}
+{\footnotesize\ttfamily int payload\+Length}
+
+\mbox{\Hypertarget{UARTCom_8cpp_adeaeefb426fbd7c5a72fffec28ee0c46}\label{UARTCom_8cpp_adeaeefb426fbd7c5a72fffec28ee0c46}} 
+\index{UARTCom.cpp@{UARTCom.cpp}!wheelLeft@{wheelLeft}}
+\index{wheelLeft@{wheelLeft}!UARTCom.cpp@{UARTCom.cpp}}
+\doxysubsubsection{\texorpdfstring{wheelLeft}{wheelLeft}}
+{\footnotesize\ttfamily Motor\+Wheel wheel\+Left\hspace{0.3cm}{\ttfamily [extern]}}
+
+\mbox{\Hypertarget{UARTCom_8cpp_a5ab69515b5724f039c137585cbf24787}\label{UARTCom_8cpp_a5ab69515b5724f039c137585cbf24787}} 
+\index{UARTCom.cpp@{UARTCom.cpp}!wheelRight@{wheelRight}}
+\index{wheelRight@{wheelRight}!UARTCom.cpp@{UARTCom.cpp}}
+\doxysubsubsection{\texorpdfstring{wheelRight}{wheelRight}}
+{\footnotesize\ttfamily Motor\+Wheel wheel\+Right\hspace{0.3cm}{\ttfamily [extern]}}
+
diff --git a/src/dcaitirobot/embedded/docs/latex/UARTCom_8cpp__incl.md5 b/src/dcaitirobot/embedded/docs/latex/UARTCom_8cpp__incl.md5
new file mode 100644
index 0000000..3a546e8
--- /dev/null
+++ b/src/dcaitirobot/embedded/docs/latex/UARTCom_8cpp__incl.md5
@@ -0,0 +1 @@
+76188e01a759e37f8f84cee679e4764a
\ No newline at end of file
diff --git a/src/dcaitirobot/embedded/docs/latex/UARTCom_8cpp__incl.pdf b/src/dcaitirobot/embedded/docs/latex/UARTCom_8cpp__incl.pdf
new file mode 100644
index 0000000000000000000000000000000000000000..85faf757ba8e639e0dcc9608ae24f7c38e9e3316
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diff --git a/src/dcaitirobot/embedded/docs/latex/UARTCom_8cpp_a050546b686b2c4648e34f5145e8e5c3a_icgraph.md5 b/src/dcaitirobot/embedded/docs/latex/UARTCom_8cpp_a050546b686b2c4648e34f5145e8e5c3a_icgraph.md5
new file mode 100644
index 0000000..f291d7a
--- /dev/null
+++ b/src/dcaitirobot/embedded/docs/latex/UARTCom_8cpp_a050546b686b2c4648e34f5145e8e5c3a_icgraph.md5
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/src/dcaitirobot/embedded/docs/latex/UARTCom_8cpp_a050546b686b2c4648e34f5145e8e5c3a_icgraph.pdf b/src/dcaitirobot/embedded/docs/latex/UARTCom_8cpp_a050546b686b2c4648e34f5145e8e5c3a_icgraph.pdf
new file mode 100644
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diff --git a/src/dcaitirobot/embedded/docs/latex/UARTCom_8cpp_a09ed133ea78335824acd3d296d6d8568_cgraph.md5 b/src/dcaitirobot/embedded/docs/latex/UARTCom_8cpp_a09ed133ea78335824acd3d296d6d8568_cgraph.md5
new file mode 100644
index 0000000..7d9a92f
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+++ b/src/dcaitirobot/embedded/docs/latex/UARTCom_8cpp_a09ed133ea78335824acd3d296d6d8568_cgraph.md5
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diff --git a/src/dcaitirobot/embedded/docs/latex/UARTCom_8cpp_a09ed133ea78335824acd3d296d6d8568_cgraph.pdf b/src/dcaitirobot/embedded/docs/latex/UARTCom_8cpp_a09ed133ea78335824acd3d296d6d8568_cgraph.pdf
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diff --git a/src/dcaitirobot/embedded/docs/latex/UARTCom_8cpp_a09ed133ea78335824acd3d296d6d8568_icgraph.md5 b/src/dcaitirobot/embedded/docs/latex/UARTCom_8cpp_a09ed133ea78335824acd3d296d6d8568_icgraph.md5
new file mode 100644
index 0000000..a0242df
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diff --git a/src/dcaitirobot/embedded/docs/latex/UARTCom_8cpp_a09ed133ea78335824acd3d296d6d8568_icgraph.pdf b/src/dcaitirobot/embedded/docs/latex/UARTCom_8cpp_a09ed133ea78335824acd3d296d6d8568_icgraph.pdf
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new file mode 100644
index 0000000..287b2c6
--- /dev/null
+++ b/src/dcaitirobot/embedded/docs/latex/UARTCom_8cpp_a0f9de5ab46a6f02e563fdc4634cd1b26_icgraph.md5
@@ -0,0 +1 @@
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diff --git a/src/dcaitirobot/embedded/docs/latex/UARTCom_8cpp_a2f281c7608e509d555fc0a09cfeff82a_icgraph.md5 b/src/dcaitirobot/embedded/docs/latex/UARTCom_8cpp_a2f281c7608e509d555fc0a09cfeff82a_icgraph.md5
new file mode 100644
index 0000000..d6a132f
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+++ b/src/dcaitirobot/embedded/docs/latex/UARTCom_8cpp_a2f281c7608e509d555fc0a09cfeff82a_icgraph.md5
@@ -0,0 +1 @@
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diff --git a/src/dcaitirobot/embedded/docs/latex/UARTCom_8cpp_a2f281c7608e509d555fc0a09cfeff82a_icgraph.pdf b/src/dcaitirobot/embedded/docs/latex/UARTCom_8cpp_a2f281c7608e509d555fc0a09cfeff82a_icgraph.pdf
new file mode 100644
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diff --git a/src/dcaitirobot/embedded/docs/latex/UARTCom_8cpp_a4d3197ea3a99346e142f898a856eba6c_icgraph.md5 b/src/dcaitirobot/embedded/docs/latex/UARTCom_8cpp_a4d3197ea3a99346e142f898a856eba6c_icgraph.md5
new file mode 100644
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diff --git a/src/dcaitirobot/embedded/docs/latex/UARTCom_8cpp_a4d3197ea3a99346e142f898a856eba6c_icgraph.pdf b/src/dcaitirobot/embedded/docs/latex/UARTCom_8cpp_a4d3197ea3a99346e142f898a856eba6c_icgraph.pdf
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diff --git a/src/dcaitirobot/embedded/docs/latex/UARTCom_8cpp_a5bfcc9a4d05eaa07aff6dbc5ffbc01a4_icgraph.md5 b/src/dcaitirobot/embedded/docs/latex/UARTCom_8cpp_a5bfcc9a4d05eaa07aff6dbc5ffbc01a4_icgraph.md5
new file mode 100644
index 0000000..aad4f31
--- /dev/null
+++ b/src/dcaitirobot/embedded/docs/latex/UARTCom_8cpp_a5bfcc9a4d05eaa07aff6dbc5ffbc01a4_icgraph.md5
@@ -0,0 +1 @@
+8a6d8f498316d94ccdd7ce5c8daa1c04
\ No newline at end of file
diff --git a/src/dcaitirobot/embedded/docs/latex/UARTCom_8cpp_a5bfcc9a4d05eaa07aff6dbc5ffbc01a4_icgraph.pdf b/src/dcaitirobot/embedded/docs/latex/UARTCom_8cpp_a5bfcc9a4d05eaa07aff6dbc5ffbc01a4_icgraph.pdf
new file mode 100644
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diff --git a/src/dcaitirobot/embedded/docs/latex/UARTCom_8cpp_a67a111cec96745786304360702d7fb0d_icgraph.md5 b/src/dcaitirobot/embedded/docs/latex/UARTCom_8cpp_a67a111cec96745786304360702d7fb0d_icgraph.md5
new file mode 100644
index 0000000..7e0189d
--- /dev/null
+++ b/src/dcaitirobot/embedded/docs/latex/UARTCom_8cpp_a67a111cec96745786304360702d7fb0d_icgraph.md5
@@ -0,0 +1 @@
+03b6a49412a8c0d74c133dcf2ff80735
\ No newline at end of file
diff --git a/src/dcaitirobot/embedded/docs/latex/UARTCom_8cpp_a67a111cec96745786304360702d7fb0d_icgraph.pdf b/src/dcaitirobot/embedded/docs/latex/UARTCom_8cpp_a67a111cec96745786304360702d7fb0d_icgraph.pdf
new file mode 100644
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diff --git a/src/dcaitirobot/embedded/docs/latex/UARTCom_8cpp_a744c5a2f1e07b896f5dc1a3b352dfd2a_icgraph.md5 b/src/dcaitirobot/embedded/docs/latex/UARTCom_8cpp_a744c5a2f1e07b896f5dc1a3b352dfd2a_icgraph.md5
new file mode 100644
index 0000000..e40a30f
--- /dev/null
+++ b/src/dcaitirobot/embedded/docs/latex/UARTCom_8cpp_a744c5a2f1e07b896f5dc1a3b352dfd2a_icgraph.md5
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/src/dcaitirobot/embedded/docs/latex/UARTCom_8cpp_a744c5a2f1e07b896f5dc1a3b352dfd2a_icgraph.pdf b/src/dcaitirobot/embedded/docs/latex/UARTCom_8cpp_a744c5a2f1e07b896f5dc1a3b352dfd2a_icgraph.pdf
new file mode 100644
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diff --git a/src/dcaitirobot/embedded/docs/latex/UARTCom_8cpp_a86f7112e2f3c0cf6e89e6cc9ce0d35bc_cgraph.md5 b/src/dcaitirobot/embedded/docs/latex/UARTCom_8cpp_a86f7112e2f3c0cf6e89e6cc9ce0d35bc_cgraph.md5
new file mode 100644
index 0000000..21dc6ed
--- /dev/null
+++ b/src/dcaitirobot/embedded/docs/latex/UARTCom_8cpp_a86f7112e2f3c0cf6e89e6cc9ce0d35bc_cgraph.md5
@@ -0,0 +1 @@
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diff --git a/src/dcaitirobot/embedded/docs/latex/UARTCom_8cpp_a86f7112e2f3c0cf6e89e6cc9ce0d35bc_cgraph.pdf b/src/dcaitirobot/embedded/docs/latex/UARTCom_8cpp_a86f7112e2f3c0cf6e89e6cc9ce0d35bc_cgraph.pdf
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diff --git a/src/dcaitirobot/embedded/docs/latex/UARTCom_8cpp_a86f7112e2f3c0cf6e89e6cc9ce0d35bc_icgraph.md5 b/src/dcaitirobot/embedded/docs/latex/UARTCom_8cpp_a86f7112e2f3c0cf6e89e6cc9ce0d35bc_icgraph.md5
new file mode 100644
index 0000000..2a4e963
--- /dev/null
+++ b/src/dcaitirobot/embedded/docs/latex/UARTCom_8cpp_a86f7112e2f3c0cf6e89e6cc9ce0d35bc_icgraph.md5
@@ -0,0 +1 @@
+c250290d9063bfde44455036b1ffac93
\ No newline at end of file
diff --git a/src/dcaitirobot/embedded/docs/latex/UARTCom_8cpp_a86f7112e2f3c0cf6e89e6cc9ce0d35bc_icgraph.pdf b/src/dcaitirobot/embedded/docs/latex/UARTCom_8cpp_a86f7112e2f3c0cf6e89e6cc9ce0d35bc_icgraph.pdf
new file mode 100644
index 0000000000000000000000000000000000000000..3a445926880b54eac40d706b4dfe7c4357c6827d
GIT binary patch
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diff --git a/src/dcaitirobot/embedded/docs/latex/UARTCom_8cpp_a8f3f9f5697687756152cfc8045170646_cgraph.md5 b/src/dcaitirobot/embedded/docs/latex/UARTCom_8cpp_a8f3f9f5697687756152cfc8045170646_cgraph.md5
new file mode 100644
index 0000000..c8462cf
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diff --git a/src/dcaitirobot/embedded/docs/latex/UARTCom_8cpp_a8f3f9f5697687756152cfc8045170646_cgraph.pdf b/src/dcaitirobot/embedded/docs/latex/UARTCom_8cpp_a8f3f9f5697687756152cfc8045170646_cgraph.pdf
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diff --git a/src/dcaitirobot/embedded/docs/latex/UARTCom_8cpp_a8f3f9f5697687756152cfc8045170646_icgraph.md5 b/src/dcaitirobot/embedded/docs/latex/UARTCom_8cpp_a8f3f9f5697687756152cfc8045170646_icgraph.md5
new file mode 100644
index 0000000..bfe14ee
--- /dev/null
+++ b/src/dcaitirobot/embedded/docs/latex/UARTCom_8cpp_a8f3f9f5697687756152cfc8045170646_icgraph.md5
@@ -0,0 +1 @@
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diff --git a/src/dcaitirobot/embedded/docs/latex/UARTCom_8cpp_a8f3f9f5697687756152cfc8045170646_icgraph.pdf b/src/dcaitirobot/embedded/docs/latex/UARTCom_8cpp_a8f3f9f5697687756152cfc8045170646_icgraph.pdf
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diff --git a/src/dcaitirobot/embedded/docs/latex/UARTCom_8cpp_ac77fffc0c7f612ccf0db14af856e3277_icgraph.md5 b/src/dcaitirobot/embedded/docs/latex/UARTCom_8cpp_ac77fffc0c7f612ccf0db14af856e3277_icgraph.md5
new file mode 100644
index 0000000..ae53bd3
--- /dev/null
+++ b/src/dcaitirobot/embedded/docs/latex/UARTCom_8cpp_ac77fffc0c7f612ccf0db14af856e3277_icgraph.md5
@@ -0,0 +1 @@
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diff --git a/src/dcaitirobot/embedded/docs/latex/UARTCom_8cpp_ac77fffc0c7f612ccf0db14af856e3277_icgraph.pdf b/src/dcaitirobot/embedded/docs/latex/UARTCom_8cpp_ac77fffc0c7f612ccf0db14af856e3277_icgraph.pdf
new file mode 100644
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diff --git a/src/dcaitirobot/embedded/docs/latex/UARTCom_8cpp_ac85d37d78756559b8b923544852dd430_cgraph.md5 b/src/dcaitirobot/embedded/docs/latex/UARTCom_8cpp_ac85d37d78756559b8b923544852dd430_cgraph.md5
new file mode 100644
index 0000000..27357ce
--- /dev/null
+++ b/src/dcaitirobot/embedded/docs/latex/UARTCom_8cpp_ac85d37d78756559b8b923544852dd430_cgraph.md5
@@ -0,0 +1 @@
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diff --git a/src/dcaitirobot/embedded/docs/latex/UARTCom_8cpp_ac85d37d78756559b8b923544852dd430_cgraph.pdf b/src/dcaitirobot/embedded/docs/latex/UARTCom_8cpp_ac85d37d78756559b8b923544852dd430_cgraph.pdf
new file mode 100644
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diff --git a/src/dcaitirobot/embedded/docs/latex/UARTCom_8hpp.tex b/src/dcaitirobot/embedded/docs/latex/UARTCom_8hpp.tex
new file mode 100644
index 0000000..7b076da
--- /dev/null
+++ b/src/dcaitirobot/embedded/docs/latex/UARTCom_8hpp.tex
@@ -0,0 +1,45 @@
+\hypertarget{UARTCom_8hpp}{}\doxysection{include/communication/\+UARTCom.hpp File Reference}
+\label{UARTCom_8hpp}\index{include/communication/UARTCom.hpp@{include/communication/UARTCom.hpp}}
+
+
+class to manage uart communication  
+
+
+{\ttfamily \#include \char`\"{}Arduino.\+h\char`\"{}}\newline
+{\ttfamily \#include \char`\"{}constants.\+h\char`\"{}}\newline
+Include dependency graph for UARTCom.\+hpp\+:\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=234pt]{UARTCom_8hpp__incl}
+\end{center}
+\end{figure}
+This graph shows which files directly or indirectly include this file\+:\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=350pt]{UARTCom_8hpp__dep__incl}
+\end{center}
+\end{figure}
+\doxysubsection*{Classes}
+\begin{DoxyCompactItemize}
+\item 
+class \mbox{\hyperlink{classUARTCom}{UARTCom}}
+\end{DoxyCompactItemize}
+
+
+\doxysubsection{Detailed Description}
+class to manage uart communication 
+
+\begin{DoxyAuthor}{Author}
+your name (\href{mailto:you@domain.com}{\texttt{ you@domain.\+com}}) 
+\end{DoxyAuthor}
+\begin{DoxyVersion}{Version}
+0.\+1 
+\end{DoxyVersion}
+\begin{DoxyDate}{Date}
+2021-\/07-\/22
+\end{DoxyDate}
+\begin{DoxyCopyright}{Copyright}
+Copyright (c) 2021 
+\end{DoxyCopyright}
diff --git a/src/dcaitirobot/embedded/docs/latex/UARTCom_8hpp__dep__incl.md5 b/src/dcaitirobot/embedded/docs/latex/UARTCom_8hpp__dep__incl.md5
new file mode 100644
index 0000000..9f97127
--- /dev/null
+++ b/src/dcaitirobot/embedded/docs/latex/UARTCom_8hpp__dep__incl.md5
@@ -0,0 +1 @@
+781872b69b0506940b91dfb0cfca3ece
\ No newline at end of file
diff --git a/src/dcaitirobot/embedded/docs/latex/UARTCom_8hpp__dep__incl.pdf b/src/dcaitirobot/embedded/docs/latex/UARTCom_8hpp__dep__incl.pdf
new file mode 100644
index 0000000000000000000000000000000000000000..c857b44011c7d9cec7ef85f2a468de869cb3ddb3
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diff --git a/src/dcaitirobot/embedded/docs/latex/UARTCom_8hpp__incl.md5 b/src/dcaitirobot/embedded/docs/latex/UARTCom_8hpp__incl.md5
new file mode 100644
index 0000000..e3395bc
--- /dev/null
+++ b/src/dcaitirobot/embedded/docs/latex/UARTCom_8hpp__incl.md5
@@ -0,0 +1 @@
+0ab7241dd540065e192633195dc2f287
\ No newline at end of file
diff --git a/src/dcaitirobot/embedded/docs/latex/UARTCom_8hpp__incl.pdf b/src/dcaitirobot/embedded/docs/latex/UARTCom_8hpp__incl.pdf
new file mode 100644
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diff --git a/src/dcaitirobot/embedded/docs/latex/UCommands_8cpp.tex b/src/dcaitirobot/embedded/docs/latex/UCommands_8cpp.tex
new file mode 100644
index 0000000..c9f74ea
--- /dev/null
+++ b/src/dcaitirobot/embedded/docs/latex/UCommands_8cpp.tex
@@ -0,0 +1,35 @@
+\hypertarget{UCommands_8cpp}{}\doxysection{src/communication/\+UCommands.cpp File Reference}
+\label{UCommands_8cpp}\index{src/communication/UCommands.cpp@{src/communication/UCommands.cpp}}
+{\ttfamily \#include \char`\"{}communication/\+UCommands.\+hpp\char`\"{}}\newline
+{\ttfamily \#include \char`\"{}misc/\+Utils.\+hpp\char`\"{}}\newline
+{\ttfamily \#include \char`\"{}Motor\+Wheel.\+h\char`\"{}}\newline
+Include dependency graph for UCommands.\+cpp\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=350pt]{UCommands_8cpp__incl}
+\end{center}
+\end{figure}
+\doxysubsection*{Variables}
+\begin{DoxyCompactItemize}
+\item 
+Motor\+Wheel \mbox{\hyperlink{UCommands_8cpp_adeaeefb426fbd7c5a72fffec28ee0c46}{wheel\+Left}}
+\item 
+Motor\+Wheel \mbox{\hyperlink{UCommands_8cpp_a5ab69515b5724f039c137585cbf24787}{wheel\+Right}}
+\end{DoxyCompactItemize}
+
+
+\doxysubsection{Variable Documentation}
+\mbox{\Hypertarget{UCommands_8cpp_adeaeefb426fbd7c5a72fffec28ee0c46}\label{UCommands_8cpp_adeaeefb426fbd7c5a72fffec28ee0c46}} 
+\index{UCommands.cpp@{UCommands.cpp}!wheelLeft@{wheelLeft}}
+\index{wheelLeft@{wheelLeft}!UCommands.cpp@{UCommands.cpp}}
+\doxysubsubsection{\texorpdfstring{wheelLeft}{wheelLeft}}
+{\footnotesize\ttfamily Motor\+Wheel wheel\+Left\hspace{0.3cm}{\ttfamily [extern]}}
+
+\mbox{\Hypertarget{UCommands_8cpp_a5ab69515b5724f039c137585cbf24787}\label{UCommands_8cpp_a5ab69515b5724f039c137585cbf24787}} 
+\index{UCommands.cpp@{UCommands.cpp}!wheelRight@{wheelRight}}
+\index{wheelRight@{wheelRight}!UCommands.cpp@{UCommands.cpp}}
+\doxysubsubsection{\texorpdfstring{wheelRight}{wheelRight}}
+{\footnotesize\ttfamily Motor\+Wheel wheel\+Right\hspace{0.3cm}{\ttfamily [extern]}}
+
diff --git a/src/dcaitirobot/embedded/docs/latex/UCommands_8cpp__incl.md5 b/src/dcaitirobot/embedded/docs/latex/UCommands_8cpp__incl.md5
new file mode 100644
index 0000000..20b63c5
--- /dev/null
+++ b/src/dcaitirobot/embedded/docs/latex/UCommands_8cpp__incl.md5
@@ -0,0 +1 @@
+28a514f214a68b6154e273960275509b
\ No newline at end of file
diff --git a/src/dcaitirobot/embedded/docs/latex/UCommands_8cpp__incl.pdf b/src/dcaitirobot/embedded/docs/latex/UCommands_8cpp__incl.pdf
new file mode 100644
index 0000000000000000000000000000000000000000..153f3d12da616b143348ad3eef913f01306fc853
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diff --git a/src/dcaitirobot/embedded/docs/latex/UCommands_8hpp.tex b/src/dcaitirobot/embedded/docs/latex/UCommands_8hpp.tex
new file mode 100644
index 0000000..c28c273
--- /dev/null
+++ b/src/dcaitirobot/embedded/docs/latex/UCommands_8hpp.tex
@@ -0,0 +1,45 @@
+\hypertarget{UCommands_8hpp}{}\doxysection{include/communication/\+UCommands.hpp File Reference}
+\label{UCommands_8hpp}\index{include/communication/UCommands.hpp@{include/communication/UCommands.hpp}}
+
+
+implementation of commands according to uart protocol  
+
+
+{\ttfamily \#include \char`\"{}Arduino.\+h\char`\"{}}\newline
+{\ttfamily \#include \char`\"{}constants.\+h\char`\"{}}\newline
+Include dependency graph for UCommands.\+hpp\+:\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=234pt]{UCommands_8hpp__incl}
+\end{center}
+\end{figure}
+This graph shows which files directly or indirectly include this file\+:\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=350pt]{UCommands_8hpp__dep__incl}
+\end{center}
+\end{figure}
+\doxysubsection*{Classes}
+\begin{DoxyCompactItemize}
+\item 
+class \mbox{\hyperlink{classUCommands}{UCommands}}
+\end{DoxyCompactItemize}
+
+
+\doxysubsection{Detailed Description}
+implementation of commands according to uart protocol 
+
+\begin{DoxyAuthor}{Author}
+your name (\href{mailto:you@domain.com}{\texttt{ you@domain.\+com}}) 
+\end{DoxyAuthor}
+\begin{DoxyVersion}{Version}
+0.\+1 
+\end{DoxyVersion}
+\begin{DoxyDate}{Date}
+2021-\/07-\/22
+\end{DoxyDate}
+\begin{DoxyCopyright}{Copyright}
+Copyright (c) 2021 
+\end{DoxyCopyright}
diff --git a/src/dcaitirobot/embedded/docs/latex/UCommands_8hpp__dep__incl.md5 b/src/dcaitirobot/embedded/docs/latex/UCommands_8hpp__dep__incl.md5
new file mode 100644
index 0000000..afeb045
--- /dev/null
+++ b/src/dcaitirobot/embedded/docs/latex/UCommands_8hpp__dep__incl.md5
@@ -0,0 +1 @@
+4e0228c976107a22cd036a0756f783aa
\ No newline at end of file
diff --git a/src/dcaitirobot/embedded/docs/latex/UCommands_8hpp__dep__incl.pdf b/src/dcaitirobot/embedded/docs/latex/UCommands_8hpp__dep__incl.pdf
new file mode 100644
index 0000000000000000000000000000000000000000..8c7bfa86434099628a71a58f8dfe777ad29c90d9
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diff --git a/src/dcaitirobot/embedded/docs/latex/UCommands_8hpp__incl.md5 b/src/dcaitirobot/embedded/docs/latex/UCommands_8hpp__incl.md5
new file mode 100644
index 0000000..ba75da9
--- /dev/null
+++ b/src/dcaitirobot/embedded/docs/latex/UCommands_8hpp__incl.md5
@@ -0,0 +1 @@
+63cbb2c3c2987e2a6fe8f0dcbb8c7766
\ No newline at end of file
diff --git a/src/dcaitirobot/embedded/docs/latex/UCommands_8hpp__incl.pdf b/src/dcaitirobot/embedded/docs/latex/UCommands_8hpp__incl.pdf
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diff --git a/src/dcaitirobot/embedded/docs/latex/UValue_8cpp.tex b/src/dcaitirobot/embedded/docs/latex/UValue_8cpp.tex
new file mode 100644
index 0000000..fae19e2
--- /dev/null
+++ b/src/dcaitirobot/embedded/docs/latex/UValue_8cpp.tex
@@ -0,0 +1,13 @@
+\hypertarget{UValue_8cpp}{}\doxysection{src/communication/\+UValue.cpp File Reference}
+\label{UValue_8cpp}\index{src/communication/UValue.cpp@{src/communication/UValue.cpp}}
+{\ttfamily \#include \char`\"{}communication/\+UValue.\+hpp\char`\"{}}\newline
+{\ttfamily \#include \char`\"{}communication/\+UARTCom.\+hpp\char`\"{}}\newline
+{\ttfamily \#include \char`\"{}Arduino.\+h\char`\"{}}\newline
+{\ttfamily \#include \char`\"{}constants.\+h\char`\"{}}\newline
+Include dependency graph for UValue.\+cpp\+:\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=350pt]{UValue_8cpp__incl}
+\end{center}
+\end{figure}
diff --git a/src/dcaitirobot/embedded/docs/latex/UValue_8cpp__incl.md5 b/src/dcaitirobot/embedded/docs/latex/UValue_8cpp__incl.md5
new file mode 100644
index 0000000..dbd8005
--- /dev/null
+++ b/src/dcaitirobot/embedded/docs/latex/UValue_8cpp__incl.md5
@@ -0,0 +1 @@
+0b4c7271a510ef1c003f4913cf62361f
\ No newline at end of file
diff --git a/src/dcaitirobot/embedded/docs/latex/UValue_8cpp__incl.pdf b/src/dcaitirobot/embedded/docs/latex/UValue_8cpp__incl.pdf
new file mode 100644
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diff --git a/src/dcaitirobot/embedded/docs/latex/UValue_8hpp.tex b/src/dcaitirobot/embedded/docs/latex/UValue_8hpp.tex
new file mode 100644
index 0000000..c5a7c5d
--- /dev/null
+++ b/src/dcaitirobot/embedded/docs/latex/UValue_8hpp.tex
@@ -0,0 +1,44 @@
+\hypertarget{UValue_8hpp}{}\doxysection{include/communication/\+UValue.hpp File Reference}
+\label{UValue_8hpp}\index{include/communication/UValue.hpp@{include/communication/UValue.hpp}}
+
+
+class to send out encoder values  
+
+
+{\ttfamily \#include \char`\"{}constants.\+h\char`\"{}}\newline
+Include dependency graph for UValue.\+hpp\+:\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=211pt]{UValue_8hpp__incl}
+\end{center}
+\end{figure}
+This graph shows which files directly or indirectly include this file\+:\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=350pt]{UValue_8hpp__dep__incl}
+\end{center}
+\end{figure}
+\doxysubsection*{Classes}
+\begin{DoxyCompactItemize}
+\item 
+class \mbox{\hyperlink{classUValue}{UValue}}
+\end{DoxyCompactItemize}
+
+
+\doxysubsection{Detailed Description}
+class to send out encoder values 
+
+\begin{DoxyAuthor}{Author}
+your name (\href{mailto:you@domain.com}{\texttt{ you@domain.\+com}}) 
+\end{DoxyAuthor}
+\begin{DoxyVersion}{Version}
+0.\+1 
+\end{DoxyVersion}
+\begin{DoxyDate}{Date}
+2021-\/07-\/22
+\end{DoxyDate}
+\begin{DoxyCopyright}{Copyright}
+Copyright (c) 2021 
+\end{DoxyCopyright}
diff --git a/src/dcaitirobot/embedded/docs/latex/UValue_8hpp__dep__incl.md5 b/src/dcaitirobot/embedded/docs/latex/UValue_8hpp__dep__incl.md5
new file mode 100644
index 0000000..9134722
--- /dev/null
+++ b/src/dcaitirobot/embedded/docs/latex/UValue_8hpp__dep__incl.md5
@@ -0,0 +1 @@
+f024681b2eaf7545190a7c8063829512
\ No newline at end of file
diff --git a/src/dcaitirobot/embedded/docs/latex/UValue_8hpp__dep__incl.pdf b/src/dcaitirobot/embedded/docs/latex/UValue_8hpp__dep__incl.pdf
new file mode 100644
index 0000000000000000000000000000000000000000..c01b03bbf2a03306bc19ec272069c411604cb689
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diff --git a/src/dcaitirobot/embedded/docs/latex/UValue_8hpp__incl.md5 b/src/dcaitirobot/embedded/docs/latex/UValue_8hpp__incl.md5
new file mode 100644
index 0000000..9e5cdd4
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@@ -0,0 +1 @@
+638a30a7c08f50581654353917ca041c
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diff --git a/src/dcaitirobot/embedded/docs/latex/UValue_8hpp__incl.pdf b/src/dcaitirobot/embedded/docs/latex/UValue_8hpp__incl.pdf
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diff --git a/src/dcaitirobot/embedded/docs/latex/Utils_8cpp.tex b/src/dcaitirobot/embedded/docs/latex/Utils_8cpp.tex
new file mode 100644
index 0000000..4b795e4
--- /dev/null
+++ b/src/dcaitirobot/embedded/docs/latex/Utils_8cpp.tex
@@ -0,0 +1,10 @@
+\hypertarget{Utils_8cpp}{}\doxysection{src/misc/\+Utils.cpp File Reference}
+\label{Utils_8cpp}\index{src/misc/Utils.cpp@{src/misc/Utils.cpp}}
+{\ttfamily \#include \char`\"{}misc/\+Utils.\+hpp\char`\"{}}\newline
+Include dependency graph for Utils.\+cpp\+:\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=183pt]{Utils_8cpp__incl}
+\end{center}
+\end{figure}
diff --git a/src/dcaitirobot/embedded/docs/latex/Utils_8cpp__incl.md5 b/src/dcaitirobot/embedded/docs/latex/Utils_8cpp__incl.md5
new file mode 100644
index 0000000..9dfb490
--- /dev/null
+++ b/src/dcaitirobot/embedded/docs/latex/Utils_8cpp__incl.md5
@@ -0,0 +1 @@
+70d5c66745c76f8ff899ee52e531eaae
\ No newline at end of file
diff --git a/src/dcaitirobot/embedded/docs/latex/Utils_8cpp__incl.pdf b/src/dcaitirobot/embedded/docs/latex/Utils_8cpp__incl.pdf
new file mode 100644
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diff --git a/src/dcaitirobot/embedded/docs/latex/Utils_8hpp.tex b/src/dcaitirobot/embedded/docs/latex/Utils_8hpp.tex
new file mode 100644
index 0000000..a688baa
--- /dev/null
+++ b/src/dcaitirobot/embedded/docs/latex/Utils_8hpp.tex
@@ -0,0 +1,44 @@
+\hypertarget{Utils_8hpp}{}\doxysection{include/misc/\+Utils.hpp File Reference}
+\label{Utils_8hpp}\index{include/misc/Utils.hpp@{include/misc/Utils.hpp}}
+
+
+useful converting and computing functions  
+
+
+{\ttfamily \#include \char`\"{}Arduino.\+h\char`\"{}}\newline
+Include dependency graph for Utils.\+hpp\+:\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=205pt]{Utils_8hpp__incl}
+\end{center}
+\end{figure}
+This graph shows which files directly or indirectly include this file\+:\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=350pt]{Utils_8hpp__dep__incl}
+\end{center}
+\end{figure}
+\doxysubsection*{Classes}
+\begin{DoxyCompactItemize}
+\item 
+class \mbox{\hyperlink{classUtils}{Utils}}
+\end{DoxyCompactItemize}
+
+
+\doxysubsection{Detailed Description}
+useful converting and computing functions 
+
+\begin{DoxyAuthor}{Author}
+your name (\href{mailto:you@domain.com}{\texttt{ you@domain.\+com}}) 
+\end{DoxyAuthor}
+\begin{DoxyVersion}{Version}
+0.\+1 
+\end{DoxyVersion}
+\begin{DoxyDate}{Date}
+2021-\/07-\/22
+\end{DoxyDate}
+\begin{DoxyCopyright}{Copyright}
+Copyright (c) 2021 
+\end{DoxyCopyright}
diff --git a/src/dcaitirobot/embedded/docs/latex/Utils_8hpp__dep__incl.md5 b/src/dcaitirobot/embedded/docs/latex/Utils_8hpp__dep__incl.md5
new file mode 100644
index 0000000..aa664ca
--- /dev/null
+++ b/src/dcaitirobot/embedded/docs/latex/Utils_8hpp__dep__incl.md5
@@ -0,0 +1 @@
+67d442774b89c3b3e9483c2b995073e7
\ No newline at end of file
diff --git a/src/dcaitirobot/embedded/docs/latex/Utils_8hpp__dep__incl.pdf b/src/dcaitirobot/embedded/docs/latex/Utils_8hpp__dep__incl.pdf
new file mode 100644
index 0000000000000000000000000000000000000000..bf54386d93a83f8a2c67f8779bb791a8f67911e3
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diff --git a/src/dcaitirobot/embedded/docs/latex/Utils_8hpp__incl.md5 b/src/dcaitirobot/embedded/docs/latex/Utils_8hpp__incl.md5
new file mode 100644
index 0000000..630933a
--- /dev/null
+++ b/src/dcaitirobot/embedded/docs/latex/Utils_8hpp__incl.md5
@@ -0,0 +1 @@
+3a6c880e33026bc425fde6ca0eb0c8dc
\ No newline at end of file
diff --git a/src/dcaitirobot/embedded/docs/latex/Utils_8hpp__incl.pdf b/src/dcaitirobot/embedded/docs/latex/Utils_8hpp__incl.pdf
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diff --git a/src/dcaitirobot/embedded/docs/latex/annotated.tex b/src/dcaitirobot/embedded/docs/latex/annotated.tex
new file mode 100644
index 0000000..5e37cb5
--- /dev/null
+++ b/src/dcaitirobot/embedded/docs/latex/annotated.tex
@@ -0,0 +1,7 @@
+\doxysection{Class List}
+Here are the classes, structs, unions and interfaces with brief descriptions\+:\begin{DoxyCompactList}
+\item\contentsline{section}{\mbox{\hyperlink{classUARTCom}{UARTCom}} }{\pageref{classUARTCom}}{}
+\item\contentsline{section}{\mbox{\hyperlink{classUCommands}{UCommands}} }{\pageref{classUCommands}}{}
+\item\contentsline{section}{\mbox{\hyperlink{classUtils}{Utils}} }{\pageref{classUtils}}{}
+\item\contentsline{section}{\mbox{\hyperlink{classUValue}{UValue}} }{\pageref{classUValue}}{}
+\end{DoxyCompactList}
diff --git a/src/dcaitirobot/embedded/docs/latex/classGearedMotor.tex b/src/dcaitirobot/embedded/docs/latex/classGearedMotor.tex
new file mode 100644
index 0000000..ee0a98f
--- /dev/null
+++ b/src/dcaitirobot/embedded/docs/latex/classGearedMotor.tex
@@ -0,0 +1,168 @@
+\hypertarget{classGearedMotor}{}\doxysection{Geared\+Motor Class Reference}
+\label{classGearedMotor}\index{GearedMotor@{GearedMotor}}
+
+
+{\ttfamily \#include $<$Motor\+Wheel.\+h$>$}
+
+
+
+Inheritance diagram for Geared\+Motor\+:\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=160pt]{classGearedMotor__inherit__graph}
+\end{center}
+\end{figure}
+
+
+Collaboration diagram for Geared\+Motor\+:\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=184pt]{classGearedMotor__coll__graph}
+\end{center}
+\end{figure}
+\doxysubsection*{Public Member Functions}
+\begin{DoxyCompactItemize}
+\item 
+\mbox{\hyperlink{classGearedMotor_aa91e4c0799d41b33495cac9c805333e2}{Geared\+Motor}} (unsigned char \+\_\+pin\+PWM, unsigned char \+\_\+pin\+Dir, unsigned char \+\_\+pin\+IRQ, unsigned char \+\_\+pin\+IRQB, struct \mbox{\hyperlink{structISRVars}{ISRVars}} $\ast$\+\_\+isr, unsigned int \+\_\+ratio=\mbox{\hyperlink{MotorWheel_8h_a545c3d33941dafc6ffd8cd9a61f6fca4}{REDUCTION\+\_\+\+RATIO}})
+\item 
+float \mbox{\hyperlink{classGearedMotor_a13b6c99ef8713b5333f98a9ba844ba8b}{get\+Geared\+Speed\+RPM}} () const
+\item 
+float \mbox{\hyperlink{classGearedMotor_a0aa18eb91d0313f4bf64cc5e3d43c4cf}{set\+Geared\+Speed\+RPM}} (float geared\+Speed\+RPM, bool dir)
+\item 
+float \mbox{\hyperlink{classGearedMotor_a541c6426380851a4709f652092c80b97}{set\+Geared\+Speed\+RPM}} (float geared\+Speed\+RPM)
+\item 
+unsigned int \mbox{\hyperlink{classGearedMotor_aff9f697effb8c62667a32942ae154053}{get\+Ratio}} () const
+\item 
+unsigned int \mbox{\hyperlink{classGearedMotor_a347d79fb74710a1a82410d0b14a84f25}{set\+Ratio}} (unsigned int ratio=\mbox{\hyperlink{MotorWheel_8h_a545c3d33941dafc6ffd8cd9a61f6fca4}{REDUCTION\+\_\+\+RATIO}})
+\item 
+float \mbox{\hyperlink{classGearedMotor_a36d9fc91b484c923d3f6c92d05c17b56}{get\+Position}} ()
+\end{DoxyCompactItemize}
+\doxysubsection*{Additional Inherited Members}
+
+
+\doxysubsection{Constructor \& Destructor Documentation}
+\mbox{\Hypertarget{classGearedMotor_aa91e4c0799d41b33495cac9c805333e2}\label{classGearedMotor_aa91e4c0799d41b33495cac9c805333e2}} 
+\index{GearedMotor@{GearedMotor}!GearedMotor@{GearedMotor}}
+\index{GearedMotor@{GearedMotor}!GearedMotor@{GearedMotor}}
+\doxysubsubsection{\texorpdfstring{GearedMotor()}{GearedMotor()}}
+{\footnotesize\ttfamily Geared\+Motor\+::\+Geared\+Motor (\begin{DoxyParamCaption}\item[{unsigned char}]{\+\_\+pin\+PWM,  }\item[{unsigned char}]{\+\_\+pin\+Dir,  }\item[{unsigned char}]{\+\_\+pin\+IRQ,  }\item[{unsigned char}]{\+\_\+pin\+IRQB,  }\item[{struct \mbox{\hyperlink{structISRVars}{ISRVars}} $\ast$}]{\+\_\+isr,  }\item[{unsigned int}]{\+\_\+ratio = {\ttfamily \mbox{\hyperlink{MotorWheel_8h_a545c3d33941dafc6ffd8cd9a61f6fca4}{REDUCTION\+\_\+\+RATIO}}} }\end{DoxyParamCaption})}
+
+
+
+\doxysubsection{Member Function Documentation}
+\mbox{\Hypertarget{classGearedMotor_a13b6c99ef8713b5333f98a9ba844ba8b}\label{classGearedMotor_a13b6c99ef8713b5333f98a9ba844ba8b}} 
+\index{GearedMotor@{GearedMotor}!getGearedSpeedRPM@{getGearedSpeedRPM}}
+\index{getGearedSpeedRPM@{getGearedSpeedRPM}!GearedMotor@{GearedMotor}}
+\doxysubsubsection{\texorpdfstring{getGearedSpeedRPM()}{getGearedSpeedRPM()}}
+{\footnotesize\ttfamily float Geared\+Motor\+::get\+Geared\+Speed\+RPM (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption}) const}
+
+Here is the call graph for this function\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=350pt]{classGearedMotor_a13b6c99ef8713b5333f98a9ba844ba8b_cgraph}
+\end{center}
+\end{figure}
+Here is the caller graph for this function\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=350pt]{classGearedMotor_a13b6c99ef8713b5333f98a9ba844ba8b_icgraph}
+\end{center}
+\end{figure}
+\mbox{\Hypertarget{classGearedMotor_a36d9fc91b484c923d3f6c92d05c17b56}\label{classGearedMotor_a36d9fc91b484c923d3f6c92d05c17b56}} 
+\index{GearedMotor@{GearedMotor}!getPosition@{getPosition}}
+\index{getPosition@{getPosition}!GearedMotor@{GearedMotor}}
+\doxysubsubsection{\texorpdfstring{getPosition()}{getPosition()}}
+{\footnotesize\ttfamily float Geared\+Motor\+::get\+Position (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})}
+
+Here is the call graph for this function\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=350pt]{classGearedMotor_a36d9fc91b484c923d3f6c92d05c17b56_cgraph}
+\end{center}
+\end{figure}
+Here is the caller graph for this function\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=350pt]{classGearedMotor_a36d9fc91b484c923d3f6c92d05c17b56_icgraph}
+\end{center}
+\end{figure}
+\mbox{\Hypertarget{classGearedMotor_aff9f697effb8c62667a32942ae154053}\label{classGearedMotor_aff9f697effb8c62667a32942ae154053}} 
+\index{GearedMotor@{GearedMotor}!getRatio@{getRatio}}
+\index{getRatio@{getRatio}!GearedMotor@{GearedMotor}}
+\doxysubsubsection{\texorpdfstring{getRatio()}{getRatio()}}
+{\footnotesize\ttfamily unsigned int Geared\+Motor\+::get\+Ratio (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption}) const}
+
+Here is the caller graph for this function\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=350pt]{classGearedMotor_aff9f697effb8c62667a32942ae154053_icgraph}
+\end{center}
+\end{figure}
+\mbox{\Hypertarget{classGearedMotor_a541c6426380851a4709f652092c80b97}\label{classGearedMotor_a541c6426380851a4709f652092c80b97}} 
+\index{GearedMotor@{GearedMotor}!setGearedSpeedRPM@{setGearedSpeedRPM}}
+\index{setGearedSpeedRPM@{setGearedSpeedRPM}!GearedMotor@{GearedMotor}}
+\doxysubsubsection{\texorpdfstring{setGearedSpeedRPM()}{setGearedSpeedRPM()}\hspace{0.1cm}{\footnotesize\ttfamily [1/2]}}
+{\footnotesize\ttfamily float Geared\+Motor\+::set\+Geared\+Speed\+RPM (\begin{DoxyParamCaption}\item[{float}]{geared\+Speed\+RPM }\end{DoxyParamCaption})}
+
+Here is the call graph for this function\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=350pt]{classGearedMotor_a541c6426380851a4709f652092c80b97_cgraph}
+\end{center}
+\end{figure}
+\mbox{\Hypertarget{classGearedMotor_a0aa18eb91d0313f4bf64cc5e3d43c4cf}\label{classGearedMotor_a0aa18eb91d0313f4bf64cc5e3d43c4cf}} 
+\index{GearedMotor@{GearedMotor}!setGearedSpeedRPM@{setGearedSpeedRPM}}
+\index{setGearedSpeedRPM@{setGearedSpeedRPM}!GearedMotor@{GearedMotor}}
+\doxysubsubsection{\texorpdfstring{setGearedSpeedRPM()}{setGearedSpeedRPM()}\hspace{0.1cm}{\footnotesize\ttfamily [2/2]}}
+{\footnotesize\ttfamily float Geared\+Motor\+::set\+Geared\+Speed\+RPM (\begin{DoxyParamCaption}\item[{float}]{geared\+Speed\+RPM,  }\item[{bool}]{dir }\end{DoxyParamCaption})}
+
+Here is the call graph for this function\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=350pt]{classGearedMotor_a0aa18eb91d0313f4bf64cc5e3d43c4cf_cgraph}
+\end{center}
+\end{figure}
+Here is the caller graph for this function\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=350pt]{classGearedMotor_a0aa18eb91d0313f4bf64cc5e3d43c4cf_icgraph}
+\end{center}
+\end{figure}
+\mbox{\Hypertarget{classGearedMotor_a347d79fb74710a1a82410d0b14a84f25}\label{classGearedMotor_a347d79fb74710a1a82410d0b14a84f25}} 
+\index{GearedMotor@{GearedMotor}!setRatio@{setRatio}}
+\index{setRatio@{setRatio}!GearedMotor@{GearedMotor}}
+\doxysubsubsection{\texorpdfstring{setRatio()}{setRatio()}}
+{\footnotesize\ttfamily unsigned int Geared\+Motor\+::set\+Ratio (\begin{DoxyParamCaption}\item[{unsigned int}]{ratio = {\ttfamily \mbox{\hyperlink{MotorWheel_8h_a545c3d33941dafc6ffd8cd9a61f6fca4}{REDUCTION\+\_\+\+RATIO}}} }\end{DoxyParamCaption})}
+
+Here is the call graph for this function\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=350pt]{classGearedMotor_a347d79fb74710a1a82410d0b14a84f25_cgraph}
+\end{center}
+\end{figure}
+
+
+The documentation for this class was generated from the following files\+:\begin{DoxyCompactItemize}
+\item 
+lib/\+Motor\+Wheel/\mbox{\hyperlink{MotorWheel_8h}{Motor\+Wheel.\+h}}\item 
+lib/\+Motor\+Wheel/\mbox{\hyperlink{MotorWheel_8cpp}{Motor\+Wheel.\+cpp}}\end{DoxyCompactItemize}
diff --git a/src/dcaitirobot/embedded/docs/latex/classGearedMotor__coll__graph.md5 b/src/dcaitirobot/embedded/docs/latex/classGearedMotor__coll__graph.md5
new file mode 100644
index 0000000..12ff2e8
--- /dev/null
+++ b/src/dcaitirobot/embedded/docs/latex/classGearedMotor__coll__graph.md5
@@ -0,0 +1 @@
+53b8e556a4db21fa7155738dae8d2643
\ No newline at end of file
diff --git a/src/dcaitirobot/embedded/docs/latex/classGearedMotor__coll__graph.pdf b/src/dcaitirobot/embedded/docs/latex/classGearedMotor__coll__graph.pdf
new file mode 100644
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diff --git a/src/dcaitirobot/embedded/docs/latex/classGearedMotor__inherit__graph.md5 b/src/dcaitirobot/embedded/docs/latex/classGearedMotor__inherit__graph.md5
new file mode 100644
index 0000000..ee1bfb7
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\ No newline at end of file
diff --git a/src/dcaitirobot/embedded/docs/latex/classGearedMotor__inherit__graph.pdf b/src/dcaitirobot/embedded/docs/latex/classGearedMotor__inherit__graph.pdf
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new file mode 100644
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diff --git a/src/dcaitirobot/embedded/docs/latex/classGearedMotor_a0aa18eb91d0313f4bf64cc5e3d43c4cf_icgraph.md5 b/src/dcaitirobot/embedded/docs/latex/classGearedMotor_a0aa18eb91d0313f4bf64cc5e3d43c4cf_icgraph.md5
new file mode 100644
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@@ -0,0 +1 @@
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new file mode 100644
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new file mode 100644
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new file mode 100644
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diff --git a/src/dcaitirobot/embedded/docs/latex/classGearedMotor_a36d9fc91b484c923d3f6c92d05c17b56_cgraph.md5 b/src/dcaitirobot/embedded/docs/latex/classGearedMotor_a36d9fc91b484c923d3f6c92d05c17b56_cgraph.md5
new file mode 100644
index 0000000..96f6afd
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+++ b/src/dcaitirobot/embedded/docs/latex/classGearedMotor_a36d9fc91b484c923d3f6c92d05c17b56_cgraph.md5
@@ -0,0 +1 @@
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diff --git a/src/dcaitirobot/embedded/docs/latex/classGearedMotor_a36d9fc91b484c923d3f6c92d05c17b56_icgraph.md5 b/src/dcaitirobot/embedded/docs/latex/classGearedMotor_a36d9fc91b484c923d3f6c92d05c17b56_icgraph.md5
new file mode 100644
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+++ b/src/dcaitirobot/embedded/docs/latex/classGearedMotor_a36d9fc91b484c923d3f6c92d05c17b56_icgraph.md5
@@ -0,0 +1 @@
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diff --git a/src/dcaitirobot/embedded/docs/latex/classGearedMotor_a541c6426380851a4709f652092c80b97_cgraph.md5 b/src/dcaitirobot/embedded/docs/latex/classGearedMotor_a541c6426380851a4709f652092c80b97_cgraph.md5
new file mode 100644
index 0000000..60d88d6
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+++ b/src/dcaitirobot/embedded/docs/latex/classGearedMotor_a541c6426380851a4709f652092c80b97_cgraph.md5
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diff --git a/src/dcaitirobot/embedded/docs/latex/classGearedMotor_aff9f697effb8c62667a32942ae154053_icgraph.md5 b/src/dcaitirobot/embedded/docs/latex/classGearedMotor_aff9f697effb8c62667a32942ae154053_icgraph.md5
new file mode 100644
index 0000000..4138d86
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@@ -0,0 +1 @@
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diff --git a/src/dcaitirobot/embedded/docs/latex/classGearedMotor_aff9f697effb8c62667a32942ae154053_icgraph.pdf b/src/dcaitirobot/embedded/docs/latex/classGearedMotor_aff9f697effb8c62667a32942ae154053_icgraph.pdf
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diff --git a/src/dcaitirobot/embedded/docs/latex/classMotor.tex b/src/dcaitirobot/embedded/docs/latex/classMotor.tex
new file mode 100644
index 0000000..3706252
--- /dev/null
+++ b/src/dcaitirobot/embedded/docs/latex/classMotor.tex
@@ -0,0 +1,605 @@
+\hypertarget{classMotor}{}\doxysection{Motor Class Reference}
+\label{classMotor}\index{Motor@{Motor}}
+
+
+{\ttfamily \#include $<$Motor\+Wheel.\+h$>$}
+
+
+
+Inheritance diagram for Motor\+:\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=160pt]{classMotor__inherit__graph}
+\end{center}
+\end{figure}
+
+
+Collaboration diagram for Motor\+:\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=184pt]{classMotor__coll__graph}
+\end{center}
+\end{figure}
+\doxysubsection*{Public Member Functions}
+\begin{DoxyCompactItemize}
+\item 
+\mbox{\hyperlink{classMotor_a80e0c2a87a5c47b4aa200c33028d39eb}{Motor}} (unsigned char \+\_\+pin\+PWM, unsigned char \+\_\+pin\+Dir, unsigned char \+\_\+pin\+IRQ, unsigned char \+\_\+pin\+IRQB, struct \mbox{\hyperlink{structISRVars}{ISRVars}} $\ast$\+\_\+isr)
+\item 
+void \mbox{\hyperlink{classMotor_a826a3f1ffd48fd6f49d74caf7ad68dad}{setup\+Interrupt}} ()
+\item 
+unsigned char \mbox{\hyperlink{classMotor_ad02c1db58f8f247f4e8becc19d1c7054}{get\+Pin\+PWM}} () const
+\item 
+unsigned char \mbox{\hyperlink{classMotor_af085804880a48840dc3d1d088911695e}{get\+Pin\+Dir}} () const
+\item 
+unsigned char \mbox{\hyperlink{classMotor_a785eadb656e31e62b1f1515004344ae0}{get\+Pin\+IRQ}} () const
+\item 
+unsigned char \mbox{\hyperlink{classMotor_a3a1771db56274e5c06625d33a098932f}{get\+Pin\+IRQB}} () const
+\item 
+unsigned int \mbox{\hyperlink{classMotor_ad4e09298c4c8b99ab467a4262d8a3207}{run\+PWM}} (unsigned int PWM, bool dir, bool save\+Dir=true)
+\item 
+unsigned int \mbox{\hyperlink{classMotor_aa41934a55ada6dabb95b6741b6d964d3}{get\+PWM}} () const
+\item 
+unsigned int \mbox{\hyperlink{classMotor_a17f9e1e193961edc117026f80e806d49}{advance\+PWM}} (unsigned int PWM)
+\item 
+unsigned int \mbox{\hyperlink{classMotor_aefe7b72985f51315c7ffe81fbf66869c}{backoff\+PWM}} (unsigned int PWM)
+\item 
+bool \mbox{\hyperlink{classMotor_a2aaead147c8cb1a712db027f9cb70e33}{set\+Desired\+Dir}} (bool dir)
+\item 
+bool \mbox{\hyperlink{classMotor_aa813d431c39937e90e91f3ad2fbf625d}{get\+Desired\+Dir}} () const
+\item 
+bool \mbox{\hyperlink{classMotor_aeddf9353baeaa0ad9e6de0df5d3e73e8}{reverse\+Desired\+Dir}} ()
+\item 
+bool \mbox{\hyperlink{classMotor_a9462d1a9af69941100f422ce1a0faeff}{set\+Curr\+Dir}} ()
+\item 
+bool \mbox{\hyperlink{classMotor_aaedede5ddae28b6926204dc7a47e0612}{get\+Curr\+Dir}} () const
+\item 
+int \mbox{\hyperlink{classMotor_ada15a2f02a7945a458b48e829b6a5d6b}{get\+Speed\+RPM}} () const
+\item 
+unsigned int \mbox{\hyperlink{classMotor_a8d707212e2395830a9064712df1c4f68}{set\+Speed\+RPM}} (int speed\+RPM, bool dir)
+\item 
+int \mbox{\hyperlink{classMotor_a5e6956a60f8903b1555ef5625bbee762}{set\+Speed\+RPM}} (int speed\+RPM)
+\item 
+bool \mbox{\hyperlink{classMotor_a0555b6c2a33c373d3a9e33f174a2b5aa}{PIDSetup}} (float kc=\mbox{\hyperlink{MotorWheel_8h_a73764abcca0b8bbf6bf355d9f1bab0b9}{KC}}, float taui=\mbox{\hyperlink{MotorWheel_8h_a73c066690ee81cb3f9c801205a237acd}{TAUI}}, float taud=\mbox{\hyperlink{MotorWheel_8h_a75450bf317fb4edd6c44dbe6b2ff7673}{TAUD}}, unsigned int sample\+Time=1000)
+\item 
+bool \mbox{\hyperlink{classMotor_a1bc02b7e0da3aca6e724d2755d42eaab}{PIDGet\+Status}} () const
+\item 
+bool \mbox{\hyperlink{classMotor_ad6ee53cd8570f60ae5dd83b8604b00fe}{PIDEnable}} (float kc=\mbox{\hyperlink{MotorWheel_8h_a73764abcca0b8bbf6bf355d9f1bab0b9}{KC}}, float taui=\mbox{\hyperlink{MotorWheel_8h_a73c066690ee81cb3f9c801205a237acd}{TAUI}}, float taud=\mbox{\hyperlink{MotorWheel_8h_a75450bf317fb4edd6c44dbe6b2ff7673}{TAUD}}, unsigned int sample\+Time=1000)
+\item 
+bool \mbox{\hyperlink{classMotor_a6358811a51b7636b06199972b7fae417}{PIDDisable}} ()
+\item 
+bool \mbox{\hyperlink{classMotor_ae14f43483f26152d92c88aa4c6a7a471}{PIDReset}} ()
+\item 
+bool \mbox{\hyperlink{classMotor_aa44fc307611e45eeb5e6fb50c79f375b}{PIDRegulate}} (bool do\+Regulate=true)
+\item 
+unsigned int \mbox{\hyperlink{classMotor_a3377631cff641d41a50b7f1c5b30fc1f}{PIDSet\+Speed\+RPMDesired}} (unsigned int speed\+RPM)
+\item 
+unsigned int \mbox{\hyperlink{classMotor_a9ca625db156da95bc5f4500c294f8e83}{PIDGet\+Speed\+RPMDesired}} () const
+\item 
+void \mbox{\hyperlink{classMotor_a0a420be82fa25f5b62b96f6805835d71}{delay\+MS}} (unsigned int ms, bool \mbox{\hyperlink{MotorWheel_8h_aa8f0efe0d1ee33354f41f8898d0ee8dd}{debug}}=false)
+\item 
+void \mbox{\hyperlink{classMotor_a55a0ba922517197fd01caac36c84c682}{debugger}} () const
+\item 
+int \mbox{\hyperlink{classMotor_a5e5d272254ecd37a082fc467e9cd2610}{get\+Speed\+PPS}} () const
+\item 
+long \mbox{\hyperlink{classMotor_a54f6cdff2ab028fdd2724fbf40c3f641}{get\+Curr\+Pulse}} () const
+\item 
+long \mbox{\hyperlink{classMotor_a653642c0cba985a85204fbfe81cf3c8a}{set\+Curr\+Pulse}} (long \+\_\+pulse)
+\item 
+long \mbox{\hyperlink{classMotor_a190bda1f77605d10bcbacceb2e465bf0}{reset\+Curr\+Pulse}} ()
+\end{DoxyCompactItemize}
+\doxysubsection*{Public Attributes}
+\begin{DoxyCompactItemize}
+\item 
+struct \mbox{\hyperlink{structISRVars}{ISRVars}} $\ast$ \mbox{\hyperlink{classMotor_acab1e83ffdd286821aa69af770294fae}{isr}}
+\end{DoxyCompactItemize}
+
+
+\doxysubsection{Constructor \& Destructor Documentation}
+\mbox{\Hypertarget{classMotor_a80e0c2a87a5c47b4aa200c33028d39eb}\label{classMotor_a80e0c2a87a5c47b4aa200c33028d39eb}} 
+\index{Motor@{Motor}!Motor@{Motor}}
+\index{Motor@{Motor}!Motor@{Motor}}
+\doxysubsubsection{\texorpdfstring{Motor()}{Motor()}}
+{\footnotesize\ttfamily Motor\+::\+Motor (\begin{DoxyParamCaption}\item[{unsigned char}]{\+\_\+pin\+PWM,  }\item[{unsigned char}]{\+\_\+pin\+Dir,  }\item[{unsigned char}]{\+\_\+pin\+IRQ,  }\item[{unsigned char}]{\+\_\+pin\+IRQB,  }\item[{struct \mbox{\hyperlink{structISRVars}{ISRVars}} $\ast$}]{\+\_\+isr }\end{DoxyParamCaption})}
+
+Here is the call graph for this function\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=300pt]{classMotor_a80e0c2a87a5c47b4aa200c33028d39eb_cgraph}
+\end{center}
+\end{figure}
+Here is the caller graph for this function\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=160pt]{classMotor_a80e0c2a87a5c47b4aa200c33028d39eb_icgraph}
+\end{center}
+\end{figure}
+
+
+\doxysubsection{Member Function Documentation}
+\mbox{\Hypertarget{classMotor_a17f9e1e193961edc117026f80e806d49}\label{classMotor_a17f9e1e193961edc117026f80e806d49}} 
+\index{Motor@{Motor}!advancePWM@{advancePWM}}
+\index{advancePWM@{advancePWM}!Motor@{Motor}}
+\doxysubsubsection{\texorpdfstring{advancePWM()}{advancePWM()}}
+{\footnotesize\ttfamily unsigned int Motor\+::advance\+PWM (\begin{DoxyParamCaption}\item[{unsigned int}]{PWM }\end{DoxyParamCaption})}
+
+Here is the call graph for this function\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=325pt]{classMotor_a17f9e1e193961edc117026f80e806d49_cgraph}
+\end{center}
+\end{figure}
+\mbox{\Hypertarget{classMotor_aefe7b72985f51315c7ffe81fbf66869c}\label{classMotor_aefe7b72985f51315c7ffe81fbf66869c}} 
+\index{Motor@{Motor}!backoffPWM@{backoffPWM}}
+\index{backoffPWM@{backoffPWM}!Motor@{Motor}}
+\doxysubsubsection{\texorpdfstring{backoffPWM()}{backoffPWM()}}
+{\footnotesize\ttfamily unsigned int Motor\+::backoff\+PWM (\begin{DoxyParamCaption}\item[{unsigned int}]{PWM }\end{DoxyParamCaption})}
+
+Here is the call graph for this function\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=320pt]{classMotor_aefe7b72985f51315c7ffe81fbf66869c_cgraph}
+\end{center}
+\end{figure}
+\mbox{\Hypertarget{classMotor_a55a0ba922517197fd01caac36c84c682}\label{classMotor_a55a0ba922517197fd01caac36c84c682}} 
+\index{Motor@{Motor}!debugger@{debugger}}
+\index{debugger@{debugger}!Motor@{Motor}}
+\doxysubsubsection{\texorpdfstring{debugger()}{debugger()}}
+{\footnotesize\ttfamily void Motor\+::debugger (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption}) const}
+
+Here is the caller graph for this function\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=306pt]{classMotor_a55a0ba922517197fd01caac36c84c682_icgraph}
+\end{center}
+\end{figure}
+\mbox{\Hypertarget{classMotor_a0a420be82fa25f5b62b96f6805835d71}\label{classMotor_a0a420be82fa25f5b62b96f6805835d71}} 
+\index{Motor@{Motor}!delayMS@{delayMS}}
+\index{delayMS@{delayMS}!Motor@{Motor}}
+\doxysubsubsection{\texorpdfstring{delayMS()}{delayMS()}}
+{\footnotesize\ttfamily void Motor\+::delay\+MS (\begin{DoxyParamCaption}\item[{unsigned int}]{ms,  }\item[{bool}]{debug = {\ttfamily false} }\end{DoxyParamCaption})}
+
+Here is the call graph for this function\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=350pt]{classMotor_a0a420be82fa25f5b62b96f6805835d71_cgraph}
+\end{center}
+\end{figure}
+\mbox{\Hypertarget{classMotor_aaedede5ddae28b6926204dc7a47e0612}\label{classMotor_aaedede5ddae28b6926204dc7a47e0612}} 
+\index{Motor@{Motor}!getCurrDir@{getCurrDir}}
+\index{getCurrDir@{getCurrDir}!Motor@{Motor}}
+\doxysubsubsection{\texorpdfstring{getCurrDir()}{getCurrDir()}}
+{\footnotesize\ttfamily bool Motor\+::get\+Curr\+Dir (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption}) const}
+
+Here is the caller graph for this function\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=350pt]{classMotor_aaedede5ddae28b6926204dc7a47e0612_icgraph}
+\end{center}
+\end{figure}
+\mbox{\Hypertarget{classMotor_a54f6cdff2ab028fdd2724fbf40c3f641}\label{classMotor_a54f6cdff2ab028fdd2724fbf40c3f641}} 
+\index{Motor@{Motor}!getCurrPulse@{getCurrPulse}}
+\index{getCurrPulse@{getCurrPulse}!Motor@{Motor}}
+\doxysubsubsection{\texorpdfstring{getCurrPulse()}{getCurrPulse()}}
+{\footnotesize\ttfamily long Motor\+::get\+Curr\+Pulse (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption}) const}
+
+Here is the caller graph for this function\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=350pt]{classMotor_a54f6cdff2ab028fdd2724fbf40c3f641_icgraph}
+\end{center}
+\end{figure}
+\mbox{\Hypertarget{classMotor_aa813d431c39937e90e91f3ad2fbf625d}\label{classMotor_aa813d431c39937e90e91f3ad2fbf625d}} 
+\index{Motor@{Motor}!getDesiredDir@{getDesiredDir}}
+\index{getDesiredDir@{getDesiredDir}!Motor@{Motor}}
+\doxysubsubsection{\texorpdfstring{getDesiredDir()}{getDesiredDir()}}
+{\footnotesize\ttfamily bool Motor\+::get\+Desired\+Dir (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption}) const}
+
+Here is the caller graph for this function\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=350pt]{classMotor_aa813d431c39937e90e91f3ad2fbf625d_icgraph}
+\end{center}
+\end{figure}
+\mbox{\Hypertarget{classMotor_af085804880a48840dc3d1d088911695e}\label{classMotor_af085804880a48840dc3d1d088911695e}} 
+\index{Motor@{Motor}!getPinDir@{getPinDir}}
+\index{getPinDir@{getPinDir}!Motor@{Motor}}
+\doxysubsubsection{\texorpdfstring{getPinDir()}{getPinDir()}}
+{\footnotesize\ttfamily unsigned char Motor\+::get\+Pin\+Dir (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption}) const}
+
+\mbox{\Hypertarget{classMotor_a785eadb656e31e62b1f1515004344ae0}\label{classMotor_a785eadb656e31e62b1f1515004344ae0}} 
+\index{Motor@{Motor}!getPinIRQ@{getPinIRQ}}
+\index{getPinIRQ@{getPinIRQ}!Motor@{Motor}}
+\doxysubsubsection{\texorpdfstring{getPinIRQ()}{getPinIRQ()}}
+{\footnotesize\ttfamily unsigned char Motor\+::get\+Pin\+IRQ (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption}) const}
+
+\mbox{\Hypertarget{classMotor_a3a1771db56274e5c06625d33a098932f}\label{classMotor_a3a1771db56274e5c06625d33a098932f}} 
+\index{Motor@{Motor}!getPinIRQB@{getPinIRQB}}
+\index{getPinIRQB@{getPinIRQB}!Motor@{Motor}}
+\doxysubsubsection{\texorpdfstring{getPinIRQB()}{getPinIRQB()}}
+{\footnotesize\ttfamily unsigned char Motor\+::get\+Pin\+IRQB (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption}) const}
+
+Here is the caller graph for this function\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=350pt]{classMotor_a3a1771db56274e5c06625d33a098932f_icgraph}
+\end{center}
+\end{figure}
+\mbox{\Hypertarget{classMotor_ad02c1db58f8f247f4e8becc19d1c7054}\label{classMotor_ad02c1db58f8f247f4e8becc19d1c7054}} 
+\index{Motor@{Motor}!getPinPWM@{getPinPWM}}
+\index{getPinPWM@{getPinPWM}!Motor@{Motor}}
+\doxysubsubsection{\texorpdfstring{getPinPWM()}{getPinPWM()}}
+{\footnotesize\ttfamily unsigned char Motor\+::get\+Pin\+PWM (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption}) const}
+
+\mbox{\Hypertarget{classMotor_aa41934a55ada6dabb95b6741b6d964d3}\label{classMotor_aa41934a55ada6dabb95b6741b6d964d3}} 
+\index{Motor@{Motor}!getPWM@{getPWM}}
+\index{getPWM@{getPWM}!Motor@{Motor}}
+\doxysubsubsection{\texorpdfstring{getPWM()}{getPWM()}}
+{\footnotesize\ttfamily unsigned int Motor\+::get\+PWM (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption}) const}
+
+Here is the caller graph for this function\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=348pt]{classMotor_aa41934a55ada6dabb95b6741b6d964d3_icgraph}
+\end{center}
+\end{figure}
+\mbox{\Hypertarget{classMotor_a5e5d272254ecd37a082fc467e9cd2610}\label{classMotor_a5e5d272254ecd37a082fc467e9cd2610}} 
+\index{Motor@{Motor}!getSpeedPPS@{getSpeedPPS}}
+\index{getSpeedPPS@{getSpeedPPS}!Motor@{Motor}}
+\doxysubsubsection{\texorpdfstring{getSpeedPPS()}{getSpeedPPS()}}
+{\footnotesize\ttfamily int Motor\+::get\+Speed\+PPS (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption}) const}
+
+\mbox{\Hypertarget{classMotor_ada15a2f02a7945a458b48e829b6a5d6b}\label{classMotor_ada15a2f02a7945a458b48e829b6a5d6b}} 
+\index{Motor@{Motor}!getSpeedRPM@{getSpeedRPM}}
+\index{getSpeedRPM@{getSpeedRPM}!Motor@{Motor}}
+\doxysubsubsection{\texorpdfstring{getSpeedRPM()}{getSpeedRPM()}}
+{\footnotesize\ttfamily int Motor\+::get\+Speed\+RPM (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption}) const}
+
+Here is the call graph for this function\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=336pt]{classMotor_ada15a2f02a7945a458b48e829b6a5d6b_cgraph}
+\end{center}
+\end{figure}
+Here is the caller graph for this function\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=350pt]{classMotor_ada15a2f02a7945a458b48e829b6a5d6b_icgraph}
+\end{center}
+\end{figure}
+\mbox{\Hypertarget{classMotor_a6358811a51b7636b06199972b7fae417}\label{classMotor_a6358811a51b7636b06199972b7fae417}} 
+\index{Motor@{Motor}!PIDDisable@{PIDDisable}}
+\index{PIDDisable@{PIDDisable}!Motor@{Motor}}
+\doxysubsubsection{\texorpdfstring{PIDDisable()}{PIDDisable()}}
+{\footnotesize\ttfamily bool Motor\+::\+PIDDisable (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})}
+
+Here is the caller graph for this function\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=300pt]{classMotor_a6358811a51b7636b06199972b7fae417_icgraph}
+\end{center}
+\end{figure}
+\mbox{\Hypertarget{classMotor_ad6ee53cd8570f60ae5dd83b8604b00fe}\label{classMotor_ad6ee53cd8570f60ae5dd83b8604b00fe}} 
+\index{Motor@{Motor}!PIDEnable@{PIDEnable}}
+\index{PIDEnable@{PIDEnable}!Motor@{Motor}}
+\doxysubsubsection{\texorpdfstring{PIDEnable()}{PIDEnable()}}
+{\footnotesize\ttfamily bool Motor\+::\+PIDEnable (\begin{DoxyParamCaption}\item[{float}]{kc = {\ttfamily \mbox{\hyperlink{MotorWheel_8h_a73764abcca0b8bbf6bf355d9f1bab0b9}{KC}}},  }\item[{float}]{taui = {\ttfamily \mbox{\hyperlink{MotorWheel_8h_a73c066690ee81cb3f9c801205a237acd}{TAUI}}},  }\item[{float}]{taud = {\ttfamily \mbox{\hyperlink{MotorWheel_8h_a75450bf317fb4edd6c44dbe6b2ff7673}{TAUD}}},  }\item[{unsigned int}]{sample\+Time = {\ttfamily 1000} }\end{DoxyParamCaption})}
+
+Here is the call graph for this function\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=350pt]{classMotor_ad6ee53cd8570f60ae5dd83b8604b00fe_cgraph}
+\end{center}
+\end{figure}
+Here is the caller graph for this function\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=261pt]{classMotor_ad6ee53cd8570f60ae5dd83b8604b00fe_icgraph}
+\end{center}
+\end{figure}
+\mbox{\Hypertarget{classMotor_a9ca625db156da95bc5f4500c294f8e83}\label{classMotor_a9ca625db156da95bc5f4500c294f8e83}} 
+\index{Motor@{Motor}!PIDGetSpeedRPMDesired@{PIDGetSpeedRPMDesired}}
+\index{PIDGetSpeedRPMDesired@{PIDGetSpeedRPMDesired}!Motor@{Motor}}
+\doxysubsubsection{\texorpdfstring{PIDGetSpeedRPMDesired()}{PIDGetSpeedRPMDesired()}}
+{\footnotesize\ttfamily unsigned int Motor\+::\+PIDGet\+Speed\+RPMDesired (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption}) const}
+
+Here is the caller graph for this function\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=350pt]{classMotor_a9ca625db156da95bc5f4500c294f8e83_icgraph}
+\end{center}
+\end{figure}
+\mbox{\Hypertarget{classMotor_a1bc02b7e0da3aca6e724d2755d42eaab}\label{classMotor_a1bc02b7e0da3aca6e724d2755d42eaab}} 
+\index{Motor@{Motor}!PIDGetStatus@{PIDGetStatus}}
+\index{PIDGetStatus@{PIDGetStatus}!Motor@{Motor}}
+\doxysubsubsection{\texorpdfstring{PIDGetStatus()}{PIDGetStatus()}}
+{\footnotesize\ttfamily bool Motor\+::\+PIDGet\+Status (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption}) const}
+
+Here is the caller graph for this function\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=350pt]{classMotor_a1bc02b7e0da3aca6e724d2755d42eaab_icgraph}
+\end{center}
+\end{figure}
+\mbox{\Hypertarget{classMotor_aa44fc307611e45eeb5e6fb50c79f375b}\label{classMotor_aa44fc307611e45eeb5e6fb50c79f375b}} 
+\index{Motor@{Motor}!PIDRegulate@{PIDRegulate}}
+\index{PIDRegulate@{PIDRegulate}!Motor@{Motor}}
+\doxysubsubsection{\texorpdfstring{PIDRegulate()}{PIDRegulate()}}
+{\footnotesize\ttfamily bool Motor\+::\+PIDRegulate (\begin{DoxyParamCaption}\item[{bool}]{do\+Regulate = {\ttfamily true} }\end{DoxyParamCaption})}
+
+Here is the call graph for this function\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=346pt]{classMotor_aa44fc307611e45eeb5e6fb50c79f375b_cgraph}
+\end{center}
+\end{figure}
+Here is the caller graph for this function\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=320pt]{classMotor_aa44fc307611e45eeb5e6fb50c79f375b_icgraph}
+\end{center}
+\end{figure}
+\mbox{\Hypertarget{classMotor_ae14f43483f26152d92c88aa4c6a7a471}\label{classMotor_ae14f43483f26152d92c88aa4c6a7a471}} 
+\index{Motor@{Motor}!PIDReset@{PIDReset}}
+\index{PIDReset@{PIDReset}!Motor@{Motor}}
+\doxysubsubsection{\texorpdfstring{PIDReset()}{PIDReset()}}
+{\footnotesize\ttfamily bool Motor\+::\+PIDReset (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})}
+
+Here is the call graph for this function\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=327pt]{classMotor_ae14f43483f26152d92c88aa4c6a7a471_cgraph}
+\end{center}
+\end{figure}
+\mbox{\Hypertarget{classMotor_a3377631cff641d41a50b7f1c5b30fc1f}\label{classMotor_a3377631cff641d41a50b7f1c5b30fc1f}} 
+\index{Motor@{Motor}!PIDSetSpeedRPMDesired@{PIDSetSpeedRPMDesired}}
+\index{PIDSetSpeedRPMDesired@{PIDSetSpeedRPMDesired}!Motor@{Motor}}
+\doxysubsubsection{\texorpdfstring{PIDSetSpeedRPMDesired()}{PIDSetSpeedRPMDesired()}}
+{\footnotesize\ttfamily unsigned int Motor\+::\+PIDSet\+Speed\+RPMDesired (\begin{DoxyParamCaption}\item[{unsigned int}]{speed\+RPM }\end{DoxyParamCaption})}
+
+Here is the call graph for this function\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=350pt]{classMotor_a3377631cff641d41a50b7f1c5b30fc1f_cgraph}
+\end{center}
+\end{figure}
+Here is the caller graph for this function\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=350pt]{classMotor_a3377631cff641d41a50b7f1c5b30fc1f_icgraph}
+\end{center}
+\end{figure}
+\mbox{\Hypertarget{classMotor_a0555b6c2a33c373d3a9e33f174a2b5aa}\label{classMotor_a0555b6c2a33c373d3a9e33f174a2b5aa}} 
+\index{Motor@{Motor}!PIDSetup@{PIDSetup}}
+\index{PIDSetup@{PIDSetup}!Motor@{Motor}}
+\doxysubsubsection{\texorpdfstring{PIDSetup()}{PIDSetup()}}
+{\footnotesize\ttfamily bool Motor\+::\+PIDSetup (\begin{DoxyParamCaption}\item[{float}]{kc = {\ttfamily \mbox{\hyperlink{MotorWheel_8h_a73764abcca0b8bbf6bf355d9f1bab0b9}{KC}}},  }\item[{float}]{taui = {\ttfamily \mbox{\hyperlink{MotorWheel_8h_a73c066690ee81cb3f9c801205a237acd}{TAUI}}},  }\item[{float}]{taud = {\ttfamily \mbox{\hyperlink{MotorWheel_8h_a75450bf317fb4edd6c44dbe6b2ff7673}{TAUD}}},  }\item[{unsigned int}]{sample\+Time = {\ttfamily 1000} }\end{DoxyParamCaption})}
+
+Here is the call graph for this function\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=350pt]{classMotor_a0555b6c2a33c373d3a9e33f174a2b5aa_cgraph}
+\end{center}
+\end{figure}
+Here is the caller graph for this function\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=350pt]{classMotor_a0555b6c2a33c373d3a9e33f174a2b5aa_icgraph}
+\end{center}
+\end{figure}
+\mbox{\Hypertarget{classMotor_a190bda1f77605d10bcbacceb2e465bf0}\label{classMotor_a190bda1f77605d10bcbacceb2e465bf0}} 
+\index{Motor@{Motor}!resetCurrPulse@{resetCurrPulse}}
+\index{resetCurrPulse@{resetCurrPulse}!Motor@{Motor}}
+\doxysubsubsection{\texorpdfstring{resetCurrPulse()}{resetCurrPulse()}}
+{\footnotesize\ttfamily long Motor\+::reset\+Curr\+Pulse (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})}
+
+Here is the call graph for this function\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=350pt]{classMotor_a190bda1f77605d10bcbacceb2e465bf0_cgraph}
+\end{center}
+\end{figure}
+\mbox{\Hypertarget{classMotor_aeddf9353baeaa0ad9e6de0df5d3e73e8}\label{classMotor_aeddf9353baeaa0ad9e6de0df5d3e73e8}} 
+\index{Motor@{Motor}!reverseDesiredDir@{reverseDesiredDir}}
+\index{reverseDesiredDir@{reverseDesiredDir}!Motor@{Motor}}
+\doxysubsubsection{\texorpdfstring{reverseDesiredDir()}{reverseDesiredDir()}}
+{\footnotesize\ttfamily bool Motor\+::reverse\+Desired\+Dir (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})}
+
+Here is the call graph for this function\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=350pt]{classMotor_aeddf9353baeaa0ad9e6de0df5d3e73e8_cgraph}
+\end{center}
+\end{figure}
+\mbox{\Hypertarget{classMotor_ad4e09298c4c8b99ab467a4262d8a3207}\label{classMotor_ad4e09298c4c8b99ab467a4262d8a3207}} 
+\index{Motor@{Motor}!runPWM@{runPWM}}
+\index{runPWM@{runPWM}!Motor@{Motor}}
+\doxysubsubsection{\texorpdfstring{runPWM()}{runPWM()}}
+{\footnotesize\ttfamily unsigned int Motor\+::run\+PWM (\begin{DoxyParamCaption}\item[{unsigned int}]{PWM,  }\item[{bool}]{dir,  }\item[{bool}]{save\+Dir = {\ttfamily true} }\end{DoxyParamCaption})}
+
+Here is the caller graph for this function\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=350pt]{classMotor_ad4e09298c4c8b99ab467a4262d8a3207_icgraph}
+\end{center}
+\end{figure}
+\mbox{\Hypertarget{classMotor_a9462d1a9af69941100f422ce1a0faeff}\label{classMotor_a9462d1a9af69941100f422ce1a0faeff}} 
+\index{Motor@{Motor}!setCurrDir@{setCurrDir}}
+\index{setCurrDir@{setCurrDir}!Motor@{Motor}}
+\doxysubsubsection{\texorpdfstring{setCurrDir()}{setCurrDir()}}
+{\footnotesize\ttfamily bool Motor\+::set\+Curr\+Dir (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})}
+
+Here is the call graph for this function\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=323pt]{classMotor_a9462d1a9af69941100f422ce1a0faeff_cgraph}
+\end{center}
+\end{figure}
+\mbox{\Hypertarget{classMotor_a653642c0cba985a85204fbfe81cf3c8a}\label{classMotor_a653642c0cba985a85204fbfe81cf3c8a}} 
+\index{Motor@{Motor}!setCurrPulse@{setCurrPulse}}
+\index{setCurrPulse@{setCurrPulse}!Motor@{Motor}}
+\doxysubsubsection{\texorpdfstring{setCurrPulse()}{setCurrPulse()}}
+{\footnotesize\ttfamily long Motor\+::set\+Curr\+Pulse (\begin{DoxyParamCaption}\item[{long}]{\+\_\+pulse }\end{DoxyParamCaption})}
+
+Here is the call graph for this function\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=342pt]{classMotor_a653642c0cba985a85204fbfe81cf3c8a_cgraph}
+\end{center}
+\end{figure}
+Here is the caller graph for this function\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=350pt]{classMotor_a653642c0cba985a85204fbfe81cf3c8a_icgraph}
+\end{center}
+\end{figure}
+\mbox{\Hypertarget{classMotor_a2aaead147c8cb1a712db027f9cb70e33}\label{classMotor_a2aaead147c8cb1a712db027f9cb70e33}} 
+\index{Motor@{Motor}!setDesiredDir@{setDesiredDir}}
+\index{setDesiredDir@{setDesiredDir}!Motor@{Motor}}
+\doxysubsubsection{\texorpdfstring{setDesiredDir()}{setDesiredDir()}}
+{\footnotesize\ttfamily bool Motor\+::set\+Desired\+Dir (\begin{DoxyParamCaption}\item[{bool}]{dir }\end{DoxyParamCaption})}
+
+Here is the call graph for this function\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=350pt]{classMotor_a2aaead147c8cb1a712db027f9cb70e33_cgraph}
+\end{center}
+\end{figure}
+Here is the caller graph for this function\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=350pt]{classMotor_a2aaead147c8cb1a712db027f9cb70e33_icgraph}
+\end{center}
+\end{figure}
+\mbox{\Hypertarget{classMotor_a5e6956a60f8903b1555ef5625bbee762}\label{classMotor_a5e6956a60f8903b1555ef5625bbee762}} 
+\index{Motor@{Motor}!setSpeedRPM@{setSpeedRPM}}
+\index{setSpeedRPM@{setSpeedRPM}!Motor@{Motor}}
+\doxysubsubsection{\texorpdfstring{setSpeedRPM()}{setSpeedRPM()}\hspace{0.1cm}{\footnotesize\ttfamily [1/2]}}
+{\footnotesize\ttfamily int Motor\+::set\+Speed\+RPM (\begin{DoxyParamCaption}\item[{int}]{speed\+RPM }\end{DoxyParamCaption})}
+
+Here is the call graph for this function\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=350pt]{classMotor_a5e6956a60f8903b1555ef5625bbee762_cgraph}
+\end{center}
+\end{figure}
+\mbox{\Hypertarget{classMotor_a8d707212e2395830a9064712df1c4f68}\label{classMotor_a8d707212e2395830a9064712df1c4f68}} 
+\index{Motor@{Motor}!setSpeedRPM@{setSpeedRPM}}
+\index{setSpeedRPM@{setSpeedRPM}!Motor@{Motor}}
+\doxysubsubsection{\texorpdfstring{setSpeedRPM()}{setSpeedRPM()}\hspace{0.1cm}{\footnotesize\ttfamily [2/2]}}
+{\footnotesize\ttfamily unsigned int Motor\+::set\+Speed\+RPM (\begin{DoxyParamCaption}\item[{int}]{speed\+RPM,  }\item[{bool}]{dir }\end{DoxyParamCaption})}
+
+Here is the call graph for this function\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=350pt]{classMotor_a8d707212e2395830a9064712df1c4f68_cgraph}
+\end{center}
+\end{figure}
+Here is the caller graph for this function\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=350pt]{classMotor_a8d707212e2395830a9064712df1c4f68_icgraph}
+\end{center}
+\end{figure}
+\mbox{\Hypertarget{classMotor_a826a3f1ffd48fd6f49d74caf7ad68dad}\label{classMotor_a826a3f1ffd48fd6f49d74caf7ad68dad}} 
+\index{Motor@{Motor}!setupInterrupt@{setupInterrupt}}
+\index{setupInterrupt@{setupInterrupt}!Motor@{Motor}}
+\doxysubsubsection{\texorpdfstring{setupInterrupt()}{setupInterrupt()}}
+{\footnotesize\ttfamily void Motor\+::setup\+Interrupt (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})}
+
+Here is the caller graph for this function\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=350pt]{classMotor_a826a3f1ffd48fd6f49d74caf7ad68dad_icgraph}
+\end{center}
+\end{figure}
+
+
+\doxysubsection{Member Data Documentation}
+\mbox{\Hypertarget{classMotor_acab1e83ffdd286821aa69af770294fae}\label{classMotor_acab1e83ffdd286821aa69af770294fae}} 
+\index{Motor@{Motor}!isr@{isr}}
+\index{isr@{isr}!Motor@{Motor}}
+\doxysubsubsection{\texorpdfstring{isr}{isr}}
+{\footnotesize\ttfamily struct \mbox{\hyperlink{structISRVars}{ISRVars}}$\ast$ Motor\+::isr}
+
+
+
+The documentation for this class was generated from the following files\+:\begin{DoxyCompactItemize}
+\item 
+lib/\+Motor\+Wheel/\mbox{\hyperlink{MotorWheel_8h}{Motor\+Wheel.\+h}}\item 
+lib/\+Motor\+Wheel/\mbox{\hyperlink{MotorWheel_8cpp}{Motor\+Wheel.\+cpp}}\end{DoxyCompactItemize}
diff --git a/src/dcaitirobot/embedded/docs/latex/classMotorWheel.tex b/src/dcaitirobot/embedded/docs/latex/classMotorWheel.tex
new file mode 100644
index 0000000..8e7b5fb
--- /dev/null
+++ b/src/dcaitirobot/embedded/docs/latex/classMotorWheel.tex
@@ -0,0 +1,224 @@
+\hypertarget{classMotorWheel}{}\doxysection{Motor\+Wheel Class Reference}
+\label{classMotorWheel}\index{MotorWheel@{MotorWheel}}
+
+
+{\ttfamily \#include $<$Motor\+Wheel.\+h$>$}
+
+
+
+Inheritance diagram for Motor\+Wheel\+:\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=160pt]{classMotorWheel__inherit__graph}
+\end{center}
+\end{figure}
+
+
+Collaboration diagram for Motor\+Wheel\+:\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=184pt]{classMotorWheel__coll__graph}
+\end{center}
+\end{figure}
+\doxysubsection*{Public Member Functions}
+\begin{DoxyCompactItemize}
+\item 
+\mbox{\hyperlink{classMotorWheel_a51b83bdbd1880690814b3febb790484b}{Motor\+Wheel}} (unsigned char \+\_\+pin\+PWM, unsigned char \+\_\+pin\+Dir, unsigned char \+\_\+pin\+IRQ, unsigned char \+\_\+pin\+IRQB, struct \mbox{\hyperlink{structISRVars}{ISRVars}} $\ast$\+\_\+isr, unsigned int ratio=\mbox{\hyperlink{MotorWheel_8h_a545c3d33941dafc6ffd8cd9a61f6fca4}{REDUCTION\+\_\+\+RATIO}}, unsigned int cir\+MM=\mbox{\hyperlink{MotorWheel_8h_a557b8031c21a790194ec252c281dc404}{CIRMM}})
+\item 
+unsigned int \mbox{\hyperlink{classMotorWheel_ae3ceed8768efd5e263e1b897b14b6a6b}{get\+Cir\+MM}} () const
+\item 
+unsigned int \mbox{\hyperlink{classMotorWheel_a6f2191d032f70f43cf60818d1e9c6b66}{set\+Cir\+MM}} (unsigned int cir\+MM=\mbox{\hyperlink{MotorWheel_8h_a557b8031c21a790194ec252c281dc404}{CIRMM}})
+\item 
+int \mbox{\hyperlink{classMotorWheel_a8c38bc7d114f802169562d32d1f1bbaa}{get\+Speed\+CMPM}} () const
+\item 
+int \mbox{\hyperlink{classMotorWheel_a9f2e423db798c68453624aba49c368e1}{set\+Speed\+CMPM}} (unsigned int cm, bool dir)
+\item 
+int \mbox{\hyperlink{classMotorWheel_ad818e45fcf229887779e4b999ecc381b}{set\+Speed\+CMPM}} (int cm)
+\item 
+int \mbox{\hyperlink{classMotorWheel_a6cec55acabda4ae12a8d66d4b50a7e39}{get\+Speed\+MMPS}} () const
+\item 
+int \mbox{\hyperlink{classMotorWheel_a41d7f56c8abd6e75ae9df4f015e7873d}{set\+Speed\+MMPS}} (unsigned int mm, bool dir)
+\item 
+int \mbox{\hyperlink{classMotorWheel_a888535edddcdfa49906be2266889ae74}{set\+Speed\+MMPS}} (int mm)
+\item 
+void \mbox{\hyperlink{classMotorWheel_a1ce67716650175c1be697fc7932b9937}{set\+Geared\+RPM}} (float rpm, bool dir)
+\end{DoxyCompactItemize}
+\doxysubsection*{Additional Inherited Members}
+
+
+\doxysubsection{Constructor \& Destructor Documentation}
+\mbox{\Hypertarget{classMotorWheel_a51b83bdbd1880690814b3febb790484b}\label{classMotorWheel_a51b83bdbd1880690814b3febb790484b}} 
+\index{MotorWheel@{MotorWheel}!MotorWheel@{MotorWheel}}
+\index{MotorWheel@{MotorWheel}!MotorWheel@{MotorWheel}}
+\doxysubsubsection{\texorpdfstring{MotorWheel()}{MotorWheel()}}
+{\footnotesize\ttfamily Motor\+Wheel\+::\+Motor\+Wheel (\begin{DoxyParamCaption}\item[{unsigned char}]{\+\_\+pin\+PWM,  }\item[{unsigned char}]{\+\_\+pin\+Dir,  }\item[{unsigned char}]{\+\_\+pin\+IRQ,  }\item[{unsigned char}]{\+\_\+pin\+IRQB,  }\item[{struct \mbox{\hyperlink{structISRVars}{ISRVars}} $\ast$}]{\+\_\+isr,  }\item[{unsigned int}]{ratio = {\ttfamily \mbox{\hyperlink{MotorWheel_8h_a545c3d33941dafc6ffd8cd9a61f6fca4}{REDUCTION\+\_\+\+RATIO}}},  }\item[{unsigned int}]{cir\+MM = {\ttfamily \mbox{\hyperlink{MotorWheel_8h_a557b8031c21a790194ec252c281dc404}{CIRMM}}} }\end{DoxyParamCaption})}
+
+
+
+\doxysubsection{Member Function Documentation}
+\mbox{\Hypertarget{classMotorWheel_ae3ceed8768efd5e263e1b897b14b6a6b}\label{classMotorWheel_ae3ceed8768efd5e263e1b897b14b6a6b}} 
+\index{MotorWheel@{MotorWheel}!getCirMM@{getCirMM}}
+\index{getCirMM@{getCirMM}!MotorWheel@{MotorWheel}}
+\doxysubsubsection{\texorpdfstring{getCirMM()}{getCirMM()}}
+{\footnotesize\ttfamily unsigned int Motor\+Wheel\+::get\+Cir\+MM (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption}) const}
+
+Here is the caller graph for this function\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=350pt]{classMotorWheel_ae3ceed8768efd5e263e1b897b14b6a6b_icgraph}
+\end{center}
+\end{figure}
+\mbox{\Hypertarget{classMotorWheel_a8c38bc7d114f802169562d32d1f1bbaa}\label{classMotorWheel_a8c38bc7d114f802169562d32d1f1bbaa}} 
+\index{MotorWheel@{MotorWheel}!getSpeedCMPM@{getSpeedCMPM}}
+\index{getSpeedCMPM@{getSpeedCMPM}!MotorWheel@{MotorWheel}}
+\doxysubsubsection{\texorpdfstring{getSpeedCMPM()}{getSpeedCMPM()}}
+{\footnotesize\ttfamily int Motor\+Wheel\+::get\+Speed\+CMPM (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption}) const}
+
+Here is the call graph for this function\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=350pt]{classMotorWheel_a8c38bc7d114f802169562d32d1f1bbaa_cgraph}
+\end{center}
+\end{figure}
+Here is the caller graph for this function\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=350pt]{classMotorWheel_a8c38bc7d114f802169562d32d1f1bbaa_icgraph}
+\end{center}
+\end{figure}
+\mbox{\Hypertarget{classMotorWheel_a6cec55acabda4ae12a8d66d4b50a7e39}\label{classMotorWheel_a6cec55acabda4ae12a8d66d4b50a7e39}} 
+\index{MotorWheel@{MotorWheel}!getSpeedMMPS@{getSpeedMMPS}}
+\index{getSpeedMMPS@{getSpeedMMPS}!MotorWheel@{MotorWheel}}
+\doxysubsubsection{\texorpdfstring{getSpeedMMPS()}{getSpeedMMPS()}}
+{\footnotesize\ttfamily int Motor\+Wheel\+::get\+Speed\+MMPS (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption}) const}
+
+Here is the call graph for this function\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=350pt]{classMotorWheel_a6cec55acabda4ae12a8d66d4b50a7e39_cgraph}
+\end{center}
+\end{figure}
+Here is the caller graph for this function\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=350pt]{classMotorWheel_a6cec55acabda4ae12a8d66d4b50a7e39_icgraph}
+\end{center}
+\end{figure}
+\mbox{\Hypertarget{classMotorWheel_a6f2191d032f70f43cf60818d1e9c6b66}\label{classMotorWheel_a6f2191d032f70f43cf60818d1e9c6b66}} 
+\index{MotorWheel@{MotorWheel}!setCirMM@{setCirMM}}
+\index{setCirMM@{setCirMM}!MotorWheel@{MotorWheel}}
+\doxysubsubsection{\texorpdfstring{setCirMM()}{setCirMM()}}
+{\footnotesize\ttfamily unsigned int Motor\+Wheel\+::set\+Cir\+MM (\begin{DoxyParamCaption}\item[{unsigned int}]{cir\+MM = {\ttfamily \mbox{\hyperlink{MotorWheel_8h_a557b8031c21a790194ec252c281dc404}{CIRMM}}} }\end{DoxyParamCaption})}
+
+Here is the call graph for this function\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=350pt]{classMotorWheel_a6f2191d032f70f43cf60818d1e9c6b66_cgraph}
+\end{center}
+\end{figure}
+\mbox{\Hypertarget{classMotorWheel_a1ce67716650175c1be697fc7932b9937}\label{classMotorWheel_a1ce67716650175c1be697fc7932b9937}} 
+\index{MotorWheel@{MotorWheel}!setGearedRPM@{setGearedRPM}}
+\index{setGearedRPM@{setGearedRPM}!MotorWheel@{MotorWheel}}
+\doxysubsubsection{\texorpdfstring{setGearedRPM()}{setGearedRPM()}}
+{\footnotesize\ttfamily void Motor\+Wheel\+::set\+Geared\+RPM (\begin{DoxyParamCaption}\item[{float}]{rpm,  }\item[{bool}]{dir }\end{DoxyParamCaption})}
+
+Here is the call graph for this function\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=350pt]{classMotorWheel_a1ce67716650175c1be697fc7932b9937_cgraph}
+\end{center}
+\end{figure}
+Here is the caller graph for this function\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=350pt]{classMotorWheel_a1ce67716650175c1be697fc7932b9937_icgraph}
+\end{center}
+\end{figure}
+\mbox{\Hypertarget{classMotorWheel_ad818e45fcf229887779e4b999ecc381b}\label{classMotorWheel_ad818e45fcf229887779e4b999ecc381b}} 
+\index{MotorWheel@{MotorWheel}!setSpeedCMPM@{setSpeedCMPM}}
+\index{setSpeedCMPM@{setSpeedCMPM}!MotorWheel@{MotorWheel}}
+\doxysubsubsection{\texorpdfstring{setSpeedCMPM()}{setSpeedCMPM()}\hspace{0.1cm}{\footnotesize\ttfamily [1/2]}}
+{\footnotesize\ttfamily int Motor\+Wheel\+::set\+Speed\+CMPM (\begin{DoxyParamCaption}\item[{int}]{cm }\end{DoxyParamCaption})}
+
+Here is the call graph for this function\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=350pt]{classMotorWheel_ad818e45fcf229887779e4b999ecc381b_cgraph}
+\end{center}
+\end{figure}
+\mbox{\Hypertarget{classMotorWheel_a9f2e423db798c68453624aba49c368e1}\label{classMotorWheel_a9f2e423db798c68453624aba49c368e1}} 
+\index{MotorWheel@{MotorWheel}!setSpeedCMPM@{setSpeedCMPM}}
+\index{setSpeedCMPM@{setSpeedCMPM}!MotorWheel@{MotorWheel}}
+\doxysubsubsection{\texorpdfstring{setSpeedCMPM()}{setSpeedCMPM()}\hspace{0.1cm}{\footnotesize\ttfamily [2/2]}}
+{\footnotesize\ttfamily int Motor\+Wheel\+::set\+Speed\+CMPM (\begin{DoxyParamCaption}\item[{unsigned int}]{cm,  }\item[{bool}]{dir }\end{DoxyParamCaption})}
+
+Here is the call graph for this function\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=350pt]{classMotorWheel_a9f2e423db798c68453624aba49c368e1_cgraph}
+\end{center}
+\end{figure}
+Here is the caller graph for this function\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=350pt]{classMotorWheel_a9f2e423db798c68453624aba49c368e1_icgraph}
+\end{center}
+\end{figure}
+\mbox{\Hypertarget{classMotorWheel_a888535edddcdfa49906be2266889ae74}\label{classMotorWheel_a888535edddcdfa49906be2266889ae74}} 
+\index{MotorWheel@{MotorWheel}!setSpeedMMPS@{setSpeedMMPS}}
+\index{setSpeedMMPS@{setSpeedMMPS}!MotorWheel@{MotorWheel}}
+\doxysubsubsection{\texorpdfstring{setSpeedMMPS()}{setSpeedMMPS()}\hspace{0.1cm}{\footnotesize\ttfamily [1/2]}}
+{\footnotesize\ttfamily int Motor\+Wheel\+::set\+Speed\+MMPS (\begin{DoxyParamCaption}\item[{int}]{mm }\end{DoxyParamCaption})}
+
+Here is the call graph for this function\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=350pt]{classMotorWheel_a888535edddcdfa49906be2266889ae74_cgraph}
+\end{center}
+\end{figure}
+\mbox{\Hypertarget{classMotorWheel_a41d7f56c8abd6e75ae9df4f015e7873d}\label{classMotorWheel_a41d7f56c8abd6e75ae9df4f015e7873d}} 
+\index{MotorWheel@{MotorWheel}!setSpeedMMPS@{setSpeedMMPS}}
+\index{setSpeedMMPS@{setSpeedMMPS}!MotorWheel@{MotorWheel}}
+\doxysubsubsection{\texorpdfstring{setSpeedMMPS()}{setSpeedMMPS()}\hspace{0.1cm}{\footnotesize\ttfamily [2/2]}}
+{\footnotesize\ttfamily int Motor\+Wheel\+::set\+Speed\+MMPS (\begin{DoxyParamCaption}\item[{unsigned int}]{mm,  }\item[{bool}]{dir }\end{DoxyParamCaption})}
+
+Here is the call graph for this function\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=350pt]{classMotorWheel_a41d7f56c8abd6e75ae9df4f015e7873d_cgraph}
+\end{center}
+\end{figure}
+
+
+The documentation for this class was generated from the following files\+:\begin{DoxyCompactItemize}
+\item 
+lib/\+Motor\+Wheel/\mbox{\hyperlink{MotorWheel_8h}{Motor\+Wheel.\+h}}\item 
+lib/\+Motor\+Wheel/\mbox{\hyperlink{MotorWheel_8cpp}{Motor\+Wheel.\+cpp}}\end{DoxyCompactItemize}
diff --git a/src/dcaitirobot/embedded/docs/latex/classMotorWheel__coll__graph.md5 b/src/dcaitirobot/embedded/docs/latex/classMotorWheel__coll__graph.md5
new file mode 100644
index 0000000..4ebcabf
--- /dev/null
+++ b/src/dcaitirobot/embedded/docs/latex/classMotorWheel__coll__graph.md5
@@ -0,0 +1 @@
+c9c619d6634ee61f4d17a8ff561ef207
\ No newline at end of file
diff --git a/src/dcaitirobot/embedded/docs/latex/classMotorWheel__coll__graph.pdf b/src/dcaitirobot/embedded/docs/latex/classMotorWheel__coll__graph.pdf
new file mode 100644
index 0000000000000000000000000000000000000000..e7d891230589a1d54a6514cd1a482a2c6af5dbda
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diff --git a/src/dcaitirobot/embedded/docs/latex/classMotorWheel__inherit__graph.md5 b/src/dcaitirobot/embedded/docs/latex/classMotorWheel__inherit__graph.md5
new file mode 100644
index 0000000..3193d09
--- /dev/null
+++ b/src/dcaitirobot/embedded/docs/latex/classMotorWheel__inherit__graph.md5
@@ -0,0 +1 @@
+f0980ab8f33b5ee7886e830fb218c6f5
\ No newline at end of file
diff --git a/src/dcaitirobot/embedded/docs/latex/classMotorWheel__inherit__graph.pdf b/src/dcaitirobot/embedded/docs/latex/classMotorWheel__inherit__graph.pdf
new file mode 100644
index 0000000000000000000000000000000000000000..10e3296a6d9b7b958a2d8eb3f312bd7c7d5b7029
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new file mode 100644
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diff --git a/src/dcaitirobot/embedded/docs/latex/classMotorWheel_a1ce67716650175c1be697fc7932b9937_icgraph.md5 b/src/dcaitirobot/embedded/docs/latex/classMotorWheel_a1ce67716650175c1be697fc7932b9937_icgraph.md5
new file mode 100644
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diff --git a/src/dcaitirobot/embedded/docs/latex/classMotorWheel_a41d7f56c8abd6e75ae9df4f015e7873d_cgraph.md5 b/src/dcaitirobot/embedded/docs/latex/classMotorWheel_a41d7f56c8abd6e75ae9df4f015e7873d_cgraph.md5
new file mode 100644
index 0000000..6ebb81a
--- /dev/null
+++ b/src/dcaitirobot/embedded/docs/latex/classMotorWheel_a41d7f56c8abd6e75ae9df4f015e7873d_cgraph.md5
@@ -0,0 +1 @@
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new file mode 100644
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new file mode 100644
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new file mode 100644
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diff --git a/src/dcaitirobot/embedded/docs/latex/classMotorWheel_a888535edddcdfa49906be2266889ae74_cgraph.md5 b/src/dcaitirobot/embedded/docs/latex/classMotorWheel_a888535edddcdfa49906be2266889ae74_cgraph.md5
new file mode 100644
index 0000000..6ebb81a
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@@ -0,0 +1 @@
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diff --git a/src/dcaitirobot/embedded/docs/latex/classMotorWheel_a8c38bc7d114f802169562d32d1f1bbaa_icgraph.md5 b/src/dcaitirobot/embedded/docs/latex/classMotorWheel_a8c38bc7d114f802169562d32d1f1bbaa_icgraph.md5
new file mode 100644
index 0000000..6a3b4ad
--- /dev/null
+++ b/src/dcaitirobot/embedded/docs/latex/classMotorWheel_a8c38bc7d114f802169562d32d1f1bbaa_icgraph.md5
@@ -0,0 +1 @@
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diff --git a/src/dcaitirobot/embedded/docs/latex/classMotorWheel_a8c38bc7d114f802169562d32d1f1bbaa_icgraph.pdf b/src/dcaitirobot/embedded/docs/latex/classMotorWheel_a8c38bc7d114f802169562d32d1f1bbaa_icgraph.pdf
new file mode 100644
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diff --git a/src/dcaitirobot/embedded/docs/latex/classMotorWheel_a9f2e423db798c68453624aba49c368e1_icgraph.md5 b/src/dcaitirobot/embedded/docs/latex/classMotorWheel_a9f2e423db798c68453624aba49c368e1_icgraph.md5
new file mode 100644
index 0000000..db74b05
--- /dev/null
+++ b/src/dcaitirobot/embedded/docs/latex/classMotorWheel_a9f2e423db798c68453624aba49c368e1_icgraph.md5
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diff --git a/src/dcaitirobot/embedded/docs/latex/classMotorWheel_ad818e45fcf229887779e4b999ecc381b_cgraph.md5 b/src/dcaitirobot/embedded/docs/latex/classMotorWheel_ad818e45fcf229887779e4b999ecc381b_cgraph.md5
new file mode 100644
index 0000000..a70f454
--- /dev/null
+++ b/src/dcaitirobot/embedded/docs/latex/classMotorWheel_ad818e45fcf229887779e4b999ecc381b_cgraph.md5
@@ -0,0 +1 @@
+c7da9e6c8ca12024687e9980e88766f5
\ No newline at end of file
diff --git a/src/dcaitirobot/embedded/docs/latex/classMotorWheel_ad818e45fcf229887779e4b999ecc381b_cgraph.pdf b/src/dcaitirobot/embedded/docs/latex/classMotorWheel_ad818e45fcf229887779e4b999ecc381b_cgraph.pdf
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new file mode 100644
index 0000000..e3d5865
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+++ b/src/dcaitirobot/embedded/docs/latex/classMotorWheel_ae3ceed8768efd5e263e1b897b14b6a6b_icgraph.md5
@@ -0,0 +1 @@
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diff --git a/src/dcaitirobot/embedded/docs/latex/classMotorWheel_ae3ceed8768efd5e263e1b897b14b6a6b_icgraph.pdf b/src/dcaitirobot/embedded/docs/latex/classMotorWheel_ae3ceed8768efd5e263e1b897b14b6a6b_icgraph.pdf
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diff --git a/src/dcaitirobot/embedded/docs/latex/classMotor__coll__graph.md5 b/src/dcaitirobot/embedded/docs/latex/classMotor__coll__graph.md5
new file mode 100644
index 0000000..d023110
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@@ -0,0 +1 @@
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diff --git a/src/dcaitirobot/embedded/docs/latex/classMotor__coll__graph.pdf b/src/dcaitirobot/embedded/docs/latex/classMotor__coll__graph.pdf
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new file mode 100644
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diff --git a/src/dcaitirobot/embedded/docs/latex/classMotor_a0555b6c2a33c373d3a9e33f174a2b5aa_cgraph.pdf b/src/dcaitirobot/embedded/docs/latex/classMotor_a0555b6c2a33c373d3a9e33f174a2b5aa_cgraph.pdf
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new file mode 100644
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new file mode 100644
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new file mode 100644
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diff --git a/src/dcaitirobot/embedded/docs/latex/classMotor_a190bda1f77605d10bcbacceb2e465bf0_cgraph.md5 b/src/dcaitirobot/embedded/docs/latex/classMotor_a190bda1f77605d10bcbacceb2e465bf0_cgraph.md5
new file mode 100644
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@@ -0,0 +1 @@
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new file mode 100644
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diff --git a/src/dcaitirobot/embedded/docs/latex/classMotor_a2aaead147c8cb1a712db027f9cb70e33_cgraph.md5 b/src/dcaitirobot/embedded/docs/latex/classMotor_a2aaead147c8cb1a712db027f9cb70e33_cgraph.md5
new file mode 100644
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+++ b/src/dcaitirobot/embedded/docs/latex/classMotor_a2aaead147c8cb1a712db027f9cb70e33_cgraph.md5
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diff --git a/src/dcaitirobot/embedded/docs/latex/classMotor_a2aaead147c8cb1a712db027f9cb70e33_icgraph.md5 b/src/dcaitirobot/embedded/docs/latex/classMotor_a2aaead147c8cb1a712db027f9cb70e33_icgraph.md5
new file mode 100644
index 0000000..49ed08b
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@@ -0,0 +1 @@
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diff --git a/src/dcaitirobot/embedded/docs/latex/classMotor_a2aaead147c8cb1a712db027f9cb70e33_icgraph.pdf b/src/dcaitirobot/embedded/docs/latex/classMotor_a2aaead147c8cb1a712db027f9cb70e33_icgraph.pdf
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new file mode 100644
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diff --git a/src/dcaitirobot/embedded/docs/latex/classMotor_a54f6cdff2ab028fdd2724fbf40c3f641_icgraph.md5 b/src/dcaitirobot/embedded/docs/latex/classMotor_a54f6cdff2ab028fdd2724fbf40c3f641_icgraph.md5
new file mode 100644
index 0000000..87e986d
--- /dev/null
+++ b/src/dcaitirobot/embedded/docs/latex/classMotor_a54f6cdff2ab028fdd2724fbf40c3f641_icgraph.md5
@@ -0,0 +1 @@
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diff --git a/src/dcaitirobot/embedded/docs/latex/classMotor_a54f6cdff2ab028fdd2724fbf40c3f641_icgraph.pdf b/src/dcaitirobot/embedded/docs/latex/classMotor_a54f6cdff2ab028fdd2724fbf40c3f641_icgraph.pdf
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diff --git a/src/dcaitirobot/embedded/docs/latex/classMotor_a55a0ba922517197fd01caac36c84c682_icgraph.md5 b/src/dcaitirobot/embedded/docs/latex/classMotor_a55a0ba922517197fd01caac36c84c682_icgraph.md5
new file mode 100644
index 0000000..42be095
--- /dev/null
+++ b/src/dcaitirobot/embedded/docs/latex/classMotor_a55a0ba922517197fd01caac36c84c682_icgraph.md5
@@ -0,0 +1 @@
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diff --git a/src/dcaitirobot/embedded/docs/latex/classMotor_a55a0ba922517197fd01caac36c84c682_icgraph.pdf b/src/dcaitirobot/embedded/docs/latex/classMotor_a55a0ba922517197fd01caac36c84c682_icgraph.pdf
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diff --git a/src/dcaitirobot/embedded/docs/latex/classMotor_a5e6956a60f8903b1555ef5625bbee762_cgraph.md5 b/src/dcaitirobot/embedded/docs/latex/classMotor_a5e6956a60f8903b1555ef5625bbee762_cgraph.md5
new file mode 100644
index 0000000..7a1ad44
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new file mode 100644
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new file mode 100644
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new file mode 100644
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diff --git a/src/dcaitirobot/embedded/docs/latex/classMotor_a9ca625db156da95bc5f4500c294f8e83_icgraph.pdf b/src/dcaitirobot/embedded/docs/latex/classMotor_a9ca625db156da95bc5f4500c294f8e83_icgraph.pdf
new file mode 100644
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diff --git a/src/dcaitirobot/embedded/docs/latex/classMotor_aa41934a55ada6dabb95b6741b6d964d3_icgraph.md5 b/src/dcaitirobot/embedded/docs/latex/classMotor_aa41934a55ada6dabb95b6741b6d964d3_icgraph.md5
new file mode 100644
index 0000000..ed6936d
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+++ b/src/dcaitirobot/embedded/docs/latex/classMotor_aa41934a55ada6dabb95b6741b6d964d3_icgraph.md5
@@ -0,0 +1 @@
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new file mode 100644
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new file mode 100644
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new file mode 100644
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diff --git a/src/dcaitirobot/embedded/docs/latex/classMotor_aaedede5ddae28b6926204dc7a47e0612_icgraph.md5 b/src/dcaitirobot/embedded/docs/latex/classMotor_aaedede5ddae28b6926204dc7a47e0612_icgraph.md5
new file mode 100644
index 0000000..e78455b
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+++ b/src/dcaitirobot/embedded/docs/latex/classMotor_aaedede5ddae28b6926204dc7a47e0612_icgraph.md5
@@ -0,0 +1 @@
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diff --git a/src/dcaitirobot/embedded/docs/latex/classMotor_aaedede5ddae28b6926204dc7a47e0612_icgraph.pdf b/src/dcaitirobot/embedded/docs/latex/classMotor_aaedede5ddae28b6926204dc7a47e0612_icgraph.pdf
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diff --git a/src/dcaitirobot/embedded/docs/latex/classMotor_ad6ee53cd8570f60ae5dd83b8604b00fe_cgraph.md5 b/src/dcaitirobot/embedded/docs/latex/classMotor_ad6ee53cd8570f60ae5dd83b8604b00fe_cgraph.md5
new file mode 100644
index 0000000..7ce7276
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@@ -0,0 +1 @@
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new file mode 100644
index 0000000..321855e
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@@ -0,0 +1 @@
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diff --git a/src/dcaitirobot/embedded/docs/latex/classMotor_ada15a2f02a7945a458b48e829b6a5d6b_cgraph.md5 b/src/dcaitirobot/embedded/docs/latex/classMotor_ada15a2f02a7945a458b48e829b6a5d6b_cgraph.md5
new file mode 100644
index 0000000..ebb3659
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+++ b/src/dcaitirobot/embedded/docs/latex/classMotor_ada15a2f02a7945a458b48e829b6a5d6b_cgraph.md5
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new file mode 100644
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diff --git a/src/dcaitirobot/embedded/docs/latex/classMotor_ae14f43483f26152d92c88aa4c6a7a471_cgraph.md5 b/src/dcaitirobot/embedded/docs/latex/classMotor_ae14f43483f26152d92c88aa4c6a7a471_cgraph.md5
new file mode 100644
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diff --git a/src/dcaitirobot/embedded/docs/latex/classMotor_aefe7b72985f51315c7ffe81fbf66869c_cgraph.md5 b/src/dcaitirobot/embedded/docs/latex/classMotor_aefe7b72985f51315c7ffe81fbf66869c_cgraph.md5
new file mode 100644
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@@ -0,0 +1 @@
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diff --git a/src/dcaitirobot/embedded/docs/latex/classPCintPort.tex b/src/dcaitirobot/embedded/docs/latex/classPCintPort.tex
new file mode 100644
index 0000000..9db47f7
--- /dev/null
+++ b/src/dcaitirobot/embedded/docs/latex/classPCintPort.tex
@@ -0,0 +1,184 @@
+\hypertarget{classPCintPort}{}\doxysection{PCint\+Port Class Reference}
+\label{classPCintPort}\index{PCintPort@{PCintPort}}
+
+
+{\ttfamily \#include $<$Pin\+Change\+Int.\+h$>$}
+
+
+
+Collaboration diagram for PCint\+Port\+:\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=272pt]{classPCintPort__coll__graph}
+\end{center}
+\end{figure}
+\doxysubsection*{Classes}
+\begin{DoxyCompactItemize}
+\item 
+class \mbox{\hyperlink{classPCintPort_1_1PCintPin}{PCint\+Pin}}
+\end{DoxyCompactItemize}
+\doxysubsection*{Public Member Functions}
+\begin{DoxyCompactItemize}
+\item 
+\mbox{\hyperlink{PinChangeInt_8h_affe455978cc6fe5b0cff09a1b93202c7}{INLINE\+\_\+\+PCINT}} void \mbox{\hyperlink{classPCintPort_a576bbb5d4190a7af0de2528760933916}{PCint}} ()
+\end{DoxyCompactItemize}
+\doxysubsection*{Static Public Member Functions}
+\begin{DoxyCompactItemize}
+\item 
+static void \mbox{\hyperlink{classPCintPort_a8e6c9a8a860c39f6840a8b986c00e8d7}{attach\+Interrupt}} (uint8\+\_\+t pin, \mbox{\hyperlink{PinChangeInt_8h_a40b7734100b16d4ac170f568c7914d0a}{PCIntvoid\+Func\+Ptr}} user\+Func, int mode)
+\item 
+static void \mbox{\hyperlink{classPCintPort_a7787c29d639bc6c1a30a14acb0f9fb9a}{detach\+Interrupt}} (uint8\+\_\+t pin)
+\end{DoxyCompactItemize}
+\doxysubsection*{Static Public Attributes}
+\begin{DoxyCompactItemize}
+\item 
+static \mbox{\hyperlink{classPCintPort}{PCint\+Port}} \mbox{\hyperlink{classPCintPort_a9d5cdcb0bddf88489fccb288be9ebf3e}{pc\+Int\+Ports}} \mbox{[}$\,$\mbox{]}
+\end{DoxyCompactItemize}
+\doxysubsection*{Protected Member Functions}
+\begin{DoxyCompactItemize}
+\item 
+void \mbox{\hyperlink{classPCintPort_a68db5c9fc10ce5d054c4184dbd00adeb}{add\+Pin}} (uint8\+\_\+t mode, uint8\+\_\+t mask, \mbox{\hyperlink{PinChangeInt_8h_a40b7734100b16d4ac170f568c7914d0a}{PCIntvoid\+Func\+Ptr}} user\+Func)
+\item 
+void \mbox{\hyperlink{classPCintPort_afecea645c5a79b54eab38b11c8ba19a6}{del\+Pin}} (uint8\+\_\+t mask)
+\end{DoxyCompactItemize}
+\doxysubsection*{Protected Attributes}
+\begin{DoxyCompactItemize}
+\item 
+volatile uint8\+\_\+t \& \mbox{\hyperlink{classPCintPort_ab36a9f3ef148411101704f3723d5cd0d}{port\+Input\+Reg}}
+\item 
+volatile uint8\+\_\+t \& \mbox{\hyperlink{classPCintPort_abe34a54a1b1bd8b2404b9227b55147fb}{pcmask}}
+\item 
+const uint8\+\_\+t \mbox{\hyperlink{classPCintPort_ab817a0637b722922c5d3cafc0dfd52d7}{PCICRbit}}
+\item 
+uint8\+\_\+t \mbox{\hyperlink{classPCintPort_a955b8648c929952a8444656276e1b6ef}{PCint\+Last}}
+\item 
+\mbox{\hyperlink{classPCintPort_1_1PCintPin}{PCint\+Pin}} $\ast$ \mbox{\hyperlink{classPCintPort_a068bde359af5d3567e4d031d9ac9c655}{pc\+Int\+Pins}} \mbox{[}9\mbox{]}
+\end{DoxyCompactItemize}
+
+
+\doxysubsection{Member Function Documentation}
+\mbox{\Hypertarget{classPCintPort_a68db5c9fc10ce5d054c4184dbd00adeb}\label{classPCintPort_a68db5c9fc10ce5d054c4184dbd00adeb}} 
+\index{PCintPort@{PCintPort}!addPin@{addPin}}
+\index{addPin@{addPin}!PCintPort@{PCintPort}}
+\doxysubsubsection{\texorpdfstring{addPin()}{addPin()}}
+{\footnotesize\ttfamily void PCint\+Port\+::add\+Pin (\begin{DoxyParamCaption}\item[{uint8\+\_\+t}]{mode,  }\item[{uint8\+\_\+t}]{mask,  }\item[{\mbox{\hyperlink{PinChangeInt_8h_a40b7734100b16d4ac170f568c7914d0a}{PCIntvoid\+Func\+Ptr}}}]{user\+Func }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [protected]}}
+
+Here is the caller graph for this function\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=350pt]{classPCintPort_a68db5c9fc10ce5d054c4184dbd00adeb_icgraph}
+\end{center}
+\end{figure}
+\mbox{\Hypertarget{classPCintPort_a8e6c9a8a860c39f6840a8b986c00e8d7}\label{classPCintPort_a8e6c9a8a860c39f6840a8b986c00e8d7}} 
+\index{PCintPort@{PCintPort}!attachInterrupt@{attachInterrupt}}
+\index{attachInterrupt@{attachInterrupt}!PCintPort@{PCintPort}}
+\doxysubsubsection{\texorpdfstring{attachInterrupt()}{attachInterrupt()}}
+{\footnotesize\ttfamily void PCint\+Port\+::attach\+Interrupt (\begin{DoxyParamCaption}\item[{uint8\+\_\+t}]{pin,  }\item[{\mbox{\hyperlink{PinChangeInt_8h_a40b7734100b16d4ac170f568c7914d0a}{PCIntvoid\+Func\+Ptr}}}]{user\+Func,  }\item[{int}]{mode }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [static]}}
+
+Here is the call graph for this function\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=350pt]{classPCintPort_a8e6c9a8a860c39f6840a8b986c00e8d7_cgraph}
+\end{center}
+\end{figure}
+\mbox{\Hypertarget{classPCintPort_afecea645c5a79b54eab38b11c8ba19a6}\label{classPCintPort_afecea645c5a79b54eab38b11c8ba19a6}} 
+\index{PCintPort@{PCintPort}!delPin@{delPin}}
+\index{delPin@{delPin}!PCintPort@{PCintPort}}
+\doxysubsubsection{\texorpdfstring{delPin()}{delPin()}}
+{\footnotesize\ttfamily void PCint\+Port\+::del\+Pin (\begin{DoxyParamCaption}\item[{uint8\+\_\+t}]{mask }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [protected]}}
+
+Here is the caller graph for this function\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=350pt]{classPCintPort_afecea645c5a79b54eab38b11c8ba19a6_icgraph}
+\end{center}
+\end{figure}
+\mbox{\Hypertarget{classPCintPort_a7787c29d639bc6c1a30a14acb0f9fb9a}\label{classPCintPort_a7787c29d639bc6c1a30a14acb0f9fb9a}} 
+\index{PCintPort@{PCintPort}!detachInterrupt@{detachInterrupt}}
+\index{detachInterrupt@{detachInterrupt}!PCintPort@{PCintPort}}
+\doxysubsubsection{\texorpdfstring{detachInterrupt()}{detachInterrupt()}}
+{\footnotesize\ttfamily void PCint\+Port\+::detach\+Interrupt (\begin{DoxyParamCaption}\item[{uint8\+\_\+t}]{pin }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [static]}}
+
+Here is the call graph for this function\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=350pt]{classPCintPort_a7787c29d639bc6c1a30a14acb0f9fb9a_cgraph}
+\end{center}
+\end{figure}
+\mbox{\Hypertarget{classPCintPort_a576bbb5d4190a7af0de2528760933916}\label{classPCintPort_a576bbb5d4190a7af0de2528760933916}} 
+\index{PCintPort@{PCintPort}!PCint@{PCint}}
+\index{PCint@{PCint}!PCintPort@{PCintPort}}
+\doxysubsubsection{\texorpdfstring{PCint()}{PCint()}}
+{\footnotesize\ttfamily void PCint\+Port\+::\+PCint (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})}
+
+Here is the caller graph for this function\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=241pt]{classPCintPort_a576bbb5d4190a7af0de2528760933916_icgraph}
+\end{center}
+\end{figure}
+
+
+\doxysubsection{Member Data Documentation}
+\mbox{\Hypertarget{classPCintPort_ab817a0637b722922c5d3cafc0dfd52d7}\label{classPCintPort_ab817a0637b722922c5d3cafc0dfd52d7}} 
+\index{PCintPort@{PCintPort}!PCICRbit@{PCICRbit}}
+\index{PCICRbit@{PCICRbit}!PCintPort@{PCintPort}}
+\doxysubsubsection{\texorpdfstring{PCICRbit}{PCICRbit}}
+{\footnotesize\ttfamily const uint8\+\_\+t PCint\+Port\+::\+PCICRbit\hspace{0.3cm}{\ttfamily [protected]}}
+
+\mbox{\Hypertarget{classPCintPort_a955b8648c929952a8444656276e1b6ef}\label{classPCintPort_a955b8648c929952a8444656276e1b6ef}} 
+\index{PCintPort@{PCintPort}!PCintLast@{PCintLast}}
+\index{PCintLast@{PCintLast}!PCintPort@{PCintPort}}
+\doxysubsubsection{\texorpdfstring{PCintLast}{PCintLast}}
+{\footnotesize\ttfamily uint8\+\_\+t PCint\+Port\+::\+PCint\+Last\hspace{0.3cm}{\ttfamily [protected]}}
+
+\mbox{\Hypertarget{classPCintPort_a068bde359af5d3567e4d031d9ac9c655}\label{classPCintPort_a068bde359af5d3567e4d031d9ac9c655}} 
+\index{PCintPort@{PCintPort}!pcIntPins@{pcIntPins}}
+\index{pcIntPins@{pcIntPins}!PCintPort@{PCintPort}}
+\doxysubsubsection{\texorpdfstring{pcIntPins}{pcIntPins}}
+{\footnotesize\ttfamily \mbox{\hyperlink{classPCintPort_1_1PCintPin}{PCint\+Pin}}$\ast$ PCint\+Port\+::pc\+Int\+Pins\mbox{[}9\mbox{]}\hspace{0.3cm}{\ttfamily [protected]}}
+
+\mbox{\Hypertarget{classPCintPort_a9d5cdcb0bddf88489fccb288be9ebf3e}\label{classPCintPort_a9d5cdcb0bddf88489fccb288be9ebf3e}} 
+\index{PCintPort@{PCintPort}!pcIntPorts@{pcIntPorts}}
+\index{pcIntPorts@{pcIntPorts}!PCintPort@{PCintPort}}
+\doxysubsubsection{\texorpdfstring{pcIntPorts}{pcIntPorts}}
+{\footnotesize\ttfamily \mbox{\hyperlink{classPCintPort}{PCint\+Port}} PCint\+Port\+::pc\+Int\+Ports\hspace{0.3cm}{\ttfamily [static]}}
+
+{\bfseries Initial value\+:}
+\begin{DoxyCode}{0}
+\DoxyCodeLine{= \{}
+\DoxyCodeLine{    \mbox{\hyperlink{classPCintPort}{PCintPort}}(0,PCMSK0),}
+\DoxyCodeLine{    \mbox{\hyperlink{classPCintPort}{PCintPort}}(1,PCMSK1),}
+\DoxyCodeLine{    \mbox{\hyperlink{classPCintPort}{PCintPort}}(2,PCMSK2)}
+\DoxyCodeLine{\}}
+
+\end{DoxyCode}
+\mbox{\Hypertarget{classPCintPort_abe34a54a1b1bd8b2404b9227b55147fb}\label{classPCintPort_abe34a54a1b1bd8b2404b9227b55147fb}} 
+\index{PCintPort@{PCintPort}!pcmask@{pcmask}}
+\index{pcmask@{pcmask}!PCintPort@{PCintPort}}
+\doxysubsubsection{\texorpdfstring{pcmask}{pcmask}}
+{\footnotesize\ttfamily volatile uint8\+\_\+t\& PCint\+Port\+::pcmask\hspace{0.3cm}{\ttfamily [protected]}}
+
+\mbox{\Hypertarget{classPCintPort_ab36a9f3ef148411101704f3723d5cd0d}\label{classPCintPort_ab36a9f3ef148411101704f3723d5cd0d}} 
+\index{PCintPort@{PCintPort}!portInputReg@{portInputReg}}
+\index{portInputReg@{portInputReg}!PCintPort@{PCintPort}}
+\doxysubsubsection{\texorpdfstring{portInputReg}{portInputReg}}
+{\footnotesize\ttfamily volatile uint8\+\_\+t\& PCint\+Port\+::port\+Input\+Reg\hspace{0.3cm}{\ttfamily [protected]}}
+
+
+
+The documentation for this class was generated from the following files\+:\begin{DoxyCompactItemize}
+\item 
+lib/\+Pin\+Change\+Int/\mbox{\hyperlink{PinChangeInt_8h}{Pin\+Change\+Int.\+h}}\item 
+lib/\+Pin\+Change\+Int/\mbox{\hyperlink{PinChangeInt_8cpp}{Pin\+Change\+Int.\+cpp}}\end{DoxyCompactItemize}
diff --git a/src/dcaitirobot/embedded/docs/latex/classPCintPort_1_1PCintPin.tex b/src/dcaitirobot/embedded/docs/latex/classPCintPort_1_1PCintPin.tex
new file mode 100644
index 0000000..2df101a
--- /dev/null
+++ b/src/dcaitirobot/embedded/docs/latex/classPCintPort_1_1PCintPin.tex
@@ -0,0 +1,76 @@
+\hypertarget{classPCintPort_1_1PCintPin}{}\doxysection{PCint\+Port\+::PCint\+Pin Class Reference}
+\label{classPCintPort_1_1PCintPin}\index{PCintPort::PCintPin@{PCintPort::PCintPin}}
+
+
+{\ttfamily \#include $<$Pin\+Change\+Int.\+h$>$}
+
+
+
+Collaboration diagram for PCint\+Port\+::PCint\+Pin\+:\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=272pt]{classPCintPort_1_1PCintPin__coll__graph}
+\end{center}
+\end{figure}
+\doxysubsection*{Public Member Functions}
+\begin{DoxyCompactItemize}
+\item 
+\mbox{\hyperlink{classPCintPort_1_1PCintPin_a042bb6da7549a825e4c0231af7079533}{PCint\+Pin}} ()
+\end{DoxyCompactItemize}
+\doxysubsection*{Public Attributes}
+\begin{DoxyCompactItemize}
+\item 
+\mbox{\hyperlink{PinChangeInt_8h_a40b7734100b16d4ac170f568c7914d0a}{PCIntvoid\+Func\+Ptr}} \mbox{\hyperlink{classPCintPort_1_1PCintPin_a5f1750440a39afc1e0b7ec885bd90282}{PCint\+Func}}
+\item 
+uint8\+\_\+t \mbox{\hyperlink{classPCintPort_1_1PCintPin_aded6dbbea2aa1ebd77133332b3c98556}{PCint\+Mode}}
+\item 
+uint8\+\_\+t \mbox{\hyperlink{classPCintPort_1_1PCintPin_aec2baaa5bc8af4f7f3310bae39e8304c}{PCInt\+Mask}}
+\end{DoxyCompactItemize}
+\doxysubsection*{Static Public Attributes}
+\begin{DoxyCompactItemize}
+\item 
+static \mbox{\hyperlink{classPCintPort_1_1PCintPin}{PCint\+Pin}} \mbox{\hyperlink{classPCintPort_1_1PCintPin_a934bbc672c5e9faa448477ecb93c7955}{pin\+Data\+Alloc}} \mbox{[}\mbox{\hyperlink{PinChangeInt_8h_adc5e9b3687e8ad666a52ec695a69081c}{MAX\+\_\+\+PIN\+\_\+\+CHANGE\+\_\+\+PINS}}\mbox{]}
+\end{DoxyCompactItemize}
+
+
+\doxysubsection{Constructor \& Destructor Documentation}
+\mbox{\Hypertarget{classPCintPort_1_1PCintPin_a042bb6da7549a825e4c0231af7079533}\label{classPCintPort_1_1PCintPin_a042bb6da7549a825e4c0231af7079533}} 
+\index{PCintPort::PCintPin@{PCintPort::PCintPin}!PCintPin@{PCintPin}}
+\index{PCintPin@{PCintPin}!PCintPort::PCintPin@{PCintPort::PCintPin}}
+\doxysubsubsection{\texorpdfstring{PCintPin()}{PCintPin()}}
+{\footnotesize\ttfamily PCint\+Port\+::\+PCint\+Pin\+::\+PCint\+Pin (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}}
+
+
+
+\doxysubsection{Member Data Documentation}
+\mbox{\Hypertarget{classPCintPort_1_1PCintPin_a5f1750440a39afc1e0b7ec885bd90282}\label{classPCintPort_1_1PCintPin_a5f1750440a39afc1e0b7ec885bd90282}} 
+\index{PCintPort::PCintPin@{PCintPort::PCintPin}!PCintFunc@{PCintFunc}}
+\index{PCintFunc@{PCintFunc}!PCintPort::PCintPin@{PCintPort::PCintPin}}
+\doxysubsubsection{\texorpdfstring{PCintFunc}{PCintFunc}}
+{\footnotesize\ttfamily \mbox{\hyperlink{PinChangeInt_8h_a40b7734100b16d4ac170f568c7914d0a}{PCIntvoid\+Func\+Ptr}} PCint\+Port\+::\+PCint\+Pin\+::\+PCint\+Func}
+
+\mbox{\Hypertarget{classPCintPort_1_1PCintPin_aec2baaa5bc8af4f7f3310bae39e8304c}\label{classPCintPort_1_1PCintPin_aec2baaa5bc8af4f7f3310bae39e8304c}} 
+\index{PCintPort::PCintPin@{PCintPort::PCintPin}!PCIntMask@{PCIntMask}}
+\index{PCIntMask@{PCIntMask}!PCintPort::PCintPin@{PCintPort::PCintPin}}
+\doxysubsubsection{\texorpdfstring{PCIntMask}{PCIntMask}}
+{\footnotesize\ttfamily uint8\+\_\+t PCint\+Port\+::\+PCint\+Pin\+::\+PCInt\+Mask}
+
+\mbox{\Hypertarget{classPCintPort_1_1PCintPin_aded6dbbea2aa1ebd77133332b3c98556}\label{classPCintPort_1_1PCintPin_aded6dbbea2aa1ebd77133332b3c98556}} 
+\index{PCintPort::PCintPin@{PCintPort::PCintPin}!PCintMode@{PCintMode}}
+\index{PCintMode@{PCintMode}!PCintPort::PCintPin@{PCintPort::PCintPin}}
+\doxysubsubsection{\texorpdfstring{PCintMode}{PCintMode}}
+{\footnotesize\ttfamily uint8\+\_\+t PCint\+Port\+::\+PCint\+Pin\+::\+PCint\+Mode}
+
+\mbox{\Hypertarget{classPCintPort_1_1PCintPin_a934bbc672c5e9faa448477ecb93c7955}\label{classPCintPort_1_1PCintPin_a934bbc672c5e9faa448477ecb93c7955}} 
+\index{PCintPort::PCintPin@{PCintPort::PCintPin}!pinDataAlloc@{pinDataAlloc}}
+\index{pinDataAlloc@{pinDataAlloc}!PCintPort::PCintPin@{PCintPort::PCintPin}}
+\doxysubsubsection{\texorpdfstring{pinDataAlloc}{pinDataAlloc}}
+{\footnotesize\ttfamily \mbox{\hyperlink{classPCintPort_1_1PCintPin}{PCint\+Port\+::\+PCint\+Pin}} PCint\+Port\+::\+PCint\+Pin\+::pin\+Data\+Alloc\hspace{0.3cm}{\ttfamily [static]}}
+
+
+
+The documentation for this class was generated from the following files\+:\begin{DoxyCompactItemize}
+\item 
+lib/\+Pin\+Change\+Int/\mbox{\hyperlink{PinChangeInt_8h}{Pin\+Change\+Int.\+h}}\item 
+lib/\+Pin\+Change\+Int/\mbox{\hyperlink{PinChangeInt_8cpp}{Pin\+Change\+Int.\+cpp}}\end{DoxyCompactItemize}
diff --git a/src/dcaitirobot/embedded/docs/latex/classPCintPort_1_1PCintPin__coll__graph.md5 b/src/dcaitirobot/embedded/docs/latex/classPCintPort_1_1PCintPin__coll__graph.md5
new file mode 100644
index 0000000..4853379
--- /dev/null
+++ b/src/dcaitirobot/embedded/docs/latex/classPCintPort_1_1PCintPin__coll__graph.md5
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/src/dcaitirobot/embedded/docs/latex/classPCintPort_1_1PCintPin__coll__graph.pdf b/src/dcaitirobot/embedded/docs/latex/classPCintPort_1_1PCintPin__coll__graph.pdf
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diff --git a/src/dcaitirobot/embedded/docs/latex/classPCintPort__coll__graph.md5 b/src/dcaitirobot/embedded/docs/latex/classPCintPort__coll__graph.md5
new file mode 100644
index 0000000..3433d73
--- /dev/null
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@@ -0,0 +1 @@
+fbcdd97ee636e9b789f65a3e09c226a2
\ No newline at end of file
diff --git a/src/dcaitirobot/embedded/docs/latex/classPCintPort__coll__graph.pdf b/src/dcaitirobot/embedded/docs/latex/classPCintPort__coll__graph.pdf
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diff --git a/src/dcaitirobot/embedded/docs/latex/classPCintPort_a576bbb5d4190a7af0de2528760933916_icgraph.md5 b/src/dcaitirobot/embedded/docs/latex/classPCintPort_a576bbb5d4190a7af0de2528760933916_icgraph.md5
new file mode 100644
index 0000000..3d3965c
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+++ b/src/dcaitirobot/embedded/docs/latex/classPCintPort_a576bbb5d4190a7af0de2528760933916_icgraph.md5
@@ -0,0 +1 @@
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diff --git a/src/dcaitirobot/embedded/docs/latex/classPCintPort_afecea645c5a79b54eab38b11c8ba19a6_icgraph.md5 b/src/dcaitirobot/embedded/docs/latex/classPCintPort_afecea645c5a79b54eab38b11c8ba19a6_icgraph.md5
new file mode 100644
index 0000000..985c856
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+++ b/src/dcaitirobot/embedded/docs/latex/classPCintPort_afecea645c5a79b54eab38b11c8ba19a6_icgraph.md5
@@ -0,0 +1 @@
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diff --git a/src/dcaitirobot/embedded/docs/latex/classPID.tex b/src/dcaitirobot/embedded/docs/latex/classPID.tex
new file mode 100644
index 0000000..678b022
--- /dev/null
+++ b/src/dcaitirobot/embedded/docs/latex/classPID.tex
@@ -0,0 +1,270 @@
+\hypertarget{classPID}{}\doxysection{PID Class Reference}
+\label{classPID}\index{PID@{PID}}
+
+
+{\ttfamily \#include $<$PID\+\_\+\+Beta6.\+h$>$}
+
+
+
+Inheritance diagram for PID\+:\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=160pt]{classPID__inherit__graph}
+\end{center}
+\end{figure}
+\doxysubsection*{Public Member Functions}
+\begin{DoxyCompactItemize}
+\item 
+\mbox{\hyperlink{classPID_a70a457a8b2d0f2306923c30282567af6}{PID}} (int $\ast$, int $\ast$, int $\ast$, float, float, float)
+\item 
+\mbox{\hyperlink{classPID_ab1053fb1d444eb9946a12c2fed97f4bf}{PID}} (int $\ast$, int $\ast$, int $\ast$, int $\ast$, float, float, float)
+\item 
+void \mbox{\hyperlink{classPID_a68074bad88a8cc442ee03a036073d5d5}{Set\+Mode}} (int Mode)
+\item 
+void \mbox{\hyperlink{classPID_a05a3258d4b553e7a121f7360ffe88065}{Compute}} ()
+\item 
+void \mbox{\hyperlink{classPID_aa84bd27695ea7b6f80a0a6170abb410f}{Set\+Input\+Limits}} (int, int)
+\item 
+void \mbox{\hyperlink{classPID_a7a1fbe9bbf606557cef3fcf07f04d3f6}{Set\+Output\+Limits}} (int, int)
+\item 
+void \mbox{\hyperlink{classPID_aa51d6ef0803413fd0da475406a5ae6ad}{Set\+Tunings}} (float, float, float)
+\item 
+void \mbox{\hyperlink{classPID_aaa1e0e67a0c97571bd62b326e6cf3b2e}{Set\+Sample\+Time}} (int)
+\item 
+void \mbox{\hyperlink{classPID_a9f949fd4445477ee9bf1af2bfa3e1a84}{Reset}} ()
+\item 
+bool \mbox{\hyperlink{classPID_a34178c5110d89a8029e403f6ef5d003d}{Just\+Calculated}} ()
+\item 
+int \mbox{\hyperlink{classPID_acc325db5e6a140b92c8199a66e03491b}{Get\+Mode}} ()
+\item 
+int \mbox{\hyperlink{classPID_a7c6fb1d00b7ceb89f833c85a10425a99}{Get\+INMin}} ()
+\item 
+int \mbox{\hyperlink{classPID_aada1bd2d75fc4cfb8d4e8b3bb7d6efb3}{Get\+INMax}} ()
+\item 
+int \mbox{\hyperlink{classPID_a3d18162a81fab3b59b66f2398c2f55da}{Get\+OUTMin}} ()
+\item 
+int \mbox{\hyperlink{classPID_afca76f72062cde15b4d738b693215bf6}{Get\+OUTMax}} ()
+\item 
+int \mbox{\hyperlink{classPID_aefa4318e7ab26fbdfd7a2f6870d694e8}{Get\+Sample\+Time}} ()
+\item 
+float \mbox{\hyperlink{classPID_a44a5a23e5ab0ebc59ac56cd6e63a74e9}{Get\+P\+\_\+\+Param}} ()
+\item 
+float \mbox{\hyperlink{classPID_a5dcf844aec5142d13f0e1a9af2eac237}{Get\+I\+\_\+\+Param}} ()
+\item 
+float \mbox{\hyperlink{classPID_a752d07a63dd8d90191a28d24ea85861c}{Get\+D\+\_\+\+Param}} ()
+\end{DoxyCompactItemize}
+
+
+\doxysubsection{Constructor \& Destructor Documentation}
+\mbox{\Hypertarget{classPID_a70a457a8b2d0f2306923c30282567af6}\label{classPID_a70a457a8b2d0f2306923c30282567af6}} 
+\index{PID@{PID}!PID@{PID}}
+\index{PID@{PID}!PID@{PID}}
+\doxysubsubsection{\texorpdfstring{PID()}{PID()}\hspace{0.1cm}{\footnotesize\ttfamily [1/2]}}
+{\footnotesize\ttfamily PID\+::\+PID (\begin{DoxyParamCaption}\item[{int $\ast$}]{Input,  }\item[{int $\ast$}]{Output,  }\item[{int $\ast$}]{Setpoint,  }\item[{float}]{Kc,  }\item[{float}]{TauI,  }\item[{float}]{TauD }\end{DoxyParamCaption})}
+
+Here is the call graph for this function\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=239pt]{classPID_a70a457a8b2d0f2306923c30282567af6_cgraph}
+\end{center}
+\end{figure}
+\mbox{\Hypertarget{classPID_ab1053fb1d444eb9946a12c2fed97f4bf}\label{classPID_ab1053fb1d444eb9946a12c2fed97f4bf}} 
+\index{PID@{PID}!PID@{PID}}
+\index{PID@{PID}!PID@{PID}}
+\doxysubsubsection{\texorpdfstring{PID()}{PID()}\hspace{0.1cm}{\footnotesize\ttfamily [2/2]}}
+{\footnotesize\ttfamily PID\+::\+PID (\begin{DoxyParamCaption}\item[{int $\ast$}]{Input,  }\item[{int $\ast$}]{Output,  }\item[{int $\ast$}]{Setpoint,  }\item[{int $\ast$}]{FFBias,  }\item[{float}]{Kc,  }\item[{float}]{TauI,  }\item[{float}]{TauD }\end{DoxyParamCaption})}
+
+Here is the call graph for this function\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=239pt]{classPID_ab1053fb1d444eb9946a12c2fed97f4bf_cgraph}
+\end{center}
+\end{figure}
+
+
+\doxysubsection{Member Function Documentation}
+\mbox{\Hypertarget{classPID_a05a3258d4b553e7a121f7360ffe88065}\label{classPID_a05a3258d4b553e7a121f7360ffe88065}} 
+\index{PID@{PID}!Compute@{Compute}}
+\index{Compute@{Compute}!PID@{PID}}
+\doxysubsubsection{\texorpdfstring{Compute()}{Compute()}}
+{\footnotesize\ttfamily void PID\+::\+Compute (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})}
+
+Here is the caller graph for this function\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=350pt]{classPID_a05a3258d4b553e7a121f7360ffe88065_icgraph}
+\end{center}
+\end{figure}
+\mbox{\Hypertarget{classPID_a752d07a63dd8d90191a28d24ea85861c}\label{classPID_a752d07a63dd8d90191a28d24ea85861c}} 
+\index{PID@{PID}!GetD\_Param@{GetD\_Param}}
+\index{GetD\_Param@{GetD\_Param}!PID@{PID}}
+\doxysubsubsection{\texorpdfstring{GetD\_Param()}{GetD\_Param()}}
+{\footnotesize\ttfamily float PID\+::\+Get\+D\+\_\+\+Param (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})}
+
+\mbox{\Hypertarget{classPID_a5dcf844aec5142d13f0e1a9af2eac237}\label{classPID_a5dcf844aec5142d13f0e1a9af2eac237}} 
+\index{PID@{PID}!GetI\_Param@{GetI\_Param}}
+\index{GetI\_Param@{GetI\_Param}!PID@{PID}}
+\doxysubsubsection{\texorpdfstring{GetI\_Param()}{GetI\_Param()}}
+{\footnotesize\ttfamily float PID\+::\+Get\+I\+\_\+\+Param (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})}
+
+\mbox{\Hypertarget{classPID_aada1bd2d75fc4cfb8d4e8b3bb7d6efb3}\label{classPID_aada1bd2d75fc4cfb8d4e8b3bb7d6efb3}} 
+\index{PID@{PID}!GetINMax@{GetINMax}}
+\index{GetINMax@{GetINMax}!PID@{PID}}
+\doxysubsubsection{\texorpdfstring{GetINMax()}{GetINMax()}}
+{\footnotesize\ttfamily int PID\+::\+Get\+INMax (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})}
+
+\mbox{\Hypertarget{classPID_a7c6fb1d00b7ceb89f833c85a10425a99}\label{classPID_a7c6fb1d00b7ceb89f833c85a10425a99}} 
+\index{PID@{PID}!GetINMin@{GetINMin}}
+\index{GetINMin@{GetINMin}!PID@{PID}}
+\doxysubsubsection{\texorpdfstring{GetINMin()}{GetINMin()}}
+{\footnotesize\ttfamily int PID\+::\+Get\+INMin (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})}
+
+\mbox{\Hypertarget{classPID_acc325db5e6a140b92c8199a66e03491b}\label{classPID_acc325db5e6a140b92c8199a66e03491b}} 
+\index{PID@{PID}!GetMode@{GetMode}}
+\index{GetMode@{GetMode}!PID@{PID}}
+\doxysubsubsection{\texorpdfstring{GetMode()}{GetMode()}}
+{\footnotesize\ttfamily int PID\+::\+Get\+Mode (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})}
+
+\mbox{\Hypertarget{classPID_afca76f72062cde15b4d738b693215bf6}\label{classPID_afca76f72062cde15b4d738b693215bf6}} 
+\index{PID@{PID}!GetOUTMax@{GetOUTMax}}
+\index{GetOUTMax@{GetOUTMax}!PID@{PID}}
+\doxysubsubsection{\texorpdfstring{GetOUTMax()}{GetOUTMax()}}
+{\footnotesize\ttfamily int PID\+::\+Get\+OUTMax (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})}
+
+\mbox{\Hypertarget{classPID_a3d18162a81fab3b59b66f2398c2f55da}\label{classPID_a3d18162a81fab3b59b66f2398c2f55da}} 
+\index{PID@{PID}!GetOUTMin@{GetOUTMin}}
+\index{GetOUTMin@{GetOUTMin}!PID@{PID}}
+\doxysubsubsection{\texorpdfstring{GetOUTMin()}{GetOUTMin()}}
+{\footnotesize\ttfamily int PID\+::\+Get\+OUTMin (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})}
+
+\mbox{\Hypertarget{classPID_a44a5a23e5ab0ebc59ac56cd6e63a74e9}\label{classPID_a44a5a23e5ab0ebc59ac56cd6e63a74e9}} 
+\index{PID@{PID}!GetP\_Param@{GetP\_Param}}
+\index{GetP\_Param@{GetP\_Param}!PID@{PID}}
+\doxysubsubsection{\texorpdfstring{GetP\_Param()}{GetP\_Param()}}
+{\footnotesize\ttfamily float PID\+::\+Get\+P\+\_\+\+Param (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})}
+
+\mbox{\Hypertarget{classPID_aefa4318e7ab26fbdfd7a2f6870d694e8}\label{classPID_aefa4318e7ab26fbdfd7a2f6870d694e8}} 
+\index{PID@{PID}!GetSampleTime@{GetSampleTime}}
+\index{GetSampleTime@{GetSampleTime}!PID@{PID}}
+\doxysubsubsection{\texorpdfstring{GetSampleTime()}{GetSampleTime()}}
+{\footnotesize\ttfamily int PID\+::\+Get\+Sample\+Time (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})}
+
+\mbox{\Hypertarget{classPID_a34178c5110d89a8029e403f6ef5d003d}\label{classPID_a34178c5110d89a8029e403f6ef5d003d}} 
+\index{PID@{PID}!JustCalculated@{JustCalculated}}
+\index{JustCalculated@{JustCalculated}!PID@{PID}}
+\doxysubsubsection{\texorpdfstring{JustCalculated()}{JustCalculated()}}
+{\footnotesize\ttfamily bool PID\+::\+Just\+Calculated (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})}
+
+Here is the caller graph for this function\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=350pt]{classPID_a34178c5110d89a8029e403f6ef5d003d_icgraph}
+\end{center}
+\end{figure}
+\mbox{\Hypertarget{classPID_a9f949fd4445477ee9bf1af2bfa3e1a84}\label{classPID_a9f949fd4445477ee9bf1af2bfa3e1a84}} 
+\index{PID@{PID}!Reset@{Reset}}
+\index{Reset@{Reset}!PID@{PID}}
+\doxysubsubsection{\texorpdfstring{Reset()}{Reset()}}
+{\footnotesize\ttfamily void PID\+::\+Reset (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})}
+
+Here is the caller graph for this function\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=350pt]{classPID_a9f949fd4445477ee9bf1af2bfa3e1a84_icgraph}
+\end{center}
+\end{figure}
+\mbox{\Hypertarget{classPID_aa84bd27695ea7b6f80a0a6170abb410f}\label{classPID_aa84bd27695ea7b6f80a0a6170abb410f}} 
+\index{PID@{PID}!SetInputLimits@{SetInputLimits}}
+\index{SetInputLimits@{SetInputLimits}!PID@{PID}}
+\doxysubsubsection{\texorpdfstring{SetInputLimits()}{SetInputLimits()}}
+{\footnotesize\ttfamily void PID\+::\+Set\+Input\+Limits (\begin{DoxyParamCaption}\item[{int}]{INMin,  }\item[{int}]{INMax }\end{DoxyParamCaption})}
+
+Here is the caller graph for this function\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=350pt]{classPID_aa84bd27695ea7b6f80a0a6170abb410f_icgraph}
+\end{center}
+\end{figure}
+\mbox{\Hypertarget{classPID_a68074bad88a8cc442ee03a036073d5d5}\label{classPID_a68074bad88a8cc442ee03a036073d5d5}} 
+\index{PID@{PID}!SetMode@{SetMode}}
+\index{SetMode@{SetMode}!PID@{PID}}
+\doxysubsubsection{\texorpdfstring{SetMode()}{SetMode()}}
+{\footnotesize\ttfamily void PID\+::\+Set\+Mode (\begin{DoxyParamCaption}\item[{int}]{Mode }\end{DoxyParamCaption})}
+
+Here is the call graph for this function\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=265pt]{classPID_a68074bad88a8cc442ee03a036073d5d5_cgraph}
+\end{center}
+\end{figure}
+Here is the caller graph for this function\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=350pt]{classPID_a68074bad88a8cc442ee03a036073d5d5_icgraph}
+\end{center}
+\end{figure}
+\mbox{\Hypertarget{classPID_a7a1fbe9bbf606557cef3fcf07f04d3f6}\label{classPID_a7a1fbe9bbf606557cef3fcf07f04d3f6}} 
+\index{PID@{PID}!SetOutputLimits@{SetOutputLimits}}
+\index{SetOutputLimits@{SetOutputLimits}!PID@{PID}}
+\doxysubsubsection{\texorpdfstring{SetOutputLimits()}{SetOutputLimits()}}
+{\footnotesize\ttfamily void PID\+::\+Set\+Output\+Limits (\begin{DoxyParamCaption}\item[{int}]{OUTMin,  }\item[{int}]{OUTMax }\end{DoxyParamCaption})}
+
+Here is the caller graph for this function\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=350pt]{classPID_a7a1fbe9bbf606557cef3fcf07f04d3f6_icgraph}
+\end{center}
+\end{figure}
+\mbox{\Hypertarget{classPID_aaa1e0e67a0c97571bd62b326e6cf3b2e}\label{classPID_aaa1e0e67a0c97571bd62b326e6cf3b2e}} 
+\index{PID@{PID}!SetSampleTime@{SetSampleTime}}
+\index{SetSampleTime@{SetSampleTime}!PID@{PID}}
+\doxysubsubsection{\texorpdfstring{SetSampleTime()}{SetSampleTime()}}
+{\footnotesize\ttfamily void PID\+::\+Set\+Sample\+Time (\begin{DoxyParamCaption}\item[{int}]{New\+Sample\+Time }\end{DoxyParamCaption})}
+
+Here is the caller graph for this function\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=350pt]{classPID_aaa1e0e67a0c97571bd62b326e6cf3b2e_icgraph}
+\end{center}
+\end{figure}
+\mbox{\Hypertarget{classPID_aa51d6ef0803413fd0da475406a5ae6ad}\label{classPID_aa51d6ef0803413fd0da475406a5ae6ad}} 
+\index{PID@{PID}!SetTunings@{SetTunings}}
+\index{SetTunings@{SetTunings}!PID@{PID}}
+\doxysubsubsection{\texorpdfstring{SetTunings()}{SetTunings()}}
+{\footnotesize\ttfamily void PID\+::\+Set\+Tunings (\begin{DoxyParamCaption}\item[{float}]{Kc,  }\item[{float}]{TauI,  }\item[{float}]{TauD }\end{DoxyParamCaption})}
+
+Here is the caller graph for this function\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=350pt]{classPID_aa51d6ef0803413fd0da475406a5ae6ad_icgraph}
+\end{center}
+\end{figure}
+
+
+The documentation for this class was generated from the following files\+:\begin{DoxyCompactItemize}
+\item 
+lib/\+PID\+\_\+\+Beta6/\mbox{\hyperlink{PID__Beta6_8h}{PID\+\_\+\+Beta6.\+h}}\item 
+lib/\+PID\+\_\+\+Beta6/\mbox{\hyperlink{PID__Beta6_8cpp}{PID\+\_\+\+Beta6.\+cpp}}\end{DoxyCompactItemize}
diff --git a/src/dcaitirobot/embedded/docs/latex/classPID__inherit__graph.md5 b/src/dcaitirobot/embedded/docs/latex/classPID__inherit__graph.md5
new file mode 100644
index 0000000..b98cd6d
--- /dev/null
+++ b/src/dcaitirobot/embedded/docs/latex/classPID__inherit__graph.md5
@@ -0,0 +1 @@
+04bff84305ed48b6054907f3c9e79e17
\ No newline at end of file
diff --git a/src/dcaitirobot/embedded/docs/latex/classPID__inherit__graph.pdf b/src/dcaitirobot/embedded/docs/latex/classPID__inherit__graph.pdf
new file mode 100644
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diff --git a/src/dcaitirobot/embedded/docs/latex/classPID_a34178c5110d89a8029e403f6ef5d003d_icgraph.md5 b/src/dcaitirobot/embedded/docs/latex/classPID_a34178c5110d89a8029e403f6ef5d003d_icgraph.md5
new file mode 100644
index 0000000..63f1a46
--- /dev/null
+++ b/src/dcaitirobot/embedded/docs/latex/classPID_a34178c5110d89a8029e403f6ef5d003d_icgraph.md5
@@ -0,0 +1 @@
+13835ed0108ea609a6c1534942c2c0d4
\ No newline at end of file
diff --git a/src/dcaitirobot/embedded/docs/latex/classPID_a34178c5110d89a8029e403f6ef5d003d_icgraph.pdf b/src/dcaitirobot/embedded/docs/latex/classPID_a34178c5110d89a8029e403f6ef5d003d_icgraph.pdf
new file mode 100644
index 0000000000000000000000000000000000000000..df220eff1a5ac9f3fc7275d9e7762bf8ad6f76af
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diff --git a/src/dcaitirobot/embedded/docs/latex/classPID_a68074bad88a8cc442ee03a036073d5d5_cgraph.md5 b/src/dcaitirobot/embedded/docs/latex/classPID_a68074bad88a8cc442ee03a036073d5d5_cgraph.md5
new file mode 100644
index 0000000..615202e
--- /dev/null
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diff --git a/src/dcaitirobot/embedded/docs/latex/classPID_a68074bad88a8cc442ee03a036073d5d5_icgraph.md5 b/src/dcaitirobot/embedded/docs/latex/classPID_a68074bad88a8cc442ee03a036073d5d5_icgraph.md5
new file mode 100644
index 0000000..0526165
--- /dev/null
+++ b/src/dcaitirobot/embedded/docs/latex/classPID_a68074bad88a8cc442ee03a036073d5d5_icgraph.md5
@@ -0,0 +1 @@
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diff --git a/src/dcaitirobot/embedded/docs/latex/classPID_a70a457a8b2d0f2306923c30282567af6_cgraph.md5 b/src/dcaitirobot/embedded/docs/latex/classPID_a70a457a8b2d0f2306923c30282567af6_cgraph.md5
new file mode 100644
index 0000000..181d315
--- /dev/null
+++ b/src/dcaitirobot/embedded/docs/latex/classPID_a70a457a8b2d0f2306923c30282567af6_cgraph.md5
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diff --git a/src/dcaitirobot/embedded/docs/latex/classPID_a7a1fbe9bbf606557cef3fcf07f04d3f6_icgraph.md5 b/src/dcaitirobot/embedded/docs/latex/classPID_a7a1fbe9bbf606557cef3fcf07f04d3f6_icgraph.md5
new file mode 100644
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diff --git a/src/dcaitirobot/embedded/docs/latex/classPID_a9f949fd4445477ee9bf1af2bfa3e1a84_icgraph.md5 b/src/dcaitirobot/embedded/docs/latex/classPID_a9f949fd4445477ee9bf1af2bfa3e1a84_icgraph.md5
new file mode 100644
index 0000000..3be8ee8
--- /dev/null
+++ b/src/dcaitirobot/embedded/docs/latex/classPID_a9f949fd4445477ee9bf1af2bfa3e1a84_icgraph.md5
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/src/dcaitirobot/embedded/docs/latex/classPID_a9f949fd4445477ee9bf1af2bfa3e1a84_icgraph.pdf b/src/dcaitirobot/embedded/docs/latex/classPID_a9f949fd4445477ee9bf1af2bfa3e1a84_icgraph.pdf
new file mode 100644
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diff --git a/src/dcaitirobot/embedded/docs/latex/classPID_aa51d6ef0803413fd0da475406a5ae6ad_icgraph.md5 b/src/dcaitirobot/embedded/docs/latex/classPID_aa51d6ef0803413fd0da475406a5ae6ad_icgraph.md5
new file mode 100644
index 0000000..9ec23c7
--- /dev/null
+++ b/src/dcaitirobot/embedded/docs/latex/classPID_aa51d6ef0803413fd0da475406a5ae6ad_icgraph.md5
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/src/dcaitirobot/embedded/docs/latex/classPID_aa51d6ef0803413fd0da475406a5ae6ad_icgraph.pdf b/src/dcaitirobot/embedded/docs/latex/classPID_aa51d6ef0803413fd0da475406a5ae6ad_icgraph.pdf
new file mode 100644
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diff --git a/src/dcaitirobot/embedded/docs/latex/classPID_aa84bd27695ea7b6f80a0a6170abb410f_icgraph.md5 b/src/dcaitirobot/embedded/docs/latex/classPID_aa84bd27695ea7b6f80a0a6170abb410f_icgraph.md5
new file mode 100644
index 0000000..ae13542
--- /dev/null
+++ b/src/dcaitirobot/embedded/docs/latex/classPID_aa84bd27695ea7b6f80a0a6170abb410f_icgraph.md5
@@ -0,0 +1 @@
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diff --git a/src/dcaitirobot/embedded/docs/latex/classPID_aa84bd27695ea7b6f80a0a6170abb410f_icgraph.pdf b/src/dcaitirobot/embedded/docs/latex/classPID_aa84bd27695ea7b6f80a0a6170abb410f_icgraph.pdf
new file mode 100644
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HcmV?d00001

diff --git a/src/dcaitirobot/embedded/docs/latex/classPID_aaa1e0e67a0c97571bd62b326e6cf3b2e_icgraph.md5 b/src/dcaitirobot/embedded/docs/latex/classPID_aaa1e0e67a0c97571bd62b326e6cf3b2e_icgraph.md5
new file mode 100644
index 0000000..ddd6fec
--- /dev/null
+++ b/src/dcaitirobot/embedded/docs/latex/classPID_aaa1e0e67a0c97571bd62b326e6cf3b2e_icgraph.md5
@@ -0,0 +1 @@
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diff --git a/src/dcaitirobot/embedded/docs/latex/classPID_aaa1e0e67a0c97571bd62b326e6cf3b2e_icgraph.pdf b/src/dcaitirobot/embedded/docs/latex/classPID_aaa1e0e67a0c97571bd62b326e6cf3b2e_icgraph.pdf
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diff --git a/src/dcaitirobot/embedded/docs/latex/classPID_ab1053fb1d444eb9946a12c2fed97f4bf_cgraph.md5 b/src/dcaitirobot/embedded/docs/latex/classPID_ab1053fb1d444eb9946a12c2fed97f4bf_cgraph.md5
new file mode 100644
index 0000000..181d315
--- /dev/null
+++ b/src/dcaitirobot/embedded/docs/latex/classPID_ab1053fb1d444eb9946a12c2fed97f4bf_cgraph.md5
@@ -0,0 +1 @@
+891df5cd6a85f3685a67dd249b077218
\ No newline at end of file
diff --git a/src/dcaitirobot/embedded/docs/latex/classPID_ab1053fb1d444eb9946a12c2fed97f4bf_cgraph.pdf b/src/dcaitirobot/embedded/docs/latex/classPID_ab1053fb1d444eb9946a12c2fed97f4bf_cgraph.pdf
new file mode 100644
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diff --git a/src/dcaitirobot/embedded/docs/latex/classUARTCom.tex b/src/dcaitirobot/embedded/docs/latex/classUARTCom.tex
new file mode 100644
index 0000000..27a961f
--- /dev/null
+++ b/src/dcaitirobot/embedded/docs/latex/classUARTCom.tex
@@ -0,0 +1,150 @@
+\hypertarget{classUARTCom}{}\doxysection{UARTCom Class Reference}
+\label{classUARTCom}\index{UARTCom@{UARTCom}}
+
+
+{\ttfamily \#include $<$UARTCom.\+hpp$>$}
+
+\doxysubsection*{Static Public Member Functions}
+\begin{DoxyCompactItemize}
+\item 
+static void \mbox{\hyperlink{classUARTCom_a0b8f43f58c7ed25f191a0339ad0f170d}{init}} (uint8\+\_\+t $\ast$d)
+\begin{DoxyCompactList}\small\item\em initializes uart communication \end{DoxyCompactList}\item 
+static void \mbox{\hyperlink{classUARTCom_a38e053e8c8bcad7735c7fe09bfc84ffd}{read}} (uint8\+\_\+t $\ast$d)
+\begin{DoxyCompactList}\small\item\em reads uart interface and stores the data into an uint8\+\_\+t array \end{DoxyCompactList}\item 
+static void \mbox{\hyperlink{classUARTCom_a7d317999b89947edc57ba32012c9522f}{send}} (\mbox{\hyperlink{constants_8h_a2cadd9c064904e21e2acd0d0f64ad8b6}{U\+\_\+\+Frame\+Type}} ft, uint8\+\_\+t pll, \mbox{\hyperlink{constants_8h_a35f6afe79ab48a3034b81cb15d538155}{U\+\_\+\+Component}} c, uint8\+\_\+t $\ast$pl)
+\begin{DoxyCompactList}\small\item\em assembles and sends a uart package \end{DoxyCompactList}\end{DoxyCompactItemize}
+\doxysubsection*{Static Public Attributes}
+\begin{DoxyCompactItemize}
+\item 
+static uint8\+\_\+t \mbox{\hyperlink{classUARTCom_a27841668dbc31c205cc826a86d7e0f35}{data}} \mbox{[}\mbox{\hyperlink{constants_8h_a973c680573b37fc359fc68d0707da355}{MAX\+\_\+\+PACKET\+\_\+\+LENGTH}}\mbox{]}
+\end{DoxyCompactItemize}
+
+
+\doxysubsection{Member Function Documentation}
+\mbox{\Hypertarget{classUARTCom_a0b8f43f58c7ed25f191a0339ad0f170d}\label{classUARTCom_a0b8f43f58c7ed25f191a0339ad0f170d}} 
+\index{UARTCom@{UARTCom}!init@{init}}
+\index{init@{init}!UARTCom@{UARTCom}}
+\doxysubsubsection{\texorpdfstring{init()}{init()}}
+{\footnotesize\ttfamily void UARTCom\+::init (\begin{DoxyParamCaption}\item[{uint8\+\_\+t $\ast$}]{d }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [static]}}
+
+
+
+initializes uart communication 
+
+initializes UART communication
+
+
+\begin{DoxyParams}{Parameters}
+{\em d} & data package to be initialized\\
+\hline
+{\em d} & data package \\
+\hline
+\end{DoxyParams}
+Here is the call graph for this function\+:\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=285pt]{classUARTCom_a0b8f43f58c7ed25f191a0339ad0f170d_cgraph}
+\end{center}
+\end{figure}
+Here is the caller graph for this function\+:\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=247pt]{classUARTCom_a0b8f43f58c7ed25f191a0339ad0f170d_icgraph}
+\end{center}
+\end{figure}
+\mbox{\Hypertarget{classUARTCom_a38e053e8c8bcad7735c7fe09bfc84ffd}\label{classUARTCom_a38e053e8c8bcad7735c7fe09bfc84ffd}} 
+\index{UARTCom@{UARTCom}!read@{read}}
+\index{read@{read}!UARTCom@{UARTCom}}
+\doxysubsubsection{\texorpdfstring{read()}{read()}}
+{\footnotesize\ttfamily void UARTCom\+::read (\begin{DoxyParamCaption}\item[{uint8\+\_\+t $\ast$}]{d }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [static]}}
+
+
+
+reads uart interface and stores the data into an uint8\+\_\+t array 
+
+reads incoming bytes from serial port
+
+
+\begin{DoxyParams}{Parameters}
+{\em d} & array to store the data into\\
+\hline
+{\em d} & data package \\
+\hline
+\end{DoxyParams}
+Here is the call graph for this function\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=350pt]{classUARTCom_a38e053e8c8bcad7735c7fe09bfc84ffd_cgraph}
+\end{center}
+\end{figure}
+Here is the caller graph for this function\+:\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=247pt]{classUARTCom_a38e053e8c8bcad7735c7fe09bfc84ffd_icgraph}
+\end{center}
+\end{figure}
+\mbox{\Hypertarget{classUARTCom_a7d317999b89947edc57ba32012c9522f}\label{classUARTCom_a7d317999b89947edc57ba32012c9522f}} 
+\index{UARTCom@{UARTCom}!send@{send}}
+\index{send@{send}!UARTCom@{UARTCom}}
+\doxysubsubsection{\texorpdfstring{send()}{send()}}
+{\footnotesize\ttfamily void UARTCom\+::send (\begin{DoxyParamCaption}\item[{\mbox{\hyperlink{constants_8h_a2cadd9c064904e21e2acd0d0f64ad8b6}{U\+\_\+\+Frame\+Type}}}]{ft,  }\item[{uint8\+\_\+t}]{pll,  }\item[{\mbox{\hyperlink{constants_8h_a35f6afe79ab48a3034b81cb15d538155}{U\+\_\+\+Component}}}]{cp,  }\item[{uint8\+\_\+t $\ast$}]{pl }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [static]}}
+
+
+
+assembles and sends a uart package 
+
+sends data package
+
+
+\begin{DoxyParams}{Parameters}
+{\em ft} & frametype of message \\
+\hline
+{\em pll} & payload length \\
+\hline
+{\em c} & component \\
+\hline
+{\em pl} & payload\\
+\hline
+{\em ft} & frametype \\
+\hline
+{\em pll} & payload length \\
+\hline
+{\em cp} & component \\
+\hline
+{\em pl} & payload \\
+\hline
+\end{DoxyParams}
+Here is the call graph for this function\+:\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=307pt]{classUARTCom_a7d317999b89947edc57ba32012c9522f_cgraph}
+\end{center}
+\end{figure}
+Here is the caller graph for this function\+:\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=350pt]{classUARTCom_a7d317999b89947edc57ba32012c9522f_icgraph}
+\end{center}
+\end{figure}
+
+
+\doxysubsection{Member Data Documentation}
+\mbox{\Hypertarget{classUARTCom_a27841668dbc31c205cc826a86d7e0f35}\label{classUARTCom_a27841668dbc31c205cc826a86d7e0f35}} 
+\index{UARTCom@{UARTCom}!data@{data}}
+\index{data@{data}!UARTCom@{UARTCom}}
+\doxysubsubsection{\texorpdfstring{data}{data}}
+{\footnotesize\ttfamily uint8\+\_\+t UARTCom\+::data\hspace{0.3cm}{\ttfamily [static]}}
+
+
+
+The documentation for this class was generated from the following files\+:\begin{DoxyCompactItemize}
+\item 
+include/communication/\mbox{\hyperlink{UARTCom_8hpp}{UARTCom.\+hpp}}\item 
+src/communication/\mbox{\hyperlink{UARTCom_8cpp}{UARTCom.\+cpp}}\end{DoxyCompactItemize}
diff --git a/src/dcaitirobot/embedded/docs/latex/classUARTCom_a0b8f43f58c7ed25f191a0339ad0f170d_cgraph.md5 b/src/dcaitirobot/embedded/docs/latex/classUARTCom_a0b8f43f58c7ed25f191a0339ad0f170d_cgraph.md5
new file mode 100644
index 0000000..d86b156
--- /dev/null
+++ b/src/dcaitirobot/embedded/docs/latex/classUARTCom_a0b8f43f58c7ed25f191a0339ad0f170d_cgraph.md5
@@ -0,0 +1 @@
+72b1973756850bacd27446225a1687ff
\ No newline at end of file
diff --git a/src/dcaitirobot/embedded/docs/latex/classUARTCom_a0b8f43f58c7ed25f191a0339ad0f170d_cgraph.pdf b/src/dcaitirobot/embedded/docs/latex/classUARTCom_a0b8f43f58c7ed25f191a0339ad0f170d_cgraph.pdf
new file mode 100644
index 0000000000000000000000000000000000000000..cbe2af7bdcacb3ab766acd1c4ef11f16f349b8ce
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diff --git a/src/dcaitirobot/embedded/docs/latex/classUARTCom_a0b8f43f58c7ed25f191a0339ad0f170d_icgraph.md5 b/src/dcaitirobot/embedded/docs/latex/classUARTCom_a0b8f43f58c7ed25f191a0339ad0f170d_icgraph.md5
new file mode 100644
index 0000000..7b70a83
--- /dev/null
+++ b/src/dcaitirobot/embedded/docs/latex/classUARTCom_a0b8f43f58c7ed25f191a0339ad0f170d_icgraph.md5
@@ -0,0 +1 @@
+5f6038c9d6bce98aecd643420a6a1d50
\ No newline at end of file
diff --git a/src/dcaitirobot/embedded/docs/latex/classUARTCom_a0b8f43f58c7ed25f191a0339ad0f170d_icgraph.pdf b/src/dcaitirobot/embedded/docs/latex/classUARTCom_a0b8f43f58c7ed25f191a0339ad0f170d_icgraph.pdf
new file mode 100644
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diff --git a/src/dcaitirobot/embedded/docs/latex/classUARTCom_a38e053e8c8bcad7735c7fe09bfc84ffd_cgraph.md5 b/src/dcaitirobot/embedded/docs/latex/classUARTCom_a38e053e8c8bcad7735c7fe09bfc84ffd_cgraph.md5
new file mode 100644
index 0000000..b515158
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+++ b/src/dcaitirobot/embedded/docs/latex/classUARTCom_a38e053e8c8bcad7735c7fe09bfc84ffd_cgraph.md5
@@ -0,0 +1 @@
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diff --git a/src/dcaitirobot/embedded/docs/latex/classUARTCom_a38e053e8c8bcad7735c7fe09bfc84ffd_cgraph.pdf b/src/dcaitirobot/embedded/docs/latex/classUARTCom_a38e053e8c8bcad7735c7fe09bfc84ffd_cgraph.pdf
new file mode 100644
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diff --git a/src/dcaitirobot/embedded/docs/latex/classUARTCom_a38e053e8c8bcad7735c7fe09bfc84ffd_icgraph.md5 b/src/dcaitirobot/embedded/docs/latex/classUARTCom_a38e053e8c8bcad7735c7fe09bfc84ffd_icgraph.md5
new file mode 100644
index 0000000..c9cf019
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+++ b/src/dcaitirobot/embedded/docs/latex/classUARTCom_a38e053e8c8bcad7735c7fe09bfc84ffd_icgraph.md5
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diff --git a/src/dcaitirobot/embedded/docs/latex/classUARTCom_a38e053e8c8bcad7735c7fe09bfc84ffd_icgraph.pdf b/src/dcaitirobot/embedded/docs/latex/classUARTCom_a38e053e8c8bcad7735c7fe09bfc84ffd_icgraph.pdf
new file mode 100644
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diff --git a/src/dcaitirobot/embedded/docs/latex/classUARTCom_a7d317999b89947edc57ba32012c9522f_cgraph.md5 b/src/dcaitirobot/embedded/docs/latex/classUARTCom_a7d317999b89947edc57ba32012c9522f_cgraph.md5
new file mode 100644
index 0000000..4055a2f
--- /dev/null
+++ b/src/dcaitirobot/embedded/docs/latex/classUARTCom_a7d317999b89947edc57ba32012c9522f_cgraph.md5
@@ -0,0 +1 @@
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diff --git a/src/dcaitirobot/embedded/docs/latex/classUARTCom_a7d317999b89947edc57ba32012c9522f_cgraph.pdf b/src/dcaitirobot/embedded/docs/latex/classUARTCom_a7d317999b89947edc57ba32012c9522f_cgraph.pdf
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diff --git a/src/dcaitirobot/embedded/docs/latex/classUARTCom_a7d317999b89947edc57ba32012c9522f_icgraph.md5 b/src/dcaitirobot/embedded/docs/latex/classUARTCom_a7d317999b89947edc57ba32012c9522f_icgraph.md5
new file mode 100644
index 0000000..4ac809e
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+++ b/src/dcaitirobot/embedded/docs/latex/classUARTCom_a7d317999b89947edc57ba32012c9522f_icgraph.md5
@@ -0,0 +1 @@
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diff --git a/src/dcaitirobot/embedded/docs/latex/classUARTCom_a7d317999b89947edc57ba32012c9522f_icgraph.pdf b/src/dcaitirobot/embedded/docs/latex/classUARTCom_a7d317999b89947edc57ba32012c9522f_icgraph.pdf
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HcmV?d00001

diff --git a/src/dcaitirobot/embedded/docs/latex/classUCommands.tex b/src/dcaitirobot/embedded/docs/latex/classUCommands.tex
new file mode 100644
index 0000000..bb419d5
--- /dev/null
+++ b/src/dcaitirobot/embedded/docs/latex/classUCommands.tex
@@ -0,0 +1,98 @@
+\hypertarget{classUCommands}{}\doxysection{UCommands Class Reference}
+\label{classUCommands}\index{UCommands@{UCommands}}
+
+
+{\ttfamily \#include $<$UCommands.\+hpp$>$}
+
+\doxysubsection*{Static Public Member Functions}
+\begin{DoxyCompactItemize}
+\item 
+static void \mbox{\hyperlink{classUCommands_a3c5115bbcd456140f899e978b38a2cb5}{set\+Setpoint}} (uint8\+\_\+t $\ast$d, \mbox{\hyperlink{constants_8h_a35f6afe79ab48a3034b81cb15d538155}{U\+\_\+\+Component}} c)
+\begin{DoxyCompactList}\small\item\em sets the desired velocity of a motor \end{DoxyCompactList}\item 
+static void \mbox{\hyperlink{classUCommands_a86ec0e5a25fbf90d6588055a7ba1f312}{set\+PIDParameter}} (uint8\+\_\+t $\ast$d, \mbox{\hyperlink{constants_8h_a35f6afe79ab48a3034b81cb15d538155}{U\+\_\+\+Component}} c)
+\begin{DoxyCompactList}\small\item\em sets the PID parameters \end{DoxyCompactList}\end{DoxyCompactItemize}
+
+
+\doxysubsection{Member Function Documentation}
+\mbox{\Hypertarget{classUCommands_a86ec0e5a25fbf90d6588055a7ba1f312}\label{classUCommands_a86ec0e5a25fbf90d6588055a7ba1f312}} 
+\index{UCommands@{UCommands}!setPIDParameter@{setPIDParameter}}
+\index{setPIDParameter@{setPIDParameter}!UCommands@{UCommands}}
+\doxysubsubsection{\texorpdfstring{setPIDParameter()}{setPIDParameter()}}
+{\footnotesize\ttfamily void UCommands\+::set\+PIDParameter (\begin{DoxyParamCaption}\item[{uint8\+\_\+t $\ast$}]{d,  }\item[{\mbox{\hyperlink{constants_8h_a35f6afe79ab48a3034b81cb15d538155}{U\+\_\+\+Component}}}]{c }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [static]}}
+
+
+
+sets the PID parameters 
+
+handles incoming requests for PID parameters
+
+
+\begin{DoxyParams}{Parameters}
+{\em d} & uart data package to read the pid parameters from \\
+\hline
+{\em c} & motor to apply the value to\\
+\hline
+{\em d} & payload \\
+\hline
+{\em c} & component \\
+\hline
+\end{DoxyParams}
+Here is the call graph for this function\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=350pt]{classUCommands_a86ec0e5a25fbf90d6588055a7ba1f312_cgraph}
+\end{center}
+\end{figure}
+Here is the caller graph for this function\+:\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=350pt]{classUCommands_a86ec0e5a25fbf90d6588055a7ba1f312_icgraph}
+\end{center}
+\end{figure}
+\mbox{\Hypertarget{classUCommands_a3c5115bbcd456140f899e978b38a2cb5}\label{classUCommands_a3c5115bbcd456140f899e978b38a2cb5}} 
+\index{UCommands@{UCommands}!setSetpoint@{setSetpoint}}
+\index{setSetpoint@{setSetpoint}!UCommands@{UCommands}}
+\doxysubsubsection{\texorpdfstring{setSetpoint()}{setSetpoint()}}
+{\footnotesize\ttfamily void UCommands\+::set\+Setpoint (\begin{DoxyParamCaption}\item[{uint8\+\_\+t $\ast$}]{d,  }\item[{\mbox{\hyperlink{constants_8h_a35f6afe79ab48a3034b81cb15d538155}{U\+\_\+\+Component}}}]{c }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [static]}}
+
+
+
+sets the desired velocity of a motor 
+
+handles incoming requests for motor speed
+
+
+\begin{DoxyParams}{Parameters}
+{\em d} & uart data package to read the velocity from \\
+\hline
+{\em c} & motor to apply the value to\\
+\hline
+{\em d} & payload \\
+\hline
+{\em c} & component \\
+\hline
+\end{DoxyParams}
+Here is the call graph for this function\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=350pt]{classUCommands_a3c5115bbcd456140f899e978b38a2cb5_cgraph}
+\end{center}
+\end{figure}
+Here is the caller graph for this function\+:\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=350pt]{classUCommands_a3c5115bbcd456140f899e978b38a2cb5_icgraph}
+\end{center}
+\end{figure}
+
+
+The documentation for this class was generated from the following files\+:\begin{DoxyCompactItemize}
+\item 
+include/communication/\mbox{\hyperlink{UCommands_8hpp}{UCommands.\+hpp}}\item 
+src/communication/\mbox{\hyperlink{UCommands_8cpp}{UCommands.\+cpp}}\end{DoxyCompactItemize}
diff --git a/src/dcaitirobot/embedded/docs/latex/classUCommands_a3c5115bbcd456140f899e978b38a2cb5_cgraph.md5 b/src/dcaitirobot/embedded/docs/latex/classUCommands_a3c5115bbcd456140f899e978b38a2cb5_cgraph.md5
new file mode 100644
index 0000000..5e1d25e
--- /dev/null
+++ b/src/dcaitirobot/embedded/docs/latex/classUCommands_a3c5115bbcd456140f899e978b38a2cb5_cgraph.md5
@@ -0,0 +1 @@
+95b8ce67ed53af9a4a0009621a1cdb87
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new file mode 100644
index 0000000..7042e82
--- /dev/null
+++ b/src/dcaitirobot/embedded/docs/latex/classUCommands_a86ec0e5a25fbf90d6588055a7ba1f312_icgraph.md5
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diff --git a/src/dcaitirobot/embedded/docs/latex/classUCommands_a86ec0e5a25fbf90d6588055a7ba1f312_icgraph.pdf b/src/dcaitirobot/embedded/docs/latex/classUCommands_a86ec0e5a25fbf90d6588055a7ba1f312_icgraph.pdf
new file mode 100644
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diff --git a/src/dcaitirobot/embedded/docs/latex/classUValue.tex b/src/dcaitirobot/embedded/docs/latex/classUValue.tex
new file mode 100644
index 0000000..715a013
--- /dev/null
+++ b/src/dcaitirobot/embedded/docs/latex/classUValue.tex
@@ -0,0 +1,93 @@
+\hypertarget{classUValue}{}\doxysection{UValue Class Reference}
+\label{classUValue}\index{UValue@{UValue}}
+
+
+{\ttfamily \#include $<$UValue.\+hpp$>$}
+
+\doxysubsection*{Static Public Member Functions}
+\begin{DoxyCompactItemize}
+\item 
+static void \mbox{\hyperlink{classUValue_ac1818040e6bca1803b368b958db7333b}{send\+Encoder\+Value}} (\mbox{\hyperlink{constants_8h_a35f6afe79ab48a3034b81cb15d538155}{U\+\_\+\+Component}} cp, float value)
+\begin{DoxyCompactList}\small\item\em sends encoder value via uart \end{DoxyCompactList}\item 
+static void \mbox{\hyperlink{classUValue_a92218410a1f6b266c142fe4f2af704ae}{send\+Both\+Encoder\+Values}} (float speed\+\_\+right, float speed\+\_\+left, float pos\+\_\+right, float pos\+\_\+left)
+\begin{DoxyCompactList}\small\item\em send both encoder values via uart \end{DoxyCompactList}\end{DoxyCompactItemize}
+
+
+\doxysubsection{Member Function Documentation}
+\mbox{\Hypertarget{classUValue_a92218410a1f6b266c142fe4f2af704ae}\label{classUValue_a92218410a1f6b266c142fe4f2af704ae}} 
+\index{UValue@{UValue}!sendBothEncoderValues@{sendBothEncoderValues}}
+\index{sendBothEncoderValues@{sendBothEncoderValues}!UValue@{UValue}}
+\doxysubsubsection{\texorpdfstring{sendBothEncoderValues()}{sendBothEncoderValues()}}
+{\footnotesize\ttfamily void UValue\+::send\+Both\+Encoder\+Values (\begin{DoxyParamCaption}\item[{float}]{speed\+\_\+right,  }\item[{float}]{speed\+\_\+left,  }\item[{float}]{pos\+\_\+right,  }\item[{float}]{pos\+\_\+left }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [static]}}
+
+
+
+send both encoder values via uart 
+
+sends the current speed of both motors
+
+
+\begin{DoxyParams}{Parameters}
+{\em value\+\_\+left} & encoder value left \\
+\hline
+{\em value\+\_\+right} & encoder value right\\
+\hline
+{\em speed\+\_\+right} & speed of right motor \\
+\hline
+{\em speed\+\_\+left} & speed of left motor \\
+\hline
+{\em pos\+\_\+right} & current integrated position of right rotor \\
+\hline
+{\em pos\+\_\+left} & current integrated position of left rotor \\
+\hline
+\end{DoxyParams}
+Here is the call graph for this function\+:\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=350pt]{classUValue_a92218410a1f6b266c142fe4f2af704ae_cgraph}
+\end{center}
+\end{figure}
+Here is the caller graph for this function\+:\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=350pt]{classUValue_a92218410a1f6b266c142fe4f2af704ae_icgraph}
+\end{center}
+\end{figure}
+\mbox{\Hypertarget{classUValue_ac1818040e6bca1803b368b958db7333b}\label{classUValue_ac1818040e6bca1803b368b958db7333b}} 
+\index{UValue@{UValue}!sendEncoderValue@{sendEncoderValue}}
+\index{sendEncoderValue@{sendEncoderValue}!UValue@{UValue}}
+\doxysubsubsection{\texorpdfstring{sendEncoderValue()}{sendEncoderValue()}}
+{\footnotesize\ttfamily void UValue\+::send\+Encoder\+Value (\begin{DoxyParamCaption}\item[{\mbox{\hyperlink{constants_8h_a35f6afe79ab48a3034b81cb15d538155}{U\+\_\+\+Component}}}]{cp,  }\item[{float}]{value }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [static]}}
+
+
+
+sends encoder value via uart 
+
+sends the current speed of both motors
+
+
+\begin{DoxyParams}{Parameters}
+{\em cp} & component to which the value refers to \\
+\hline
+{\em value} & encoder value\\
+\hline
+{\em cp} & component \\
+\hline
+{\em value} & speed of motor \\
+\hline
+\end{DoxyParams}
+Here is the call graph for this function\+:\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=350pt]{classUValue_ac1818040e6bca1803b368b958db7333b_cgraph}
+\end{center}
+\end{figure}
+
+
+The documentation for this class was generated from the following files\+:\begin{DoxyCompactItemize}
+\item 
+include/communication/\mbox{\hyperlink{UValue_8hpp}{UValue.\+hpp}}\item 
+src/communication/\mbox{\hyperlink{UValue_8cpp}{UValue.\+cpp}}\end{DoxyCompactItemize}
diff --git a/src/dcaitirobot/embedded/docs/latex/classUValue_a92218410a1f6b266c142fe4f2af704ae_cgraph.md5 b/src/dcaitirobot/embedded/docs/latex/classUValue_a92218410a1f6b266c142fe4f2af704ae_cgraph.md5
new file mode 100644
index 0000000..819af04
--- /dev/null
+++ b/src/dcaitirobot/embedded/docs/latex/classUValue_a92218410a1f6b266c142fe4f2af704ae_cgraph.md5
@@ -0,0 +1 @@
+e7b79c922bb976efa283dc409ebf3a59
\ No newline at end of file
diff --git a/src/dcaitirobot/embedded/docs/latex/classUValue_a92218410a1f6b266c142fe4f2af704ae_cgraph.pdf b/src/dcaitirobot/embedded/docs/latex/classUValue_a92218410a1f6b266c142fe4f2af704ae_cgraph.pdf
new file mode 100644
index 0000000000000000000000000000000000000000..a2f4478805ffe8f0984c532791238577260261ef
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diff --git a/src/dcaitirobot/embedded/docs/latex/classUValue_a92218410a1f6b266c142fe4f2af704ae_icgraph.md5 b/src/dcaitirobot/embedded/docs/latex/classUValue_a92218410a1f6b266c142fe4f2af704ae_icgraph.md5
new file mode 100644
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new file mode 100644
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diff --git a/src/dcaitirobot/embedded/docs/latex/classUtils.tex b/src/dcaitirobot/embedded/docs/latex/classUtils.tex
new file mode 100644
index 0000000..1cc27c5
--- /dev/null
+++ b/src/dcaitirobot/embedded/docs/latex/classUtils.tex
@@ -0,0 +1,116 @@
+\hypertarget{classUtils}{}\doxysection{Utils Class Reference}
+\label{classUtils}\index{Utils@{Utils}}
+
+
+{\ttfamily \#include $<$Utils.\+hpp$>$}
+
+\doxysubsection*{Static Public Member Functions}
+\begin{DoxyCompactItemize}
+\item 
+static float \mbox{\hyperlink{classUtils_aac3729a54c2dbd0461f5faa130429280}{bytes\+To\+Float}} (uint8\+\_\+t b0, uint8\+\_\+t b1, uint8\+\_\+t b2, uint8\+\_\+t b3)
+\begin{DoxyCompactList}\small\item\em converts 4 bytes to float (big endian) \end{DoxyCompactList}\item 
+static uint32\+\_\+t \mbox{\hyperlink{classUtils_a994ae9cd902090355b4777f0dd28e95c}{bytes\+To\+Int}} (uint8\+\_\+t b0, uint8\+\_\+t b1, uint8\+\_\+t b2, uint8\+\_\+t b3)
+\begin{DoxyCompactList}\small\item\em converts 4 bytes to uint32\+\_\+t (big endian) \end{DoxyCompactList}\end{DoxyCompactItemize}
+
+
+\doxysubsection{Member Function Documentation}
+\mbox{\Hypertarget{classUtils_aac3729a54c2dbd0461f5faa130429280}\label{classUtils_aac3729a54c2dbd0461f5faa130429280}} 
+\index{Utils@{Utils}!bytesToFloat@{bytesToFloat}}
+\index{bytesToFloat@{bytesToFloat}!Utils@{Utils}}
+\doxysubsubsection{\texorpdfstring{bytesToFloat()}{bytesToFloat()}}
+{\footnotesize\ttfamily float Utils\+::bytes\+To\+Float (\begin{DoxyParamCaption}\item[{uint8\+\_\+t}]{b0,  }\item[{uint8\+\_\+t}]{b1,  }\item[{uint8\+\_\+t}]{b2,  }\item[{uint8\+\_\+t}]{b3 }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [static]}}
+
+
+
+converts 4 bytes to float (big endian) 
+
+converts a float to a byte array
+
+
+\begin{DoxyParams}{Parameters}
+{\em b0} & first byte \\
+\hline
+{\em b1} & second byte \\
+\hline
+{\em b2} & third byte \\
+\hline
+{\em b3} & fourth byte \\
+\hline
+\end{DoxyParams}
+\begin{DoxyReturn}{Returns}
+float
+\end{DoxyReturn}
+
+\begin{DoxyParams}{Parameters}
+{\em b0} & \\
+\hline
+{\em b1} & \\
+\hline
+{\em b2} & \\
+\hline
+{\em b3} & \\
+\hline
+\end{DoxyParams}
+\begin{DoxyReturn}{Returns}
+float 
+\end{DoxyReturn}
+Here is the caller graph for this function\+:\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=350pt]{classUtils_aac3729a54c2dbd0461f5faa130429280_icgraph}
+\end{center}
+\end{figure}
+\mbox{\Hypertarget{classUtils_a994ae9cd902090355b4777f0dd28e95c}\label{classUtils_a994ae9cd902090355b4777f0dd28e95c}} 
+\index{Utils@{Utils}!bytesToInt@{bytesToInt}}
+\index{bytesToInt@{bytesToInt}!Utils@{Utils}}
+\doxysubsubsection{\texorpdfstring{bytesToInt()}{bytesToInt()}}
+{\footnotesize\ttfamily uint32\+\_\+t Utils\+::bytes\+To\+Int (\begin{DoxyParamCaption}\item[{uint8\+\_\+t}]{b0,  }\item[{uint8\+\_\+t}]{b1,  }\item[{uint8\+\_\+t}]{b2,  }\item[{uint8\+\_\+t}]{b3 }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [static]}}
+
+
+
+converts 4 bytes to uint32\+\_\+t (big endian) 
+
+converts a byte array to a float
+
+
+\begin{DoxyParams}{Parameters}
+{\em b0} & first byte \\
+\hline
+{\em b1} & second byte \\
+\hline
+{\em b2} & third byte \\
+\hline
+{\em b3} & fourth byte \\
+\hline
+\end{DoxyParams}
+\begin{DoxyReturn}{Returns}
+uint32\+\_\+t
+\end{DoxyReturn}
+
+\begin{DoxyParams}{Parameters}
+{\em b0} & \\
+\hline
+{\em b1} & \\
+\hline
+{\em b2} & \\
+\hline
+{\em b3} & \\
+\hline
+\end{DoxyParams}
+\begin{DoxyReturn}{Returns}
+uint32\+\_\+t 
+\end{DoxyReturn}
+Here is the caller graph for this function\+:\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=350pt]{classUtils_a994ae9cd902090355b4777f0dd28e95c_icgraph}
+\end{center}
+\end{figure}
+
+
+The documentation for this class was generated from the following files\+:\begin{DoxyCompactItemize}
+\item 
+include/misc/\mbox{\hyperlink{Utils_8hpp}{Utils.\+hpp}}\item 
+src/misc/\mbox{\hyperlink{Utils_8cpp}{Utils.\+cpp}}\end{DoxyCompactItemize}
diff --git a/src/dcaitirobot/embedded/docs/latex/classUtils_a994ae9cd902090355b4777f0dd28e95c_icgraph.md5 b/src/dcaitirobot/embedded/docs/latex/classUtils_a994ae9cd902090355b4777f0dd28e95c_icgraph.md5
new file mode 100644
index 0000000..9c7b165
--- /dev/null
+++ b/src/dcaitirobot/embedded/docs/latex/classUtils_a994ae9cd902090355b4777f0dd28e95c_icgraph.md5
@@ -0,0 +1 @@
+4974b9803334decc2963381327c226da
\ No newline at end of file
diff --git a/src/dcaitirobot/embedded/docs/latex/classUtils_a994ae9cd902090355b4777f0dd28e95c_icgraph.pdf b/src/dcaitirobot/embedded/docs/latex/classUtils_a994ae9cd902090355b4777f0dd28e95c_icgraph.pdf
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index 0000000000000000000000000000000000000000..1e7b4d82981695f69baf1c7b56a3f9f95cff0d10
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new file mode 100644
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diff --git a/src/dcaitirobot/embedded/docs/latex/constants_8h.tex b/src/dcaitirobot/embedded/docs/latex/constants_8h.tex
new file mode 100644
index 0000000..e4d1fdd
--- /dev/null
+++ b/src/dcaitirobot/embedded/docs/latex/constants_8h.tex
@@ -0,0 +1,571 @@
+\hypertarget{constants_8h}{}\doxysection{include/constants.h File Reference}
+\label{constants_8h}\index{include/constants.h@{include/constants.h}}
+This graph shows which files directly or indirectly include this file\+:\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=350pt]{constants_8h__dep__incl}
+\end{center}
+\end{figure}
+\doxysubsection*{Macros}
+\begin{DoxyCompactItemize}
+\item 
+\#define \mbox{\hyperlink{constants_8h_a52b56a381e777b55e1b59019d9ee072e}{NUM\+\_\+\+MOTORS}}~2
+\begin{DoxyCompactList}\small\item\em all constants and custom data types \end{DoxyCompactList}\item 
+\#define \mbox{\hyperlink{constants_8h_ac4207804f19ef064b5c62600e0b3e8a3}{M1\+\_\+\+EN\+\_\+\+PIN}}~10
+\item 
+\#define \mbox{\hyperlink{constants_8h_a3d282621a75034d2d4206fe90b0da79a}{M1\+\_\+\+DIR\+\_\+\+PIN}}~11
+\item 
+\#define \mbox{\hyperlink{constants_8h_a160f7f51d684aa67d10d9e0ddac01b04}{M2\+\_\+\+EN\+\_\+\+PIN}}~9
+\item 
+\#define \mbox{\hyperlink{constants_8h_a5e364f19936b85c329f46243a4b5b234}{M2\+\_\+\+DIR\+\_\+\+PIN}}~8
+\item 
+\#define \mbox{\hyperlink{constants_8h_ac061f2335adf821db2872a3cbb9c2b89}{SPEED\+\_\+\+THRESHOLD}}~8
+\item 
+\#define \mbox{\hyperlink{constants_8h_ab230bca5d5ab35a62a429dfcda81d00b}{ENC\+\_\+1\+\_\+A}}~6
+\item 
+\#define \mbox{\hyperlink{constants_8h_abb1e10ac4c5e4e02b9ede57753f34685}{ENC\+\_\+1\+\_\+B}}~7
+\item 
+\#define \mbox{\hyperlink{constants_8h_a6e554e75e5487d2b3cd6fbf13771abfb}{ENC\+\_\+2\+\_\+A}}~5
+\item 
+\#define \mbox{\hyperlink{constants_8h_aa8f35f5e8e4f5ffe95145bc22c4fcf72}{ENC\+\_\+2\+\_\+B}}~4
+\item 
+\#define \mbox{\hyperlink{constants_8h_ab49c3741ce7f73ec48ab65fd973323a8}{COUNT\+\_\+\+PER\+\_\+\+ROTATION}}~3533
+\item 
+\#define \mbox{\hyperlink{constants_8h_a3104816b30fdf2161e0303ac82d64368}{CHAIN\+\_\+\+LENGTH\+\_\+M}}~0.\+741
+\item 
+\#define \mbox{\hyperlink{constants_8h_ab90fe37f81409f5e0793767b08d64231}{VEL\+\_\+\+UPDATE\+\_\+\+RATE\+\_\+\+MS}}~20
+\item 
+\#define \mbox{\hyperlink{constants_8h_ac2cd96d53dd3ba6407db6766c3d92b26}{MAX\+\_\+\+SPEED}}~0.\+6
+\item 
+\#define \mbox{\hyperlink{constants_8h_a1e95591d371b6ccd1d99c7f947a52a62}{KP\+\_\+1}}~10
+\item 
+\#define \mbox{\hyperlink{constants_8h_abba0b881fe43a16924e413bbd263c733}{KD\+\_\+1}}~0.\+0
+\item 
+\#define \mbox{\hyperlink{constants_8h_ad6a3c042726ed32114f96e802646c63f}{KI\+\_\+1}}~0.\+0
+\item 
+\#define \mbox{\hyperlink{constants_8h_a81021e39d3a0b1902dd4fee734b99345}{KP\+\_\+2}}~10
+\item 
+\#define \mbox{\hyperlink{constants_8h_ab4459fe9bb0098b8277916436adbf888}{KD\+\_\+2}}~0.\+0
+\item 
+\#define \mbox{\hyperlink{constants_8h_aacb7a3bd785a504dfa2894a0734a6469}{KI\+\_\+2}}~0.\+0
+\item 
+\#define \mbox{\hyperlink{constants_8h_ac07fe36e41399741e71b84acd4b549e1}{VEL2\+TORQUE\+\_\+\+RATIO}}~1.\+0
+\item 
+\#define \mbox{\hyperlink{constants_8h_a50efaeb0380deed26b8c63b0f4cbfabe}{P\+\_\+\+GAIN}}~1.\+0
+\item 
+\#define \mbox{\hyperlink{constants_8h_a351cd11e5cc01e0edf20943bed699610}{PRINT\+\_\+\+RATE\+\_\+\+MS}}~500
+\item 
+\#define \mbox{\hyperlink{constants_8h_a615aed21aa6825462b7c17b0c238ffe2}{UART\+\_\+\+BAUD\+\_\+\+RATE}}~57600
+\item 
+\#define \mbox{\hyperlink{constants_8h_a973c680573b37fc359fc68d0707da355}{MAX\+\_\+\+PACKET\+\_\+\+LENGTH}}~50
+\item 
+\#define \mbox{\hyperlink{constants_8h_a0a8722add1edc513f4e329a2032a3fef}{PACKAGE\+\_\+\+LENGTH\+\_\+\+NO\+\_\+P}}~10
+\item 
+\#define \mbox{\hyperlink{constants_8h_a157494c83072aa2d40027e695d68a041}{RX\+\_\+328\+\_\+\+PIN}}~6
+\item 
+\#define \mbox{\hyperlink{constants_8h_ad92856c4b6e41cdaeb16801e242a75e4}{TX\+\_\+328\+\_\+\+PIN}}~7
+\item 
+\#define \mbox{\hyperlink{constants_8h_aac88e302a836edae50d15353792529ba}{UART\+\_\+\+TRANSMIT\+\_\+\+MS}}~10
+\item 
+\#define \mbox{\hyperlink{constants_8h_a4321ff0e2772f459d2ef6caa379e161a}{PACKAGE\+\_\+\+PAUSE\+\_\+\+MS}}~10
+\item 
+\#define \mbox{\hyperlink{constants_8h_aa7fe6a12a1f3090e191f4c52c80bc328}{START\+\_\+\+BYTE\+\_\+\+POS}}~0
+\item 
+\#define \mbox{\hyperlink{constants_8h_ac789a32f49ac90c7af7bfecd0145ca5b}{FRAME\+\_\+\+TYPE\+\_\+\+POS}}~1
+\item 
+\#define \mbox{\hyperlink{constants_8h_aa9c8a41feedb969234368a73275821f2}{PAYLOAD\+\_\+\+LENGTH\+\_\+\+POS}}~2
+\item 
+\#define \mbox{\hyperlink{constants_8h_a52879c59942c2d1a074e7f36714102a4}{COMPONENT\+\_\+\+POS}}~3
+\item 
+\#define \mbox{\hyperlink{constants_8h_a1716d2e75ba17bc148d19453b6ac72cb}{TIMESTAMP\+\_\+\+POS}}~4
+\item 
+\#define \mbox{\hyperlink{constants_8h_a0b5870a545d9cbfe8b3acfc3a9166f73}{COMMAND\+\_\+\+POS}}~8
+\item 
+\#define \mbox{\hyperlink{constants_8h_a0c7e856e56bd17a39c617593fce860a7}{PAYLOAD\+\_\+\+POS}}~8
+\item 
+\#define \mbox{\hyperlink{constants_8h_a9b2553a99e4fc456528a2bb6064662e4}{FRAME\+\_\+\+TYPE\+\_\+\+STARTBIT}}~7
+\item 
+\#define \mbox{\hyperlink{constants_8h_a151ca839d9e7eafaee81144d4227c1e5}{FRAME\+\_\+\+TYPE\+\_\+\+ENDBIT}}~5
+\item 
+\#define \mbox{\hyperlink{constants_8h_a2785c2310ae5cedbcf184d54c34de5be}{COMPONENT\+\_\+\+STARTBIT}}~7
+\item 
+\#define \mbox{\hyperlink{constants_8h_aeb1d8064c126f31485d68575b2e56fac}{COMPONENT\+\_\+\+ENDBIT}}~4
+\item 
+\#define \mbox{\hyperlink{constants_8h_a30d2043ca397843e08c43ade3aaee5b2}{START\+\_\+\+BYTE}}~0x\+AA
+\item 
+\#define \mbox{\hyperlink{constants_8h_a2cf114b9e06da52cc8852e5ff45d0287}{REQUEST\+\_\+\+DRIVE\+\_\+\+MOTOR}}~0x01
+\item 
+\#define \mbox{\hyperlink{constants_8h_a36df23d1e37cb67c03835318c00be7c6}{REQUEST\+\_\+\+RESET\+\_\+\+TIMESTAMP}}~0x02
+\item 
+\#define \mbox{\hyperlink{constants_8h_ac06a5ed8a1f01ec636f93ed032e01eab}{FT\+\_\+\+VALUE\+\_\+\+BV}}~0
+\item 
+\#define \mbox{\hyperlink{constants_8h_a4c64a972f5a1b3bd04ec67f823c89dde}{FT\+\_\+\+REQUEST\+\_\+\+BV}}~32
+\item 
+\#define \mbox{\hyperlink{constants_8h_a1a41281f1eb58c0ed14957e2760888f1}{FT\+\_\+\+RESPONSE\+\_\+\+BV}}~64
+\item 
+\#define \mbox{\hyperlink{constants_8h_a35d5ccd13b20b08c77be860c769b07d3}{CP\+\_\+\+DEFAULT\+\_\+\+BV}}~0
+\item 
+\#define \mbox{\hyperlink{constants_8h_a08ef3f733d9202f2086e69e2c08a363b}{CP\+\_\+\+LEFT\+\_\+\+M\+\_\+\+BV}}~16
+\item 
+\#define \mbox{\hyperlink{constants_8h_a364373ad1acde28ba791da94a4652123}{CP\+\_\+\+RIGHT\+\_\+\+M\+\_\+\+BV}}~32
+\item 
+\#define \mbox{\hyperlink{constants_8h_aa3874a8ea4ef7c943b06a92f80068620}{CP\+\_\+\+ALL\+\_\+\+M\+\_\+\+BV}}~48
+\item 
+\#define \mbox{\hyperlink{constants_8h_af6dca909e42192cc5583a7e077c1a0d2}{LAST}}(k,  n)~((k) \& ((1$<$$<$(n))-\/1))
+\item 
+\#define \mbox{\hyperlink{constants_8h_a35dfe6752b41f8931e45e6ae73b90dc9}{MID}}(k,  m,  n)~\mbox{\hyperlink{constants_8h_af6dca909e42192cc5583a7e077c1a0d2}{LAST}}((k)$>$$>$(m),((n)-\/(m)))
+\end{DoxyCompactItemize}
+\doxysubsection*{Typedefs}
+\begin{DoxyCompactItemize}
+\item 
+typedef enum \mbox{\hyperlink{constants_8h_ab1199e2d349eb9a84bf67ce1ee919b99}{frametypes}} \mbox{\hyperlink{constants_8h_a2cadd9c064904e21e2acd0d0f64ad8b6}{U\+\_\+\+Frame\+Type}}
+\item 
+typedef enum \mbox{\hyperlink{constants_8h_a34a2c423b3ea385bdb64e0dbba3f901b}{components}} \mbox{\hyperlink{constants_8h_a35f6afe79ab48a3034b81cb15d538155}{U\+\_\+\+Component}}
+\item 
+typedef enum \mbox{\hyperlink{constants_8h_a796eb6fe3758085a1379a7a873e41fff}{requests}} \mbox{\hyperlink{constants_8h_a83703b84abb8c92901ec1c15e0bbad80}{U\+\_\+\+Request}}
+\end{DoxyCompactItemize}
+\doxysubsection*{Enumerations}
+\begin{DoxyCompactItemize}
+\item 
+enum \mbox{\hyperlink{constants_8h_ab1199e2d349eb9a84bf67ce1ee919b99}{frametypes}} \{ \mbox{\hyperlink{constants_8h_ab1199e2d349eb9a84bf67ce1ee919b99ad3a10aa8b647d6a6db651ef882ff8bff}{VALUE}}
+, \mbox{\hyperlink{constants_8h_ab1199e2d349eb9a84bf67ce1ee919b99abaf6b8e08edf0e9d2eb38551fed1fb39}{REQUEST}}
+, \mbox{\hyperlink{constants_8h_ab1199e2d349eb9a84bf67ce1ee919b99afb95ee545d749f11305939b93fe2bda3}{RESPONSE}}
+ \}
+\item 
+enum \mbox{\hyperlink{constants_8h_a34a2c423b3ea385bdb64e0dbba3f901b}{components}} \{ \mbox{\hyperlink{constants_8h_a34a2c423b3ea385bdb64e0dbba3f901ba748ef6c124193a3aceb927ef32ff0338}{DEFAULT\+\_\+\+COMPONENT}}
+, \mbox{\hyperlink{constants_8h_a34a2c423b3ea385bdb64e0dbba3f901ba12504f8134dca019be7aee185b9b75c0}{LEFT\+\_\+\+MOTOR}}
+, \mbox{\hyperlink{constants_8h_a34a2c423b3ea385bdb64e0dbba3f901ba3b7e83cf53fef6c9a7a39ce9d68ec17b}{RIGHT\+\_\+\+MOTOR}}
+, \mbox{\hyperlink{constants_8h_a34a2c423b3ea385bdb64e0dbba3f901ba1f9f5df3258901c29fe6d481a9cef0c3}{ALL\+\_\+\+MOTORS}}
+ \}
+\item 
+enum \mbox{\hyperlink{constants_8h_a796eb6fe3758085a1379a7a873e41fff}{requests}} \{ \newline
+\mbox{\hyperlink{constants_8h_a796eb6fe3758085a1379a7a873e41fffaadee695fe931a682da80d05ada835f38}{DEFAULT\+\_\+\+REQUEST}}
+, \mbox{\hyperlink{constants_8h_a796eb6fe3758085a1379a7a873e41fffad1ea564b1c983f93e7b21dfc8fbc5f71}{DRIVE\+\_\+\+MOTOR}}
+, \mbox{\hyperlink{constants_8h_a796eb6fe3758085a1379a7a873e41fffa0838ab756351b57465a66b7cae747f7f}{RESET\+\_\+\+TIMESTAMP}}
+, \mbox{\hyperlink{constants_8h_a796eb6fe3758085a1379a7a873e41fffac1456ce8322785fad8add40e82104063}{DRIVE\+\_\+\+ENCODER}}
+, \newline
+\mbox{\hyperlink{constants_8h_a796eb6fe3758085a1379a7a873e41fffa2bf77c9c88e1af0b727fe7b0267fab1e}{PID\+\_\+\+PARAMETER}}
+ \}
+\end{DoxyCompactItemize}
+
+
+\doxysubsection{Macro Definition Documentation}
+\mbox{\Hypertarget{constants_8h_a3104816b30fdf2161e0303ac82d64368}\label{constants_8h_a3104816b30fdf2161e0303ac82d64368}} 
+\index{constants.h@{constants.h}!CHAIN\_LENGTH\_M@{CHAIN\_LENGTH\_M}}
+\index{CHAIN\_LENGTH\_M@{CHAIN\_LENGTH\_M}!constants.h@{constants.h}}
+\doxysubsubsection{\texorpdfstring{CHAIN\_LENGTH\_M}{CHAIN\_LENGTH\_M}}
+{\footnotesize\ttfamily \#define CHAIN\+\_\+\+LENGTH\+\_\+M~0.\+741}
+
+\mbox{\Hypertarget{constants_8h_a0b5870a545d9cbfe8b3acfc3a9166f73}\label{constants_8h_a0b5870a545d9cbfe8b3acfc3a9166f73}} 
+\index{constants.h@{constants.h}!COMMAND\_POS@{COMMAND\_POS}}
+\index{COMMAND\_POS@{COMMAND\_POS}!constants.h@{constants.h}}
+\doxysubsubsection{\texorpdfstring{COMMAND\_POS}{COMMAND\_POS}}
+{\footnotesize\ttfamily \#define COMMAND\+\_\+\+POS~8}
+
+\mbox{\Hypertarget{constants_8h_aeb1d8064c126f31485d68575b2e56fac}\label{constants_8h_aeb1d8064c126f31485d68575b2e56fac}} 
+\index{constants.h@{constants.h}!COMPONENT\_ENDBIT@{COMPONENT\_ENDBIT}}
+\index{COMPONENT\_ENDBIT@{COMPONENT\_ENDBIT}!constants.h@{constants.h}}
+\doxysubsubsection{\texorpdfstring{COMPONENT\_ENDBIT}{COMPONENT\_ENDBIT}}
+{\footnotesize\ttfamily \#define COMPONENT\+\_\+\+ENDBIT~4}
+
+\mbox{\Hypertarget{constants_8h_a52879c59942c2d1a074e7f36714102a4}\label{constants_8h_a52879c59942c2d1a074e7f36714102a4}} 
+\index{constants.h@{constants.h}!COMPONENT\_POS@{COMPONENT\_POS}}
+\index{COMPONENT\_POS@{COMPONENT\_POS}!constants.h@{constants.h}}
+\doxysubsubsection{\texorpdfstring{COMPONENT\_POS}{COMPONENT\_POS}}
+{\footnotesize\ttfamily \#define COMPONENT\+\_\+\+POS~3}
+
+\mbox{\Hypertarget{constants_8h_a2785c2310ae5cedbcf184d54c34de5be}\label{constants_8h_a2785c2310ae5cedbcf184d54c34de5be}} 
+\index{constants.h@{constants.h}!COMPONENT\_STARTBIT@{COMPONENT\_STARTBIT}}
+\index{COMPONENT\_STARTBIT@{COMPONENT\_STARTBIT}!constants.h@{constants.h}}
+\doxysubsubsection{\texorpdfstring{COMPONENT\_STARTBIT}{COMPONENT\_STARTBIT}}
+{\footnotesize\ttfamily \#define COMPONENT\+\_\+\+STARTBIT~7}
+
+\mbox{\Hypertarget{constants_8h_ab49c3741ce7f73ec48ab65fd973323a8}\label{constants_8h_ab49c3741ce7f73ec48ab65fd973323a8}} 
+\index{constants.h@{constants.h}!COUNT\_PER\_ROTATION@{COUNT\_PER\_ROTATION}}
+\index{COUNT\_PER\_ROTATION@{COUNT\_PER\_ROTATION}!constants.h@{constants.h}}
+\doxysubsubsection{\texorpdfstring{COUNT\_PER\_ROTATION}{COUNT\_PER\_ROTATION}}
+{\footnotesize\ttfamily \#define COUNT\+\_\+\+PER\+\_\+\+ROTATION~3533}
+
+\mbox{\Hypertarget{constants_8h_aa3874a8ea4ef7c943b06a92f80068620}\label{constants_8h_aa3874a8ea4ef7c943b06a92f80068620}} 
+\index{constants.h@{constants.h}!CP\_ALL\_M\_BV@{CP\_ALL\_M\_BV}}
+\index{CP\_ALL\_M\_BV@{CP\_ALL\_M\_BV}!constants.h@{constants.h}}
+\doxysubsubsection{\texorpdfstring{CP\_ALL\_M\_BV}{CP\_ALL\_M\_BV}}
+{\footnotesize\ttfamily \#define CP\+\_\+\+ALL\+\_\+\+M\+\_\+\+BV~48}
+
+\mbox{\Hypertarget{constants_8h_a35d5ccd13b20b08c77be860c769b07d3}\label{constants_8h_a35d5ccd13b20b08c77be860c769b07d3}} 
+\index{constants.h@{constants.h}!CP\_DEFAULT\_BV@{CP\_DEFAULT\_BV}}
+\index{CP\_DEFAULT\_BV@{CP\_DEFAULT\_BV}!constants.h@{constants.h}}
+\doxysubsubsection{\texorpdfstring{CP\_DEFAULT\_BV}{CP\_DEFAULT\_BV}}
+{\footnotesize\ttfamily \#define CP\+\_\+\+DEFAULT\+\_\+\+BV~0}
+
+\mbox{\Hypertarget{constants_8h_a08ef3f733d9202f2086e69e2c08a363b}\label{constants_8h_a08ef3f733d9202f2086e69e2c08a363b}} 
+\index{constants.h@{constants.h}!CP\_LEFT\_M\_BV@{CP\_LEFT\_M\_BV}}
+\index{CP\_LEFT\_M\_BV@{CP\_LEFT\_M\_BV}!constants.h@{constants.h}}
+\doxysubsubsection{\texorpdfstring{CP\_LEFT\_M\_BV}{CP\_LEFT\_M\_BV}}
+{\footnotesize\ttfamily \#define CP\+\_\+\+LEFT\+\_\+\+M\+\_\+\+BV~16}
+
+\mbox{\Hypertarget{constants_8h_a364373ad1acde28ba791da94a4652123}\label{constants_8h_a364373ad1acde28ba791da94a4652123}} 
+\index{constants.h@{constants.h}!CP\_RIGHT\_M\_BV@{CP\_RIGHT\_M\_BV}}
+\index{CP\_RIGHT\_M\_BV@{CP\_RIGHT\_M\_BV}!constants.h@{constants.h}}
+\doxysubsubsection{\texorpdfstring{CP\_RIGHT\_M\_BV}{CP\_RIGHT\_M\_BV}}
+{\footnotesize\ttfamily \#define CP\+\_\+\+RIGHT\+\_\+\+M\+\_\+\+BV~32}
+
+\mbox{\Hypertarget{constants_8h_ab230bca5d5ab35a62a429dfcda81d00b}\label{constants_8h_ab230bca5d5ab35a62a429dfcda81d00b}} 
+\index{constants.h@{constants.h}!ENC\_1\_A@{ENC\_1\_A}}
+\index{ENC\_1\_A@{ENC\_1\_A}!constants.h@{constants.h}}
+\doxysubsubsection{\texorpdfstring{ENC\_1\_A}{ENC\_1\_A}}
+{\footnotesize\ttfamily \#define ENC\+\_\+1\+\_\+A~6}
+
+\mbox{\Hypertarget{constants_8h_abb1e10ac4c5e4e02b9ede57753f34685}\label{constants_8h_abb1e10ac4c5e4e02b9ede57753f34685}} 
+\index{constants.h@{constants.h}!ENC\_1\_B@{ENC\_1\_B}}
+\index{ENC\_1\_B@{ENC\_1\_B}!constants.h@{constants.h}}
+\doxysubsubsection{\texorpdfstring{ENC\_1\_B}{ENC\_1\_B}}
+{\footnotesize\ttfamily \#define ENC\+\_\+1\+\_\+B~7}
+
+\mbox{\Hypertarget{constants_8h_a6e554e75e5487d2b3cd6fbf13771abfb}\label{constants_8h_a6e554e75e5487d2b3cd6fbf13771abfb}} 
+\index{constants.h@{constants.h}!ENC\_2\_A@{ENC\_2\_A}}
+\index{ENC\_2\_A@{ENC\_2\_A}!constants.h@{constants.h}}
+\doxysubsubsection{\texorpdfstring{ENC\_2\_A}{ENC\_2\_A}}
+{\footnotesize\ttfamily \#define ENC\+\_\+2\+\_\+A~5}
+
+\mbox{\Hypertarget{constants_8h_aa8f35f5e8e4f5ffe95145bc22c4fcf72}\label{constants_8h_aa8f35f5e8e4f5ffe95145bc22c4fcf72}} 
+\index{constants.h@{constants.h}!ENC\_2\_B@{ENC\_2\_B}}
+\index{ENC\_2\_B@{ENC\_2\_B}!constants.h@{constants.h}}
+\doxysubsubsection{\texorpdfstring{ENC\_2\_B}{ENC\_2\_B}}
+{\footnotesize\ttfamily \#define ENC\+\_\+2\+\_\+B~4}
+
+\mbox{\Hypertarget{constants_8h_a151ca839d9e7eafaee81144d4227c1e5}\label{constants_8h_a151ca839d9e7eafaee81144d4227c1e5}} 
+\index{constants.h@{constants.h}!FRAME\_TYPE\_ENDBIT@{FRAME\_TYPE\_ENDBIT}}
+\index{FRAME\_TYPE\_ENDBIT@{FRAME\_TYPE\_ENDBIT}!constants.h@{constants.h}}
+\doxysubsubsection{\texorpdfstring{FRAME\_TYPE\_ENDBIT}{FRAME\_TYPE\_ENDBIT}}
+{\footnotesize\ttfamily \#define FRAME\+\_\+\+TYPE\+\_\+\+ENDBIT~5}
+
+\mbox{\Hypertarget{constants_8h_ac789a32f49ac90c7af7bfecd0145ca5b}\label{constants_8h_ac789a32f49ac90c7af7bfecd0145ca5b}} 
+\index{constants.h@{constants.h}!FRAME\_TYPE\_POS@{FRAME\_TYPE\_POS}}
+\index{FRAME\_TYPE\_POS@{FRAME\_TYPE\_POS}!constants.h@{constants.h}}
+\doxysubsubsection{\texorpdfstring{FRAME\_TYPE\_POS}{FRAME\_TYPE\_POS}}
+{\footnotesize\ttfamily \#define FRAME\+\_\+\+TYPE\+\_\+\+POS~1}
+
+\mbox{\Hypertarget{constants_8h_a9b2553a99e4fc456528a2bb6064662e4}\label{constants_8h_a9b2553a99e4fc456528a2bb6064662e4}} 
+\index{constants.h@{constants.h}!FRAME\_TYPE\_STARTBIT@{FRAME\_TYPE\_STARTBIT}}
+\index{FRAME\_TYPE\_STARTBIT@{FRAME\_TYPE\_STARTBIT}!constants.h@{constants.h}}
+\doxysubsubsection{\texorpdfstring{FRAME\_TYPE\_STARTBIT}{FRAME\_TYPE\_STARTBIT}}
+{\footnotesize\ttfamily \#define FRAME\+\_\+\+TYPE\+\_\+\+STARTBIT~7}
+
+\mbox{\Hypertarget{constants_8h_a4c64a972f5a1b3bd04ec67f823c89dde}\label{constants_8h_a4c64a972f5a1b3bd04ec67f823c89dde}} 
+\index{constants.h@{constants.h}!FT\_REQUEST\_BV@{FT\_REQUEST\_BV}}
+\index{FT\_REQUEST\_BV@{FT\_REQUEST\_BV}!constants.h@{constants.h}}
+\doxysubsubsection{\texorpdfstring{FT\_REQUEST\_BV}{FT\_REQUEST\_BV}}
+{\footnotesize\ttfamily \#define FT\+\_\+\+REQUEST\+\_\+\+BV~32}
+
+\mbox{\Hypertarget{constants_8h_a1a41281f1eb58c0ed14957e2760888f1}\label{constants_8h_a1a41281f1eb58c0ed14957e2760888f1}} 
+\index{constants.h@{constants.h}!FT\_RESPONSE\_BV@{FT\_RESPONSE\_BV}}
+\index{FT\_RESPONSE\_BV@{FT\_RESPONSE\_BV}!constants.h@{constants.h}}
+\doxysubsubsection{\texorpdfstring{FT\_RESPONSE\_BV}{FT\_RESPONSE\_BV}}
+{\footnotesize\ttfamily \#define FT\+\_\+\+RESPONSE\+\_\+\+BV~64}
+
+\mbox{\Hypertarget{constants_8h_ac06a5ed8a1f01ec636f93ed032e01eab}\label{constants_8h_ac06a5ed8a1f01ec636f93ed032e01eab}} 
+\index{constants.h@{constants.h}!FT\_VALUE\_BV@{FT\_VALUE\_BV}}
+\index{FT\_VALUE\_BV@{FT\_VALUE\_BV}!constants.h@{constants.h}}
+\doxysubsubsection{\texorpdfstring{FT\_VALUE\_BV}{FT\_VALUE\_BV}}
+{\footnotesize\ttfamily \#define FT\+\_\+\+VALUE\+\_\+\+BV~0}
+
+\mbox{\Hypertarget{constants_8h_abba0b881fe43a16924e413bbd263c733}\label{constants_8h_abba0b881fe43a16924e413bbd263c733}} 
+\index{constants.h@{constants.h}!KD\_1@{KD\_1}}
+\index{KD\_1@{KD\_1}!constants.h@{constants.h}}
+\doxysubsubsection{\texorpdfstring{KD\_1}{KD\_1}}
+{\footnotesize\ttfamily \#define KD\+\_\+1~0.\+0}
+
+\mbox{\Hypertarget{constants_8h_ab4459fe9bb0098b8277916436adbf888}\label{constants_8h_ab4459fe9bb0098b8277916436adbf888}} 
+\index{constants.h@{constants.h}!KD\_2@{KD\_2}}
+\index{KD\_2@{KD\_2}!constants.h@{constants.h}}
+\doxysubsubsection{\texorpdfstring{KD\_2}{KD\_2}}
+{\footnotesize\ttfamily \#define KD\+\_\+2~0.\+0}
+
+\mbox{\Hypertarget{constants_8h_ad6a3c042726ed32114f96e802646c63f}\label{constants_8h_ad6a3c042726ed32114f96e802646c63f}} 
+\index{constants.h@{constants.h}!KI\_1@{KI\_1}}
+\index{KI\_1@{KI\_1}!constants.h@{constants.h}}
+\doxysubsubsection{\texorpdfstring{KI\_1}{KI\_1}}
+{\footnotesize\ttfamily \#define KI\+\_\+1~0.\+0}
+
+\mbox{\Hypertarget{constants_8h_aacb7a3bd785a504dfa2894a0734a6469}\label{constants_8h_aacb7a3bd785a504dfa2894a0734a6469}} 
+\index{constants.h@{constants.h}!KI\_2@{KI\_2}}
+\index{KI\_2@{KI\_2}!constants.h@{constants.h}}
+\doxysubsubsection{\texorpdfstring{KI\_2}{KI\_2}}
+{\footnotesize\ttfamily \#define KI\+\_\+2~0.\+0}
+
+\mbox{\Hypertarget{constants_8h_a1e95591d371b6ccd1d99c7f947a52a62}\label{constants_8h_a1e95591d371b6ccd1d99c7f947a52a62}} 
+\index{constants.h@{constants.h}!KP\_1@{KP\_1}}
+\index{KP\_1@{KP\_1}!constants.h@{constants.h}}
+\doxysubsubsection{\texorpdfstring{KP\_1}{KP\_1}}
+{\footnotesize\ttfamily \#define KP\+\_\+1~10}
+
+\mbox{\Hypertarget{constants_8h_a81021e39d3a0b1902dd4fee734b99345}\label{constants_8h_a81021e39d3a0b1902dd4fee734b99345}} 
+\index{constants.h@{constants.h}!KP\_2@{KP\_2}}
+\index{KP\_2@{KP\_2}!constants.h@{constants.h}}
+\doxysubsubsection{\texorpdfstring{KP\_2}{KP\_2}}
+{\footnotesize\ttfamily \#define KP\+\_\+2~10}
+
+\mbox{\Hypertarget{constants_8h_af6dca909e42192cc5583a7e077c1a0d2}\label{constants_8h_af6dca909e42192cc5583a7e077c1a0d2}} 
+\index{constants.h@{constants.h}!LAST@{LAST}}
+\index{LAST@{LAST}!constants.h@{constants.h}}
+\doxysubsubsection{\texorpdfstring{LAST}{LAST}}
+{\footnotesize\ttfamily \#define LAST(\begin{DoxyParamCaption}\item[{}]{k,  }\item[{}]{n }\end{DoxyParamCaption})~((k) \& ((1$<$$<$(n))-\/1))}
+
+\mbox{\Hypertarget{constants_8h_a3d282621a75034d2d4206fe90b0da79a}\label{constants_8h_a3d282621a75034d2d4206fe90b0da79a}} 
+\index{constants.h@{constants.h}!M1\_DIR\_PIN@{M1\_DIR\_PIN}}
+\index{M1\_DIR\_PIN@{M1\_DIR\_PIN}!constants.h@{constants.h}}
+\doxysubsubsection{\texorpdfstring{M1\_DIR\_PIN}{M1\_DIR\_PIN}}
+{\footnotesize\ttfamily \#define M1\+\_\+\+DIR\+\_\+\+PIN~11}
+
+\mbox{\Hypertarget{constants_8h_ac4207804f19ef064b5c62600e0b3e8a3}\label{constants_8h_ac4207804f19ef064b5c62600e0b3e8a3}} 
+\index{constants.h@{constants.h}!M1\_EN\_PIN@{M1\_EN\_PIN}}
+\index{M1\_EN\_PIN@{M1\_EN\_PIN}!constants.h@{constants.h}}
+\doxysubsubsection{\texorpdfstring{M1\_EN\_PIN}{M1\_EN\_PIN}}
+{\footnotesize\ttfamily \#define M1\+\_\+\+EN\+\_\+\+PIN~10}
+
+\mbox{\Hypertarget{constants_8h_a5e364f19936b85c329f46243a4b5b234}\label{constants_8h_a5e364f19936b85c329f46243a4b5b234}} 
+\index{constants.h@{constants.h}!M2\_DIR\_PIN@{M2\_DIR\_PIN}}
+\index{M2\_DIR\_PIN@{M2\_DIR\_PIN}!constants.h@{constants.h}}
+\doxysubsubsection{\texorpdfstring{M2\_DIR\_PIN}{M2\_DIR\_PIN}}
+{\footnotesize\ttfamily \#define M2\+\_\+\+DIR\+\_\+\+PIN~8}
+
+\mbox{\Hypertarget{constants_8h_a160f7f51d684aa67d10d9e0ddac01b04}\label{constants_8h_a160f7f51d684aa67d10d9e0ddac01b04}} 
+\index{constants.h@{constants.h}!M2\_EN\_PIN@{M2\_EN\_PIN}}
+\index{M2\_EN\_PIN@{M2\_EN\_PIN}!constants.h@{constants.h}}
+\doxysubsubsection{\texorpdfstring{M2\_EN\_PIN}{M2\_EN\_PIN}}
+{\footnotesize\ttfamily \#define M2\+\_\+\+EN\+\_\+\+PIN~9}
+
+\mbox{\Hypertarget{constants_8h_a973c680573b37fc359fc68d0707da355}\label{constants_8h_a973c680573b37fc359fc68d0707da355}} 
+\index{constants.h@{constants.h}!MAX\_PACKET\_LENGTH@{MAX\_PACKET\_LENGTH}}
+\index{MAX\_PACKET\_LENGTH@{MAX\_PACKET\_LENGTH}!constants.h@{constants.h}}
+\doxysubsubsection{\texorpdfstring{MAX\_PACKET\_LENGTH}{MAX\_PACKET\_LENGTH}}
+{\footnotesize\ttfamily \#define MAX\+\_\+\+PACKET\+\_\+\+LENGTH~50}
+
+\mbox{\Hypertarget{constants_8h_ac2cd96d53dd3ba6407db6766c3d92b26}\label{constants_8h_ac2cd96d53dd3ba6407db6766c3d92b26}} 
+\index{constants.h@{constants.h}!MAX\_SPEED@{MAX\_SPEED}}
+\index{MAX\_SPEED@{MAX\_SPEED}!constants.h@{constants.h}}
+\doxysubsubsection{\texorpdfstring{MAX\_SPEED}{MAX\_SPEED}}
+{\footnotesize\ttfamily \#define MAX\+\_\+\+SPEED~0.\+6}
+
+\mbox{\Hypertarget{constants_8h_a35dfe6752b41f8931e45e6ae73b90dc9}\label{constants_8h_a35dfe6752b41f8931e45e6ae73b90dc9}} 
+\index{constants.h@{constants.h}!MID@{MID}}
+\index{MID@{MID}!constants.h@{constants.h}}
+\doxysubsubsection{\texorpdfstring{MID}{MID}}
+{\footnotesize\ttfamily \#define MID(\begin{DoxyParamCaption}\item[{}]{k,  }\item[{}]{m,  }\item[{}]{n }\end{DoxyParamCaption})~\mbox{\hyperlink{constants_8h_af6dca909e42192cc5583a7e077c1a0d2}{LAST}}((k)$>$$>$(m),((n)-\/(m)))}
+
+\mbox{\Hypertarget{constants_8h_a52b56a381e777b55e1b59019d9ee072e}\label{constants_8h_a52b56a381e777b55e1b59019d9ee072e}} 
+\index{constants.h@{constants.h}!NUM\_MOTORS@{NUM\_MOTORS}}
+\index{NUM\_MOTORS@{NUM\_MOTORS}!constants.h@{constants.h}}
+\doxysubsubsection{\texorpdfstring{NUM\_MOTORS}{NUM\_MOTORS}}
+{\footnotesize\ttfamily \#define NUM\+\_\+\+MOTORS~2}
+
+
+
+all constants and custom data types 
+
+\mbox{\Hypertarget{constants_8h_a50efaeb0380deed26b8c63b0f4cbfabe}\label{constants_8h_a50efaeb0380deed26b8c63b0f4cbfabe}} 
+\index{constants.h@{constants.h}!P\_GAIN@{P\_GAIN}}
+\index{P\_GAIN@{P\_GAIN}!constants.h@{constants.h}}
+\doxysubsubsection{\texorpdfstring{P\_GAIN}{P\_GAIN}}
+{\footnotesize\ttfamily \#define P\+\_\+\+GAIN~1.\+0}
+
+\mbox{\Hypertarget{constants_8h_a0a8722add1edc513f4e329a2032a3fef}\label{constants_8h_a0a8722add1edc513f4e329a2032a3fef}} 
+\index{constants.h@{constants.h}!PACKAGE\_LENGTH\_NO\_P@{PACKAGE\_LENGTH\_NO\_P}}
+\index{PACKAGE\_LENGTH\_NO\_P@{PACKAGE\_LENGTH\_NO\_P}!constants.h@{constants.h}}
+\doxysubsubsection{\texorpdfstring{PACKAGE\_LENGTH\_NO\_P}{PACKAGE\_LENGTH\_NO\_P}}
+{\footnotesize\ttfamily \#define PACKAGE\+\_\+\+LENGTH\+\_\+\+NO\+\_\+P~10}
+
+\mbox{\Hypertarget{constants_8h_a4321ff0e2772f459d2ef6caa379e161a}\label{constants_8h_a4321ff0e2772f459d2ef6caa379e161a}} 
+\index{constants.h@{constants.h}!PACKAGE\_PAUSE\_MS@{PACKAGE\_PAUSE\_MS}}
+\index{PACKAGE\_PAUSE\_MS@{PACKAGE\_PAUSE\_MS}!constants.h@{constants.h}}
+\doxysubsubsection{\texorpdfstring{PACKAGE\_PAUSE\_MS}{PACKAGE\_PAUSE\_MS}}
+{\footnotesize\ttfamily \#define PACKAGE\+\_\+\+PAUSE\+\_\+\+MS~10}
+
+\mbox{\Hypertarget{constants_8h_aa9c8a41feedb969234368a73275821f2}\label{constants_8h_aa9c8a41feedb969234368a73275821f2}} 
+\index{constants.h@{constants.h}!PAYLOAD\_LENGTH\_POS@{PAYLOAD\_LENGTH\_POS}}
+\index{PAYLOAD\_LENGTH\_POS@{PAYLOAD\_LENGTH\_POS}!constants.h@{constants.h}}
+\doxysubsubsection{\texorpdfstring{PAYLOAD\_LENGTH\_POS}{PAYLOAD\_LENGTH\_POS}}
+{\footnotesize\ttfamily \#define PAYLOAD\+\_\+\+LENGTH\+\_\+\+POS~2}
+
+\mbox{\Hypertarget{constants_8h_a0c7e856e56bd17a39c617593fce860a7}\label{constants_8h_a0c7e856e56bd17a39c617593fce860a7}} 
+\index{constants.h@{constants.h}!PAYLOAD\_POS@{PAYLOAD\_POS}}
+\index{PAYLOAD\_POS@{PAYLOAD\_POS}!constants.h@{constants.h}}
+\doxysubsubsection{\texorpdfstring{PAYLOAD\_POS}{PAYLOAD\_POS}}
+{\footnotesize\ttfamily \#define PAYLOAD\+\_\+\+POS~8}
+
+\mbox{\Hypertarget{constants_8h_a351cd11e5cc01e0edf20943bed699610}\label{constants_8h_a351cd11e5cc01e0edf20943bed699610}} 
+\index{constants.h@{constants.h}!PRINT\_RATE\_MS@{PRINT\_RATE\_MS}}
+\index{PRINT\_RATE\_MS@{PRINT\_RATE\_MS}!constants.h@{constants.h}}
+\doxysubsubsection{\texorpdfstring{PRINT\_RATE\_MS}{PRINT\_RATE\_MS}}
+{\footnotesize\ttfamily \#define PRINT\+\_\+\+RATE\+\_\+\+MS~500}
+
+\mbox{\Hypertarget{constants_8h_a2cf114b9e06da52cc8852e5ff45d0287}\label{constants_8h_a2cf114b9e06da52cc8852e5ff45d0287}} 
+\index{constants.h@{constants.h}!REQUEST\_DRIVE\_MOTOR@{REQUEST\_DRIVE\_MOTOR}}
+\index{REQUEST\_DRIVE\_MOTOR@{REQUEST\_DRIVE\_MOTOR}!constants.h@{constants.h}}
+\doxysubsubsection{\texorpdfstring{REQUEST\_DRIVE\_MOTOR}{REQUEST\_DRIVE\_MOTOR}}
+{\footnotesize\ttfamily \#define REQUEST\+\_\+\+DRIVE\+\_\+\+MOTOR~0x01}
+
+\mbox{\Hypertarget{constants_8h_a36df23d1e37cb67c03835318c00be7c6}\label{constants_8h_a36df23d1e37cb67c03835318c00be7c6}} 
+\index{constants.h@{constants.h}!REQUEST\_RESET\_TIMESTAMP@{REQUEST\_RESET\_TIMESTAMP}}
+\index{REQUEST\_RESET\_TIMESTAMP@{REQUEST\_RESET\_TIMESTAMP}!constants.h@{constants.h}}
+\doxysubsubsection{\texorpdfstring{REQUEST\_RESET\_TIMESTAMP}{REQUEST\_RESET\_TIMESTAMP}}
+{\footnotesize\ttfamily \#define REQUEST\+\_\+\+RESET\+\_\+\+TIMESTAMP~0x02}
+
+\mbox{\Hypertarget{constants_8h_a157494c83072aa2d40027e695d68a041}\label{constants_8h_a157494c83072aa2d40027e695d68a041}} 
+\index{constants.h@{constants.h}!RX\_328\_PIN@{RX\_328\_PIN}}
+\index{RX\_328\_PIN@{RX\_328\_PIN}!constants.h@{constants.h}}
+\doxysubsubsection{\texorpdfstring{RX\_328\_PIN}{RX\_328\_PIN}}
+{\footnotesize\ttfamily \#define RX\+\_\+328\+\_\+\+PIN~6}
+
+\mbox{\Hypertarget{constants_8h_ac061f2335adf821db2872a3cbb9c2b89}\label{constants_8h_ac061f2335adf821db2872a3cbb9c2b89}} 
+\index{constants.h@{constants.h}!SPEED\_THRESHOLD@{SPEED\_THRESHOLD}}
+\index{SPEED\_THRESHOLD@{SPEED\_THRESHOLD}!constants.h@{constants.h}}
+\doxysubsubsection{\texorpdfstring{SPEED\_THRESHOLD}{SPEED\_THRESHOLD}}
+{\footnotesize\ttfamily \#define SPEED\+\_\+\+THRESHOLD~8}
+
+\mbox{\Hypertarget{constants_8h_a30d2043ca397843e08c43ade3aaee5b2}\label{constants_8h_a30d2043ca397843e08c43ade3aaee5b2}} 
+\index{constants.h@{constants.h}!START\_BYTE@{START\_BYTE}}
+\index{START\_BYTE@{START\_BYTE}!constants.h@{constants.h}}
+\doxysubsubsection{\texorpdfstring{START\_BYTE}{START\_BYTE}}
+{\footnotesize\ttfamily \#define START\+\_\+\+BYTE~0x\+AA}
+
+\mbox{\Hypertarget{constants_8h_aa7fe6a12a1f3090e191f4c52c80bc328}\label{constants_8h_aa7fe6a12a1f3090e191f4c52c80bc328}} 
+\index{constants.h@{constants.h}!START\_BYTE\_POS@{START\_BYTE\_POS}}
+\index{START\_BYTE\_POS@{START\_BYTE\_POS}!constants.h@{constants.h}}
+\doxysubsubsection{\texorpdfstring{START\_BYTE\_POS}{START\_BYTE\_POS}}
+{\footnotesize\ttfamily \#define START\+\_\+\+BYTE\+\_\+\+POS~0}
+
+\mbox{\Hypertarget{constants_8h_a1716d2e75ba17bc148d19453b6ac72cb}\label{constants_8h_a1716d2e75ba17bc148d19453b6ac72cb}} 
+\index{constants.h@{constants.h}!TIMESTAMP\_POS@{TIMESTAMP\_POS}}
+\index{TIMESTAMP\_POS@{TIMESTAMP\_POS}!constants.h@{constants.h}}
+\doxysubsubsection{\texorpdfstring{TIMESTAMP\_POS}{TIMESTAMP\_POS}}
+{\footnotesize\ttfamily \#define TIMESTAMP\+\_\+\+POS~4}
+
+\mbox{\Hypertarget{constants_8h_ad92856c4b6e41cdaeb16801e242a75e4}\label{constants_8h_ad92856c4b6e41cdaeb16801e242a75e4}} 
+\index{constants.h@{constants.h}!TX\_328\_PIN@{TX\_328\_PIN}}
+\index{TX\_328\_PIN@{TX\_328\_PIN}!constants.h@{constants.h}}
+\doxysubsubsection{\texorpdfstring{TX\_328\_PIN}{TX\_328\_PIN}}
+{\footnotesize\ttfamily \#define TX\+\_\+328\+\_\+\+PIN~7}
+
+\mbox{\Hypertarget{constants_8h_a615aed21aa6825462b7c17b0c238ffe2}\label{constants_8h_a615aed21aa6825462b7c17b0c238ffe2}} 
+\index{constants.h@{constants.h}!UART\_BAUD\_RATE@{UART\_BAUD\_RATE}}
+\index{UART\_BAUD\_RATE@{UART\_BAUD\_RATE}!constants.h@{constants.h}}
+\doxysubsubsection{\texorpdfstring{UART\_BAUD\_RATE}{UART\_BAUD\_RATE}}
+{\footnotesize\ttfamily \#define UART\+\_\+\+BAUD\+\_\+\+RATE~57600}
+
+\mbox{\Hypertarget{constants_8h_aac88e302a836edae50d15353792529ba}\label{constants_8h_aac88e302a836edae50d15353792529ba}} 
+\index{constants.h@{constants.h}!UART\_TRANSMIT\_MS@{UART\_TRANSMIT\_MS}}
+\index{UART\_TRANSMIT\_MS@{UART\_TRANSMIT\_MS}!constants.h@{constants.h}}
+\doxysubsubsection{\texorpdfstring{UART\_TRANSMIT\_MS}{UART\_TRANSMIT\_MS}}
+{\footnotesize\ttfamily \#define UART\+\_\+\+TRANSMIT\+\_\+\+MS~10}
+
+\mbox{\Hypertarget{constants_8h_ac07fe36e41399741e71b84acd4b549e1}\label{constants_8h_ac07fe36e41399741e71b84acd4b549e1}} 
+\index{constants.h@{constants.h}!VEL2TORQUE\_RATIO@{VEL2TORQUE\_RATIO}}
+\index{VEL2TORQUE\_RATIO@{VEL2TORQUE\_RATIO}!constants.h@{constants.h}}
+\doxysubsubsection{\texorpdfstring{VEL2TORQUE\_RATIO}{VEL2TORQUE\_RATIO}}
+{\footnotesize\ttfamily \#define VEL2\+TORQUE\+\_\+\+RATIO~1.\+0}
+
+\mbox{\Hypertarget{constants_8h_ab90fe37f81409f5e0793767b08d64231}\label{constants_8h_ab90fe37f81409f5e0793767b08d64231}} 
+\index{constants.h@{constants.h}!VEL\_UPDATE\_RATE\_MS@{VEL\_UPDATE\_RATE\_MS}}
+\index{VEL\_UPDATE\_RATE\_MS@{VEL\_UPDATE\_RATE\_MS}!constants.h@{constants.h}}
+\doxysubsubsection{\texorpdfstring{VEL\_UPDATE\_RATE\_MS}{VEL\_UPDATE\_RATE\_MS}}
+{\footnotesize\ttfamily \#define VEL\+\_\+\+UPDATE\+\_\+\+RATE\+\_\+\+MS~20}
+
+
+
+\doxysubsection{Typedef Documentation}
+\mbox{\Hypertarget{constants_8h_a35f6afe79ab48a3034b81cb15d538155}\label{constants_8h_a35f6afe79ab48a3034b81cb15d538155}} 
+\index{constants.h@{constants.h}!U\_Component@{U\_Component}}
+\index{U\_Component@{U\_Component}!constants.h@{constants.h}}
+\doxysubsubsection{\texorpdfstring{U\_Component}{U\_Component}}
+{\footnotesize\ttfamily typedef enum \mbox{\hyperlink{constants_8h_a34a2c423b3ea385bdb64e0dbba3f901b}{components}} \mbox{\hyperlink{constants_8h_a35f6afe79ab48a3034b81cb15d538155}{U\+\_\+\+Component}}}
+
+\mbox{\Hypertarget{constants_8h_a2cadd9c064904e21e2acd0d0f64ad8b6}\label{constants_8h_a2cadd9c064904e21e2acd0d0f64ad8b6}} 
+\index{constants.h@{constants.h}!U\_FrameType@{U\_FrameType}}
+\index{U\_FrameType@{U\_FrameType}!constants.h@{constants.h}}
+\doxysubsubsection{\texorpdfstring{U\_FrameType}{U\_FrameType}}
+{\footnotesize\ttfamily typedef enum \mbox{\hyperlink{constants_8h_ab1199e2d349eb9a84bf67ce1ee919b99}{frametypes}} \mbox{\hyperlink{constants_8h_a2cadd9c064904e21e2acd0d0f64ad8b6}{U\+\_\+\+Frame\+Type}}}
+
+\mbox{\Hypertarget{constants_8h_a83703b84abb8c92901ec1c15e0bbad80}\label{constants_8h_a83703b84abb8c92901ec1c15e0bbad80}} 
+\index{constants.h@{constants.h}!U\_Request@{U\_Request}}
+\index{U\_Request@{U\_Request}!constants.h@{constants.h}}
+\doxysubsubsection{\texorpdfstring{U\_Request}{U\_Request}}
+{\footnotesize\ttfamily typedef enum \mbox{\hyperlink{constants_8h_a796eb6fe3758085a1379a7a873e41fff}{requests}} \mbox{\hyperlink{constants_8h_a83703b84abb8c92901ec1c15e0bbad80}{U\+\_\+\+Request}}}
+
+
+
+\doxysubsection{Enumeration Type Documentation}
+\mbox{\Hypertarget{constants_8h_a34a2c423b3ea385bdb64e0dbba3f901b}\label{constants_8h_a34a2c423b3ea385bdb64e0dbba3f901b}} 
+\index{constants.h@{constants.h}!components@{components}}
+\index{components@{components}!constants.h@{constants.h}}
+\doxysubsubsection{\texorpdfstring{components}{components}}
+{\footnotesize\ttfamily enum \mbox{\hyperlink{constants_8h_a34a2c423b3ea385bdb64e0dbba3f901b}{components}}}
+
+\begin{DoxyEnumFields}{Enumerator}
+\raisebox{\heightof{T}}[0pt][0pt]{\index{DEFAULT\_COMPONENT@{DEFAULT\_COMPONENT}!constants.h@{constants.h}}\index{constants.h@{constants.h}!DEFAULT\_COMPONENT@{DEFAULT\_COMPONENT}}}\mbox{\Hypertarget{constants_8h_a34a2c423b3ea385bdb64e0dbba3f901ba748ef6c124193a3aceb927ef32ff0338}\label{constants_8h_a34a2c423b3ea385bdb64e0dbba3f901ba748ef6c124193a3aceb927ef32ff0338}} 
+DEFAULT\+\_\+\+COMPONENT&\\
+\hline
+
+\raisebox{\heightof{T}}[0pt][0pt]{\index{LEFT\_MOTOR@{LEFT\_MOTOR}!constants.h@{constants.h}}\index{constants.h@{constants.h}!LEFT\_MOTOR@{LEFT\_MOTOR}}}\mbox{\Hypertarget{constants_8h_a34a2c423b3ea385bdb64e0dbba3f901ba12504f8134dca019be7aee185b9b75c0}\label{constants_8h_a34a2c423b3ea385bdb64e0dbba3f901ba12504f8134dca019be7aee185b9b75c0}} 
+LEFT\+\_\+\+MOTOR&\\
+\hline
+
+\raisebox{\heightof{T}}[0pt][0pt]{\index{RIGHT\_MOTOR@{RIGHT\_MOTOR}!constants.h@{constants.h}}\index{constants.h@{constants.h}!RIGHT\_MOTOR@{RIGHT\_MOTOR}}}\mbox{\Hypertarget{constants_8h_a34a2c423b3ea385bdb64e0dbba3f901ba3b7e83cf53fef6c9a7a39ce9d68ec17b}\label{constants_8h_a34a2c423b3ea385bdb64e0dbba3f901ba3b7e83cf53fef6c9a7a39ce9d68ec17b}} 
+RIGHT\+\_\+\+MOTOR&\\
+\hline
+
+\raisebox{\heightof{T}}[0pt][0pt]{\index{ALL\_MOTORS@{ALL\_MOTORS}!constants.h@{constants.h}}\index{constants.h@{constants.h}!ALL\_MOTORS@{ALL\_MOTORS}}}\mbox{\Hypertarget{constants_8h_a34a2c423b3ea385bdb64e0dbba3f901ba1f9f5df3258901c29fe6d481a9cef0c3}\label{constants_8h_a34a2c423b3ea385bdb64e0dbba3f901ba1f9f5df3258901c29fe6d481a9cef0c3}} 
+ALL\+\_\+\+MOTORS&\\
+\hline
+
+\end{DoxyEnumFields}
+\mbox{\Hypertarget{constants_8h_ab1199e2d349eb9a84bf67ce1ee919b99}\label{constants_8h_ab1199e2d349eb9a84bf67ce1ee919b99}} 
+\index{constants.h@{constants.h}!frametypes@{frametypes}}
+\index{frametypes@{frametypes}!constants.h@{constants.h}}
+\doxysubsubsection{\texorpdfstring{frametypes}{frametypes}}
+{\footnotesize\ttfamily enum \mbox{\hyperlink{constants_8h_ab1199e2d349eb9a84bf67ce1ee919b99}{frametypes}}}
+
+\begin{DoxyEnumFields}{Enumerator}
+\raisebox{\heightof{T}}[0pt][0pt]{\index{VALUE@{VALUE}!constants.h@{constants.h}}\index{constants.h@{constants.h}!VALUE@{VALUE}}}\mbox{\Hypertarget{constants_8h_ab1199e2d349eb9a84bf67ce1ee919b99ad3a10aa8b647d6a6db651ef882ff8bff}\label{constants_8h_ab1199e2d349eb9a84bf67ce1ee919b99ad3a10aa8b647d6a6db651ef882ff8bff}} 
+VALUE&\\
+\hline
+
+\raisebox{\heightof{T}}[0pt][0pt]{\index{REQUEST@{REQUEST}!constants.h@{constants.h}}\index{constants.h@{constants.h}!REQUEST@{REQUEST}}}\mbox{\Hypertarget{constants_8h_ab1199e2d349eb9a84bf67ce1ee919b99abaf6b8e08edf0e9d2eb38551fed1fb39}\label{constants_8h_ab1199e2d349eb9a84bf67ce1ee919b99abaf6b8e08edf0e9d2eb38551fed1fb39}} 
+REQUEST&\\
+\hline
+
+\raisebox{\heightof{T}}[0pt][0pt]{\index{RESPONSE@{RESPONSE}!constants.h@{constants.h}}\index{constants.h@{constants.h}!RESPONSE@{RESPONSE}}}\mbox{\Hypertarget{constants_8h_ab1199e2d349eb9a84bf67ce1ee919b99afb95ee545d749f11305939b93fe2bda3}\label{constants_8h_ab1199e2d349eb9a84bf67ce1ee919b99afb95ee545d749f11305939b93fe2bda3}} 
+RESPONSE&\\
+\hline
+
+\end{DoxyEnumFields}
+\mbox{\Hypertarget{constants_8h_a796eb6fe3758085a1379a7a873e41fff}\label{constants_8h_a796eb6fe3758085a1379a7a873e41fff}} 
+\index{constants.h@{constants.h}!requests@{requests}}
+\index{requests@{requests}!constants.h@{constants.h}}
+\doxysubsubsection{\texorpdfstring{requests}{requests}}
+{\footnotesize\ttfamily enum \mbox{\hyperlink{constants_8h_a796eb6fe3758085a1379a7a873e41fff}{requests}}}
+
+\begin{DoxyEnumFields}{Enumerator}
+\raisebox{\heightof{T}}[0pt][0pt]{\index{DEFAULT\_REQUEST@{DEFAULT\_REQUEST}!constants.h@{constants.h}}\index{constants.h@{constants.h}!DEFAULT\_REQUEST@{DEFAULT\_REQUEST}}}\mbox{\Hypertarget{constants_8h_a796eb6fe3758085a1379a7a873e41fffaadee695fe931a682da80d05ada835f38}\label{constants_8h_a796eb6fe3758085a1379a7a873e41fffaadee695fe931a682da80d05ada835f38}} 
+DEFAULT\+\_\+\+REQUEST&\\
+\hline
+
+\raisebox{\heightof{T}}[0pt][0pt]{\index{DRIVE\_MOTOR@{DRIVE\_MOTOR}!constants.h@{constants.h}}\index{constants.h@{constants.h}!DRIVE\_MOTOR@{DRIVE\_MOTOR}}}\mbox{\Hypertarget{constants_8h_a796eb6fe3758085a1379a7a873e41fffad1ea564b1c983f93e7b21dfc8fbc5f71}\label{constants_8h_a796eb6fe3758085a1379a7a873e41fffad1ea564b1c983f93e7b21dfc8fbc5f71}} 
+DRIVE\+\_\+\+MOTOR&\\
+\hline
+
+\raisebox{\heightof{T}}[0pt][0pt]{\index{RESET\_TIMESTAMP@{RESET\_TIMESTAMP}!constants.h@{constants.h}}\index{constants.h@{constants.h}!RESET\_TIMESTAMP@{RESET\_TIMESTAMP}}}\mbox{\Hypertarget{constants_8h_a796eb6fe3758085a1379a7a873e41fffa0838ab756351b57465a66b7cae747f7f}\label{constants_8h_a796eb6fe3758085a1379a7a873e41fffa0838ab756351b57465a66b7cae747f7f}} 
+RESET\+\_\+\+TIMESTAMP&\\
+\hline
+
+\raisebox{\heightof{T}}[0pt][0pt]{\index{DRIVE\_ENCODER@{DRIVE\_ENCODER}!constants.h@{constants.h}}\index{constants.h@{constants.h}!DRIVE\_ENCODER@{DRIVE\_ENCODER}}}\mbox{\Hypertarget{constants_8h_a796eb6fe3758085a1379a7a873e41fffac1456ce8322785fad8add40e82104063}\label{constants_8h_a796eb6fe3758085a1379a7a873e41fffac1456ce8322785fad8add40e82104063}} 
+DRIVE\+\_\+\+ENCODER&\\
+\hline
+
+\raisebox{\heightof{T}}[0pt][0pt]{\index{PID\_PARAMETER@{PID\_PARAMETER}!constants.h@{constants.h}}\index{constants.h@{constants.h}!PID\_PARAMETER@{PID\_PARAMETER}}}\mbox{\Hypertarget{constants_8h_a796eb6fe3758085a1379a7a873e41fffa2bf77c9c88e1af0b727fe7b0267fab1e}\label{constants_8h_a796eb6fe3758085a1379a7a873e41fffa2bf77c9c88e1af0b727fe7b0267fab1e}} 
+PID\+\_\+\+PARAMETER&\\
+\hline
+
+\end{DoxyEnumFields}
diff --git a/src/dcaitirobot/embedded/docs/latex/constants_8h__dep__incl.md5 b/src/dcaitirobot/embedded/docs/latex/constants_8h__dep__incl.md5
new file mode 100644
index 0000000..b98c713
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+++ b/src/dcaitirobot/embedded/docs/latex/constants_8h__dep__incl.md5
@@ -0,0 +1 @@
+7b35b168e71be894043202b9355f220c
\ No newline at end of file
diff --git a/src/dcaitirobot/embedded/docs/latex/constants_8h__dep__incl.pdf b/src/dcaitirobot/embedded/docs/latex/constants_8h__dep__incl.pdf
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diff --git a/src/dcaitirobot/embedded/docs/latex/dir_0f386e5012f166522d8afb320f99104b.tex b/src/dcaitirobot/embedded/docs/latex/dir_0f386e5012f166522d8afb320f99104b.tex
new file mode 100644
index 0000000..bac2e9c
--- /dev/null
+++ b/src/dcaitirobot/embedded/docs/latex/dir_0f386e5012f166522d8afb320f99104b.tex
@@ -0,0 +1,11 @@
+\hypertarget{dir_0f386e5012f166522d8afb320f99104b}{}\doxysection{lib/\+Pin\+Change\+Int Directory Reference}
+\label{dir_0f386e5012f166522d8afb320f99104b}\index{lib/PinChangeInt Directory Reference@{lib/PinChangeInt Directory Reference}}
+\doxysubsection*{Files}
+\begin{DoxyCompactItemize}
+\item 
+file \mbox{\hyperlink{PinChangeInt_8cpp}{Pin\+Change\+Int.\+cpp}}
+\item 
+file \mbox{\hyperlink{PinChangeInt_8h}{Pin\+Change\+Int.\+h}}
+\item 
+file \mbox{\hyperlink{PinChangeIntConfig_8h}{Pin\+Change\+Int\+Config.\+h}}
+\end{DoxyCompactItemize}
diff --git a/src/dcaitirobot/embedded/docs/latex/dir_10c6c21535d653b7c685bbf5a23d61f7.tex b/src/dcaitirobot/embedded/docs/latex/dir_10c6c21535d653b7c685bbf5a23d61f7.tex
new file mode 100644
index 0000000..a8138b8
--- /dev/null
+++ b/src/dcaitirobot/embedded/docs/latex/dir_10c6c21535d653b7c685bbf5a23d61f7.tex
@@ -0,0 +1,17 @@
+\hypertarget{dir_10c6c21535d653b7c685bbf5a23d61f7}{}\doxysection{lib/\+Motor\+Wheel Directory Reference}
+\label{dir_10c6c21535d653b7c685bbf5a23d61f7}\index{lib/MotorWheel Directory Reference@{lib/MotorWheel Directory Reference}}
+Directory dependency graph for Motor\+Wheel\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=279pt]{dir_10c6c21535d653b7c685bbf5a23d61f7_dep}
+\end{center}
+\end{figure}
+\doxysubsection*{Files}
+\begin{DoxyCompactItemize}
+\item 
+file \mbox{\hyperlink{MotorWheel_8cpp}{Motor\+Wheel.\+cpp}}
+\item 
+file \mbox{\hyperlink{MotorWheel_8h}{Motor\+Wheel.\+h}}
+\end{DoxyCompactItemize}
diff --git a/src/dcaitirobot/embedded/docs/latex/dir_10c6c21535d653b7c685bbf5a23d61f7_dep.md5 b/src/dcaitirobot/embedded/docs/latex/dir_10c6c21535d653b7c685bbf5a23d61f7_dep.md5
new file mode 100644
index 0000000..186b3cc
--- /dev/null
+++ b/src/dcaitirobot/embedded/docs/latex/dir_10c6c21535d653b7c685bbf5a23d61f7_dep.md5
@@ -0,0 +1 @@
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diff --git a/src/dcaitirobot/embedded/docs/latex/dir_20ba189d08eafd7afd9a71ede3a1ee33.tex b/src/dcaitirobot/embedded/docs/latex/dir_20ba189d08eafd7afd9a71ede3a1ee33.tex
new file mode 100644
index 0000000..6bd96dc
--- /dev/null
+++ b/src/dcaitirobot/embedded/docs/latex/dir_20ba189d08eafd7afd9a71ede3a1ee33.tex
@@ -0,0 +1,11 @@
+\hypertarget{dir_20ba189d08eafd7afd9a71ede3a1ee33}{}\doxysection{lib/\+PID\+\_\+\+Beta6 Directory Reference}
+\label{dir_20ba189d08eafd7afd9a71ede3a1ee33}\index{lib/PID\_Beta6 Directory Reference@{lib/PID\_Beta6 Directory Reference}}
+\doxysubsection*{Files}
+\begin{DoxyCompactItemize}
+\item 
+file \mbox{\hyperlink{fuzzy__table_8h}{fuzzy\+\_\+table.\+h}}
+\item 
+file \mbox{\hyperlink{PID__Beta6_8cpp}{PID\+\_\+\+Beta6.\+cpp}}
+\item 
+file \mbox{\hyperlink{PID__Beta6_8h}{PID\+\_\+\+Beta6.\+h}}
+\end{DoxyCompactItemize}
diff --git a/src/dcaitirobot/embedded/docs/latex/dir_27118ad956692b96871ee35aadc6976a.tex b/src/dcaitirobot/embedded/docs/latex/dir_27118ad956692b96871ee35aadc6976a.tex
new file mode 100644
index 0000000..47c60cc
--- /dev/null
+++ b/src/dcaitirobot/embedded/docs/latex/dir_27118ad956692b96871ee35aadc6976a.tex
@@ -0,0 +1,7 @@
+\hypertarget{dir_27118ad956692b96871ee35aadc6976a}{}\doxysection{include/misc Directory Reference}
+\label{dir_27118ad956692b96871ee35aadc6976a}\index{include/misc Directory Reference@{include/misc Directory Reference}}
+\doxysubsection*{Files}
+\begin{DoxyCompactItemize}
+\item 
+file \mbox{\hyperlink{Utils_8hpp}{Utils.\+hpp}}
+\begin{DoxyCompactList}\small\item\em useful converting and computing functions \end{DoxyCompactList}\end{DoxyCompactItemize}
diff --git a/src/dcaitirobot/embedded/docs/latex/dir_68267d1309a1af8e8297ef4c3efbcdba.tex b/src/dcaitirobot/embedded/docs/latex/dir_68267d1309a1af8e8297ef4c3efbcdba.tex
new file mode 100644
index 0000000..52adf1c
--- /dev/null
+++ b/src/dcaitirobot/embedded/docs/latex/dir_68267d1309a1af8e8297ef4c3efbcdba.tex
@@ -0,0 +1,22 @@
+\hypertarget{dir_68267d1309a1af8e8297ef4c3efbcdba}{}\doxysection{src Directory Reference}
+\label{dir_68267d1309a1af8e8297ef4c3efbcdba}\index{src Directory Reference@{src Directory Reference}}
+Directory dependency graph for src\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=348pt]{dir_68267d1309a1af8e8297ef4c3efbcdba_dep}
+\end{center}
+\end{figure}
+\doxysubsection*{Directories}
+\begin{DoxyCompactItemize}
+\item 
+directory \mbox{\hyperlink{dir_6d2104db64b91953bbd7b8fedbb8a094}{communication}}
+\item 
+directory \mbox{\hyperlink{dir_88826aa2a10e1882b573f502bc7f4b55}{misc}}
+\end{DoxyCompactItemize}
+\doxysubsection*{Files}
+\begin{DoxyCompactItemize}
+\item 
+file \mbox{\hyperlink{main_8cpp}{main.\+cpp}}
+\end{DoxyCompactItemize}
diff --git a/src/dcaitirobot/embedded/docs/latex/dir_68267d1309a1af8e8297ef4c3efbcdba_dep.md5 b/src/dcaitirobot/embedded/docs/latex/dir_68267d1309a1af8e8297ef4c3efbcdba_dep.md5
new file mode 100644
index 0000000..c6a9c59
--- /dev/null
+++ b/src/dcaitirobot/embedded/docs/latex/dir_68267d1309a1af8e8297ef4c3efbcdba_dep.md5
@@ -0,0 +1 @@
+6d698800db190bac4931f589e3a5095d
\ No newline at end of file
diff --git a/src/dcaitirobot/embedded/docs/latex/dir_68267d1309a1af8e8297ef4c3efbcdba_dep.pdf b/src/dcaitirobot/embedded/docs/latex/dir_68267d1309a1af8e8297ef4c3efbcdba_dep.pdf
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diff --git a/src/dcaitirobot/embedded/docs/latex/dir_6d2104db64b91953bbd7b8fedbb8a094.tex b/src/dcaitirobot/embedded/docs/latex/dir_6d2104db64b91953bbd7b8fedbb8a094.tex
new file mode 100644
index 0000000..45026a9
--- /dev/null
+++ b/src/dcaitirobot/embedded/docs/latex/dir_6d2104db64b91953bbd7b8fedbb8a094.tex
@@ -0,0 +1,19 @@
+\hypertarget{dir_6d2104db64b91953bbd7b8fedbb8a094}{}\doxysection{src/communication Directory Reference}
+\label{dir_6d2104db64b91953bbd7b8fedbb8a094}\index{src/communication Directory Reference@{src/communication Directory Reference}}
+Directory dependency graph for communication\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=204pt]{dir_6d2104db64b91953bbd7b8fedbb8a094_dep}
+\end{center}
+\end{figure}
+\doxysubsection*{Files}
+\begin{DoxyCompactItemize}
+\item 
+file \mbox{\hyperlink{UARTCom_8cpp}{UARTCom.\+cpp}}
+\item 
+file \mbox{\hyperlink{UCommands_8cpp}{UCommands.\+cpp}}
+\item 
+file \mbox{\hyperlink{UValue_8cpp}{UValue.\+cpp}}
+\end{DoxyCompactItemize}
diff --git a/src/dcaitirobot/embedded/docs/latex/dir_6d2104db64b91953bbd7b8fedbb8a094_dep.md5 b/src/dcaitirobot/embedded/docs/latex/dir_6d2104db64b91953bbd7b8fedbb8a094_dep.md5
new file mode 100644
index 0000000..0ac57c6
--- /dev/null
+++ b/src/dcaitirobot/embedded/docs/latex/dir_6d2104db64b91953bbd7b8fedbb8a094_dep.md5
@@ -0,0 +1 @@
+266deec8de0db6685d90f5fe48946a44
\ No newline at end of file
diff --git a/src/dcaitirobot/embedded/docs/latex/dir_6d2104db64b91953bbd7b8fedbb8a094_dep.pdf b/src/dcaitirobot/embedded/docs/latex/dir_6d2104db64b91953bbd7b8fedbb8a094_dep.pdf
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diff --git a/src/dcaitirobot/embedded/docs/latex/dir_88826aa2a10e1882b573f502bc7f4b55.tex b/src/dcaitirobot/embedded/docs/latex/dir_88826aa2a10e1882b573f502bc7f4b55.tex
new file mode 100644
index 0000000..d511452
--- /dev/null
+++ b/src/dcaitirobot/embedded/docs/latex/dir_88826aa2a10e1882b573f502bc7f4b55.tex
@@ -0,0 +1,15 @@
+\hypertarget{dir_88826aa2a10e1882b573f502bc7f4b55}{}\doxysection{src/misc Directory Reference}
+\label{dir_88826aa2a10e1882b573f502bc7f4b55}\index{src/misc Directory Reference@{src/misc Directory Reference}}
+Directory dependency graph for misc\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=166pt]{dir_88826aa2a10e1882b573f502bc7f4b55_dep}
+\end{center}
+\end{figure}
+\doxysubsection*{Files}
+\begin{DoxyCompactItemize}
+\item 
+file \mbox{\hyperlink{Utils_8cpp}{Utils.\+cpp}}
+\end{DoxyCompactItemize}
diff --git a/src/dcaitirobot/embedded/docs/latex/dir_88826aa2a10e1882b573f502bc7f4b55_dep.md5 b/src/dcaitirobot/embedded/docs/latex/dir_88826aa2a10e1882b573f502bc7f4b55_dep.md5
new file mode 100644
index 0000000..9ba99a7
--- /dev/null
+++ b/src/dcaitirobot/embedded/docs/latex/dir_88826aa2a10e1882b573f502bc7f4b55_dep.md5
@@ -0,0 +1 @@
+51d98abcf1d7b7c2e4ce7f26bdec3907
\ No newline at end of file
diff --git a/src/dcaitirobot/embedded/docs/latex/dir_88826aa2a10e1882b573f502bc7f4b55_dep.pdf b/src/dcaitirobot/embedded/docs/latex/dir_88826aa2a10e1882b573f502bc7f4b55_dep.pdf
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diff --git a/src/dcaitirobot/embedded/docs/latex/dir_97aefd0d527b934f1d99a682da8fe6a9.tex b/src/dcaitirobot/embedded/docs/latex/dir_97aefd0d527b934f1d99a682da8fe6a9.tex
new file mode 100644
index 0000000..f478646
--- /dev/null
+++ b/src/dcaitirobot/embedded/docs/latex/dir_97aefd0d527b934f1d99a682da8fe6a9.tex
@@ -0,0 +1,19 @@
+\hypertarget{dir_97aefd0d527b934f1d99a682da8fe6a9}{}\doxysection{lib Directory Reference}
+\label{dir_97aefd0d527b934f1d99a682da8fe6a9}\index{lib Directory Reference@{lib Directory Reference}}
+Directory dependency graph for lib\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=279pt]{dir_97aefd0d527b934f1d99a682da8fe6a9_dep}
+\end{center}
+\end{figure}
+\doxysubsection*{Directories}
+\begin{DoxyCompactItemize}
+\item 
+directory \mbox{\hyperlink{dir_10c6c21535d653b7c685bbf5a23d61f7}{Motor\+Wheel}}
+\item 
+directory \mbox{\hyperlink{dir_20ba189d08eafd7afd9a71ede3a1ee33}{PID\+\_\+\+Beta6}}
+\item 
+directory \mbox{\hyperlink{dir_0f386e5012f166522d8afb320f99104b}{Pin\+Change\+Int}}
+\end{DoxyCompactItemize}
diff --git a/src/dcaitirobot/embedded/docs/latex/dir_97aefd0d527b934f1d99a682da8fe6a9_dep.md5 b/src/dcaitirobot/embedded/docs/latex/dir_97aefd0d527b934f1d99a682da8fe6a9_dep.md5
new file mode 100644
index 0000000..885ccfc
--- /dev/null
+++ b/src/dcaitirobot/embedded/docs/latex/dir_97aefd0d527b934f1d99a682da8fe6a9_dep.md5
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/src/dcaitirobot/embedded/docs/latex/dir_97aefd0d527b934f1d99a682da8fe6a9_dep.pdf b/src/dcaitirobot/embedded/docs/latex/dir_97aefd0d527b934f1d99a682da8fe6a9_dep.pdf
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diff --git a/src/dcaitirobot/embedded/docs/latex/dir_ca930d033be57d703a34bf99bb5a03c5.tex b/src/dcaitirobot/embedded/docs/latex/dir_ca930d033be57d703a34bf99bb5a03c5.tex
new file mode 100644
index 0000000..d829678
--- /dev/null
+++ b/src/dcaitirobot/embedded/docs/latex/dir_ca930d033be57d703a34bf99bb5a03c5.tex
@@ -0,0 +1,18 @@
+\hypertarget{dir_ca930d033be57d703a34bf99bb5a03c5}{}\doxysection{include/communication Directory Reference}
+\label{dir_ca930d033be57d703a34bf99bb5a03c5}\index{include/communication Directory Reference@{include/communication Directory Reference}}
+Directory dependency graph for communication\+:\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=204pt]{dir_ca930d033be57d703a34bf99bb5a03c5_dep}
+\end{center}
+\end{figure}
+\doxysubsection*{Files}
+\begin{DoxyCompactItemize}
+\item 
+file \mbox{\hyperlink{UARTCom_8hpp}{UARTCom.\+hpp}}
+\begin{DoxyCompactList}\small\item\em class to manage uart communication \end{DoxyCompactList}\item 
+file \mbox{\hyperlink{UCommands_8hpp}{UCommands.\+hpp}}
+\begin{DoxyCompactList}\small\item\em implementation of commands according to uart protocol \end{DoxyCompactList}\item 
+file \mbox{\hyperlink{UValue_8hpp}{UValue.\+hpp}}
+\begin{DoxyCompactList}\small\item\em class to send out encoder values \end{DoxyCompactList}\end{DoxyCompactItemize}
diff --git a/src/dcaitirobot/embedded/docs/latex/dir_ca930d033be57d703a34bf99bb5a03c5_dep.md5 b/src/dcaitirobot/embedded/docs/latex/dir_ca930d033be57d703a34bf99bb5a03c5_dep.md5
new file mode 100644
index 0000000..8f13576
--- /dev/null
+++ b/src/dcaitirobot/embedded/docs/latex/dir_ca930d033be57d703a34bf99bb5a03c5_dep.md5
@@ -0,0 +1 @@
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\ No newline at end of file
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diff --git a/src/dcaitirobot/embedded/docs/latex/dir_d44c64559bbebec7f509842c48db8b23.tex b/src/dcaitirobot/embedded/docs/latex/dir_d44c64559bbebec7f509842c48db8b23.tex
new file mode 100644
index 0000000..2de07b8
--- /dev/null
+++ b/src/dcaitirobot/embedded/docs/latex/dir_d44c64559bbebec7f509842c48db8b23.tex
@@ -0,0 +1,14 @@
+\hypertarget{dir_d44c64559bbebec7f509842c48db8b23}{}\doxysection{include Directory Reference}
+\label{dir_d44c64559bbebec7f509842c48db8b23}\index{include Directory Reference@{include Directory Reference}}
+\doxysubsection*{Directories}
+\begin{DoxyCompactItemize}
+\item 
+directory \mbox{\hyperlink{dir_ca930d033be57d703a34bf99bb5a03c5}{communication}}
+\item 
+directory \mbox{\hyperlink{dir_27118ad956692b96871ee35aadc6976a}{misc}}
+\end{DoxyCompactItemize}
+\doxysubsection*{Files}
+\begin{DoxyCompactItemize}
+\item 
+file \mbox{\hyperlink{constants_8h}{constants.\+h}}
+\end{DoxyCompactItemize}
diff --git a/src/dcaitirobot/embedded/docs/latex/doxygen.sty b/src/dcaitirobot/embedded/docs/latex/doxygen.sty
new file mode 100644
index 0000000..8f59bcc
--- /dev/null
+++ b/src/dcaitirobot/embedded/docs/latex/doxygen.sty
@@ -0,0 +1,576 @@
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+\newcommand{\Hypertarget}[1]{\Hy@raisedlink{\hypertarget{#1}{}}}
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+                                   {-3.5ex \@plus -1ex \@minus -.2ex}%
+                                   {2.3ex \@plus.2ex}%
+                                   {\raggedright\normalfont\Large\bfseries}}
+\newcommand\doxysubsection{\@startsection{subsection}{2}{\z@}%
+                                     {-3.25ex\@plus -1ex \@minus -.2ex}%
+                                     {1.5ex \@plus .2ex}%
+                                     {\raggedright\normalfont\large\bfseries}}
+\newcommand\doxysubsubsection{\@startsection{subsubsection}{3}{\z@}%
+                                     {-3.25ex\@plus -1ex \@minus -.2ex}%
+                                     {1.5ex \@plus .2ex}%
+                                     {\raggedright\normalfont\normalsize\bfseries}}
+\newcommand\doxyparagraph{\@startsection{paragraph}{4}{\z@}%
+                                    {3.25ex \@plus1ex \@minus.2ex}%
+                                    {-1em}%
+                                    {\raggedright\normalfont\normalsize\bfseries}}
+\newcommand\doxysubparagraph{\@startsection{subparagraph}{5}{\parindent}%
+                                       {3.25ex \@plus1ex \@minus .2ex}%
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diff --git a/src/dcaitirobot/embedded/docs/latex/files.tex b/src/dcaitirobot/embedded/docs/latex/files.tex
new file mode 100644
index 0000000..1e7122c
--- /dev/null
+++ b/src/dcaitirobot/embedded/docs/latex/files.tex
@@ -0,0 +1,13 @@
+\doxysection{File List}
+Here is a list of all files with brief descriptions\+:\begin{DoxyCompactList}
+\item\contentsline{section}{include/\mbox{\hyperlink{constants_8h}{constants.\+h}} }{\pageref{constants_8h}}{}
+\item\contentsline{section}{include/communication/\mbox{\hyperlink{UARTCom_8hpp}{UARTCom.\+hpp}} \\*Class to manage uart communication }{\pageref{UARTCom_8hpp}}{}
+\item\contentsline{section}{include/communication/\mbox{\hyperlink{UCommands_8hpp}{UCommands.\+hpp}} \\*Implementation of commands according to uart protocol }{\pageref{UCommands_8hpp}}{}
+\item\contentsline{section}{include/communication/\mbox{\hyperlink{UValue_8hpp}{UValue.\+hpp}} \\*Class to send out encoder values }{\pageref{UValue_8hpp}}{}
+\item\contentsline{section}{include/misc/\mbox{\hyperlink{Utils_8hpp}{Utils.\+hpp}} \\*Useful converting and computing functions }{\pageref{Utils_8hpp}}{}
+\item\contentsline{section}{src/\mbox{\hyperlink{main_8cpp}{main.\+cpp}} }{\pageref{main_8cpp}}{}
+\item\contentsline{section}{src/communication/\mbox{\hyperlink{UARTCom_8cpp}{UARTCom.\+cpp}} }{\pageref{UARTCom_8cpp}}{}
+\item\contentsline{section}{src/communication/\mbox{\hyperlink{UCommands_8cpp}{UCommands.\+cpp}} }{\pageref{UCommands_8cpp}}{}
+\item\contentsline{section}{src/communication/\mbox{\hyperlink{UValue_8cpp}{UValue.\+cpp}} }{\pageref{UValue_8cpp}}{}
+\item\contentsline{section}{src/misc/\mbox{\hyperlink{Utils_8cpp}{Utils.\+cpp}} }{\pageref{Utils_8cpp}}{}
+\end{DoxyCompactList}
diff --git a/src/dcaitirobot/embedded/docs/latex/fuzzy__table_8h.tex b/src/dcaitirobot/embedded/docs/latex/fuzzy__table_8h.tex
new file mode 100644
index 0000000..e768b6b
--- /dev/null
+++ b/src/dcaitirobot/embedded/docs/latex/fuzzy__table_8h.tex
@@ -0,0 +1,10 @@
+\hypertarget{fuzzy__table_8h}{}\doxysection{lib/\+PID\+\_\+\+Beta6/fuzzy\+\_\+table.h File Reference}
+\label{fuzzy__table_8h}\index{lib/PID\_Beta6/fuzzy\_table.h@{lib/PID\_Beta6/fuzzy\_table.h}}
+This graph shows which files directly or indirectly include this file\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=235pt]{fuzzy__table_8h__dep__incl}
+\end{center}
+\end{figure}
diff --git a/src/dcaitirobot/embedded/docs/latex/fuzzy__table_8h__dep__incl.md5 b/src/dcaitirobot/embedded/docs/latex/fuzzy__table_8h__dep__incl.md5
new file mode 100644
index 0000000..14bea27
--- /dev/null
+++ b/src/dcaitirobot/embedded/docs/latex/fuzzy__table_8h__dep__incl.md5
@@ -0,0 +1 @@
+0f86179ca0b6f656de76147ce1039f11
\ No newline at end of file
diff --git a/src/dcaitirobot/embedded/docs/latex/fuzzy__table_8h__dep__incl.pdf b/src/dcaitirobot/embedded/docs/latex/fuzzy__table_8h__dep__incl.pdf
new file mode 100644
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diff --git a/src/dcaitirobot/embedded/docs/latex/hierarchy.tex b/src/dcaitirobot/embedded/docs/latex/hierarchy.tex
new file mode 100644
index 0000000..c70b639
--- /dev/null
+++ b/src/dcaitirobot/embedded/docs/latex/hierarchy.tex
@@ -0,0 +1,20 @@
+\doxysection{Class Hierarchy}
+This inheritance list is sorted roughly, but not completely, alphabetically\+:\begin{DoxyCompactList}
+\item \contentsline{section}{ISRVars}{\pageref{structISRVars}}{}
+\item \contentsline{section}{PCint\+Port\+::PCint\+Pin}{\pageref{classPCintPort_1_1PCintPin}}{}
+\item \contentsline{section}{PCint\+Port}{\pageref{classPCintPort}}{}
+\item \contentsline{section}{PID}{\pageref{classPID}}{}
+\begin{DoxyCompactList}
+\item \contentsline{section}{Motor}{\pageref{classMotor}}{}
+\begin{DoxyCompactList}
+\item \contentsline{section}{Geared\+Motor}{\pageref{classGearedMotor}}{}
+\begin{DoxyCompactList}
+\item \contentsline{section}{Motor\+Wheel}{\pageref{classMotorWheel}}{}
+\end{DoxyCompactList}
+\end{DoxyCompactList}
+\end{DoxyCompactList}
+\item \contentsline{section}{UARTCom}{\pageref{classUARTCom}}{}
+\item \contentsline{section}{UCommands}{\pageref{classUCommands}}{}
+\item \contentsline{section}{Utils}{\pageref{classUtils}}{}
+\item \contentsline{section}{UValue}{\pageref{classUValue}}{}
+\end{DoxyCompactList}
diff --git a/src/dcaitirobot/embedded/docs/latex/longtable_doxygen.sty b/src/dcaitirobot/embedded/docs/latex/longtable_doxygen.sty
new file mode 100644
index 0000000..a0eb314
--- /dev/null
+++ b/src/dcaitirobot/embedded/docs/latex/longtable_doxygen.sty
@@ -0,0 +1,448 @@
+%%
+%% This is file `longtable.sty',
+%% generated with the docstrip utility.
+%%
+%% The original source files were:
+%%
+%% longtable.dtx  (with options: `package')
+%% 
+%% This is a generated file.
+%% 
+%% The source is maintained by the LaTeX Project team and bug
+%% reports for it can be opened at http://latex-project.org/bugs.html
+%% (but please observe conditions on bug reports sent to that address!)
+%% 
+%% Copyright 1993-2016
+%% The LaTeX3 Project and any individual authors listed elsewhere
+%% in this file.
+%% 
+%% This file was generated from file(s) of the Standard LaTeX `Tools Bundle'.
+%% --------------------------------------------------------------------------
+%% 
+%% It may be distributed and/or modified under the
+%% conditions of the LaTeX Project Public License, either version 1.3c
+%% of this license or (at your option) any later version.
+%% The latest version of this license is in
+%%    http://www.latex-project.org/lppl.txt
+%% and version 1.3c or later is part of all distributions of LaTeX
+%% version 2005/12/01 or later.
+%% 
+%% This file may only be distributed together with a copy of the LaTeX
+%% `Tools Bundle'. You may however distribute the LaTeX `Tools Bundle'
+%% without such generated files.
+%% 
+%% The list of all files belonging to the LaTeX `Tools Bundle' is
+%% given in the file `manifest.txt'.
+%% 
+%% File: longtable.dtx Copyright (C) 1990-2001 David Carlisle
+\NeedsTeXFormat{LaTeX2e}[1995/06/01]
+\ProvidesPackage{longtable_doxygen}
+          [2014/10/28 v4.11 Multi-page Table package (DPC) - frozen version for doxygen]
+\def\LT@err{\PackageError{longtable}}
+\def\LT@warn{\PackageWarning{longtable}}
+\def\LT@final@warn{%
+  \AtEndDocument{%
+    \LT@warn{Table \@width s have changed. Rerun LaTeX.\@gobbletwo}}%
+  \global\let\LT@final@warn\relax}
+\DeclareOption{errorshow}{%
+  \def\LT@warn{\PackageInfo{longtable}}}
+\DeclareOption{pausing}{%
+  \def\LT@warn#1{%
+    \LT@err{#1}{This is not really an error}}}
+\DeclareOption{set}{}
+\DeclareOption{final}{}
+\ProcessOptions
+\newskip\LTleft       \LTleft=\fill
+\newskip\LTright      \LTright=\fill
+\newskip\LTpre        \LTpre=\bigskipamount
+\newskip\LTpost       \LTpost=\bigskipamount
+\newcount\LTchunksize \LTchunksize=20
+\let\c@LTchunksize\LTchunksize
+\newdimen\LTcapwidth  \LTcapwidth=4in
+\newbox\LT@head
+\newbox\LT@firsthead
+\newbox\LT@foot
+\newbox\LT@lastfoot
+\newcount\LT@cols
+\newcount\LT@rows
+\newcounter{LT@tables}
+\newcounter{LT@chunks}[LT@tables]
+\ifx\c@table\undefined
+  \newcounter{table}
+  \def\fnum@table{\tablename~\thetable}
+\fi
+\ifx\tablename\undefined
+  \def\tablename{Table}
+\fi
+\newtoks\LT@p@ftn
+\mathchardef\LT@end@pen=30000
+\def\longtable{%
+  \par
+  \ifx\multicols\@undefined
+  \else
+     \ifnum\col@number>\@ne
+       \@twocolumntrue
+     \fi
+  \fi
+  \if@twocolumn
+    \LT@err{longtable not in 1-column mode}\@ehc
+  \fi
+  \begingroup
+  \@ifnextchar[\LT@array{\LT@array[x]}}
+\def\LT@array[#1]#2{%
+  \refstepcounter{table}\stepcounter{LT@tables}%
+  \if l#1%
+    \LTleft\z@ \LTright\fill
+  \else\if r#1%
+    \LTleft\fill \LTright\z@
+  \else\if c#1%
+    \LTleft\fill \LTright\fill
+  \fi\fi\fi
+  \let\LT@mcol\multicolumn
+  \let\LT@@tabarray\@tabarray
+  \let\LT@@hl\hline
+  \def\@tabarray{%
+    \let\hline\LT@@hl
+    \LT@@tabarray}%
+  \let\\\LT@tabularcr\let\tabularnewline\\%
+  \def\newpage{\noalign{\break}}%
+  \def\pagebreak{\noalign{\ifnum`}=0\fi\@testopt{\LT@no@pgbk-}4}%
+  \def\nopagebreak{\noalign{\ifnum`}=0\fi\@testopt\LT@no@pgbk4}%
+  \let\hline\LT@hline \let\kill\LT@kill\let\caption\LT@caption
+  \@tempdima\ht\strutbox
+  \let\@endpbox\LT@endpbox
+  \ifx\extrarowheight\@undefined
+    \let\@acol\@tabacol
+    \let\@classz\@tabclassz \let\@classiv\@tabclassiv
+    \def\@startpbox{\vtop\LT@startpbox}%
+    \let\@@startpbox\@startpbox
+    \let\@@endpbox\@endpbox
+    \let\LT@LL@FM@cr\@tabularcr
+  \else
+    \advance\@tempdima\extrarowheight
+    \col@sep\tabcolsep
+    \let\@startpbox\LT@startpbox\let\LT@LL@FM@cr\@arraycr
+  \fi
+  \setbox\@arstrutbox\hbox{\vrule
+    \@height \arraystretch \@tempdima
+    \@depth \arraystretch \dp \strutbox
+    \@width \z@}%
+  \let\@sharp##\let\protect\relax
+   \begingroup
+    \@mkpream{#2}%
+    \xdef\LT@bchunk{%
+       \global\advance\c@LT@chunks\@ne
+       \global\LT@rows\z@\setbox\z@\vbox\bgroup
+       \LT@setprevdepth
+       \tabskip\LTleft \noexpand\halign to\hsize\bgroup
+      \tabskip\z@ \@arstrut \@preamble \tabskip\LTright \cr}%
+  \endgroup
+  \expandafter\LT@nofcols\LT@bchunk&\LT@nofcols
+  \LT@make@row
+  \m@th\let\par\@empty
+  \everycr{}\lineskip\z@\baselineskip\z@
+  \LT@bchunk}
+\def\LT@no@pgbk#1[#2]{\penalty #1\@getpen{#2}\ifnum`{=0\fi}}
+\def\LT@start{%
+  \let\LT@start\endgraf
+  \endgraf\penalty\z@\vskip\LTpre
+  \dimen@\pagetotal
+  \advance\dimen@ \ht\ifvoid\LT@firsthead\LT@head\else\LT@firsthead\fi
+  \advance\dimen@ \dp\ifvoid\LT@firsthead\LT@head\else\LT@firsthead\fi
+  \advance\dimen@ \ht\LT@foot
+  \dimen@ii\vfuzz
+  \vfuzz\maxdimen
+    \setbox\tw@\copy\z@
+    \setbox\tw@\vsplit\tw@ to \ht\@arstrutbox
+    \setbox\tw@\vbox{\unvbox\tw@}%
+  \vfuzz\dimen@ii
+  \advance\dimen@ \ht
+        \ifdim\ht\@arstrutbox>\ht\tw@\@arstrutbox\else\tw@\fi
+  \advance\dimen@\dp
+        \ifdim\dp\@arstrutbox>\dp\tw@\@arstrutbox\else\tw@\fi
+  \advance\dimen@ -\pagegoal
+  \ifdim \dimen@>\z@\vfil\break\fi
+      \global\@colroom\@colht
+  \ifvoid\LT@foot\else
+    \advance\vsize-\ht\LT@foot
+    \global\advance\@colroom-\ht\LT@foot
+    \dimen@\pagegoal\advance\dimen@-\ht\LT@foot\pagegoal\dimen@
+    \maxdepth\z@
+  \fi
+  \ifvoid\LT@firsthead\copy\LT@head\else\box\LT@firsthead\fi\nobreak
+  \output{\LT@output}}
+\def\endlongtable{%
+  \crcr
+  \noalign{%
+    \let\LT@entry\LT@entry@chop
+    \xdef\LT@save@row{\LT@save@row}}%
+  \LT@echunk
+  \LT@start
+  \unvbox\z@
+  \LT@get@widths
+  \if@filesw
+    {\let\LT@entry\LT@entry@write\immediate\write\@auxout{%
+      \gdef\expandafter\noexpand
+        \csname LT@\romannumeral\c@LT@tables\endcsname
+          {\LT@save@row}}}%
+  \fi
+  \ifx\LT@save@row\LT@@save@row
+  \else
+    \LT@warn{Column \@width s have changed\MessageBreak
+             in table \thetable}%
+    \LT@final@warn
+  \fi
+  \endgraf\penalty -\LT@end@pen
+  \endgroup
+  \global\@mparbottom\z@
+  \pagegoal\vsize
+  \endgraf\penalty\z@\addvspace\LTpost
+  \ifvoid\footins\else\insert\footins{}\fi}
+\def\LT@nofcols#1&{%
+  \futurelet\@let@token\LT@n@fcols}
+\def\LT@n@fcols{%
+  \advance\LT@cols\@ne
+  \ifx\@let@token\LT@nofcols
+    \expandafter\@gobble
+  \else
+    \expandafter\LT@nofcols
+  \fi}
+\def\LT@tabularcr{%
+  \relax\iffalse{\fi\ifnum0=`}\fi
+  \@ifstar
+    {\def\crcr{\LT@crcr\noalign{\nobreak}}\let\cr\crcr
+     \LT@t@bularcr}%
+    {\LT@t@bularcr}}
+\let\LT@crcr\crcr
+\let\LT@setprevdepth\relax
+\def\LT@t@bularcr{%
+  \global\advance\LT@rows\@ne
+  \ifnum\LT@rows=\LTchunksize
+    \gdef\LT@setprevdepth{%
+      \prevdepth\z@\global
+      \global\let\LT@setprevdepth\relax}%
+    \expandafter\LT@xtabularcr
+  \else
+    \ifnum0=`{}\fi
+    \expandafter\LT@LL@FM@cr
+  \fi}
+\def\LT@xtabularcr{%
+  \@ifnextchar[\LT@argtabularcr\LT@ntabularcr}
+\def\LT@ntabularcr{%
+  \ifnum0=`{}\fi
+  \LT@echunk
+  \LT@start
+  \unvbox\z@
+  \LT@get@widths
+  \LT@bchunk}
+\def\LT@argtabularcr[#1]{%
+  \ifnum0=`{}\fi
+  \ifdim #1>\z@
+    \unskip\@xargarraycr{#1}%
+  \else
+    \@yargarraycr{#1}%
+  \fi
+  \LT@echunk
+  \LT@start
+  \unvbox\z@
+  \LT@get@widths
+  \LT@bchunk}
+\def\LT@echunk{%
+  \crcr\LT@save@row\cr\egroup
+  \global\setbox\@ne\lastbox
+    \unskip
+  \egroup}
+\def\LT@entry#1#2{%
+  \ifhmode\@firstofone{&}\fi\omit
+  \ifnum#1=\c@LT@chunks
+  \else
+    \kern#2\relax
+  \fi}
+\def\LT@entry@chop#1#2{%
+  \noexpand\LT@entry
+    {\ifnum#1>\c@LT@chunks
+       1}{0pt%
+     \else
+       #1}{#2%
+     \fi}}
+\def\LT@entry@write{%
+  \noexpand\LT@entry^^J%
+  \@spaces}
+\def\LT@kill{%
+  \LT@echunk
+  \LT@get@widths
+  \expandafter\LT@rebox\LT@bchunk}
+\def\LT@rebox#1\bgroup{%
+  #1\bgroup
+  \unvbox\z@
+  \unskip
+  \setbox\z@\lastbox}
+\def\LT@blank@row{%
+  \xdef\LT@save@row{\expandafter\LT@build@blank
+    \romannumeral\number\LT@cols 001 }}
+\def\LT@build@blank#1{%
+  \if#1m%
+    \noexpand\LT@entry{1}{0pt}%
+    \expandafter\LT@build@blank
+  \fi}
+\def\LT@make@row{%
+  \global\expandafter\let\expandafter\LT@save@row
+    \csname LT@\romannumeral\c@LT@tables\endcsname
+  \ifx\LT@save@row\relax
+    \LT@blank@row
+  \else
+    {\let\LT@entry\or
+     \if!%
+         \ifcase\expandafter\expandafter\expandafter\LT@cols
+         \expandafter\@gobble\LT@save@row
+         \or
+         \else
+           \relax
+         \fi
+        !%
+     \else
+       \aftergroup\LT@blank@row
+     \fi}%
+  \fi}
+\let\setlongtables\relax
+\def\LT@get@widths{%
+  \setbox\tw@\hbox{%
+    \unhbox\@ne
+    \let\LT@old@row\LT@save@row
+    \global\let\LT@save@row\@empty
+    \count@\LT@cols
+    \loop
+      \unskip
+      \setbox\tw@\lastbox
+    \ifhbox\tw@
+      \LT@def@row
+      \advance\count@\m@ne
+    \repeat}%
+  \ifx\LT@@save@row\@undefined
+    \let\LT@@save@row\LT@save@row
+  \fi}
+\def\LT@def@row{%
+  \let\LT@entry\or
+  \edef\@tempa{%
+    \ifcase\expandafter\count@\LT@old@row
+    \else
+      {1}{0pt}%
+    \fi}%
+  \let\LT@entry\relax
+  \xdef\LT@save@row{%
+    \LT@entry
+    \expandafter\LT@max@sel\@tempa
+    \LT@save@row}}
+\def\LT@max@sel#1#2{%
+  {\ifdim#2=\wd\tw@
+     #1%
+   \else
+     \number\c@LT@chunks
+   \fi}%
+  {\the\wd\tw@}}
+\def\LT@hline{%
+  \noalign{\ifnum0=`}\fi
+    \penalty\@M
+    \futurelet\@let@token\LT@@hline}
+\def\LT@@hline{%
+  \ifx\@let@token\hline
+    \global\let\@gtempa\@gobble
+    \gdef\LT@sep{\penalty-\@medpenalty\vskip\doublerulesep}%
+  \else
+    \global\let\@gtempa\@empty
+    \gdef\LT@sep{\penalty-\@lowpenalty\vskip-\arrayrulewidth}%
+  \fi
+  \ifnum0=`{\fi}%
+  \multispan\LT@cols
+     \unskip\leaders\hrule\@height\arrayrulewidth\hfill\cr
+  \noalign{\LT@sep}%
+  \multispan\LT@cols
+     \unskip\leaders\hrule\@height\arrayrulewidth\hfill\cr
+  \noalign{\penalty\@M}%
+  \@gtempa}
+\def\LT@caption{%
+  \noalign\bgroup
+    \@ifnextchar[{\egroup\LT@c@ption\@firstofone}\LT@capti@n}
+\def\LT@c@ption#1[#2]#3{%
+  \LT@makecaption#1\fnum@table{#3}%
+  \def\@tempa{#2}%
+  \ifx\@tempa\@empty\else
+     {\let\\\space
+     \addcontentsline{lot}{table}{\protect\numberline{\thetable}{#2}}}%
+  \fi}
+\def\LT@capti@n{%
+  \@ifstar
+    {\egroup\LT@c@ption\@gobble[]}%
+    {\egroup\@xdblarg{\LT@c@ption\@firstofone}}}
+\def\LT@makecaption#1#2#3{%
+  \LT@mcol\LT@cols c{\hbox to\z@{\hss\parbox[t]\LTcapwidth{%
+    \sbox\@tempboxa{#1{#2: }#3}%
+    \ifdim\wd\@tempboxa>\hsize
+      #1{#2: }#3%
+    \else
+      \hbox to\hsize{\hfil\box\@tempboxa\hfil}%
+    \fi
+    \endgraf\vskip\baselineskip}%
+  \hss}}}
+\def\LT@output{%
+  \ifnum\outputpenalty <-\@Mi
+    \ifnum\outputpenalty > -\LT@end@pen
+      \LT@err{floats and marginpars not allowed in a longtable}\@ehc
+    \else
+      \setbox\z@\vbox{\unvbox\@cclv}%
+      \ifdim \ht\LT@lastfoot>\ht\LT@foot
+        \dimen@\pagegoal
+        \advance\dimen@-\ht\LT@lastfoot
+        \ifdim\dimen@<\ht\z@
+          \setbox\@cclv\vbox{\unvbox\z@\copy\LT@foot\vss}%
+          \@makecol
+          \@outputpage
+          \setbox\z@\vbox{\box\LT@head}%
+        \fi
+      \fi
+      \global\@colroom\@colht
+      \global\vsize\@colht
+      \vbox
+        {\unvbox\z@\box\ifvoid\LT@lastfoot\LT@foot\else\LT@lastfoot\fi}%
+    \fi
+  \else
+    \setbox\@cclv\vbox{\unvbox\@cclv\copy\LT@foot\vss}%
+    \@makecol
+    \@outputpage
+      \global\vsize\@colroom
+    \copy\LT@head\nobreak
+  \fi}
+\def\LT@end@hd@ft#1{%
+  \LT@echunk
+  \ifx\LT@start\endgraf
+    \LT@err
+     {Longtable head or foot not at start of table}%
+     {Increase LTchunksize}%
+  \fi
+  \setbox#1\box\z@
+  \LT@get@widths
+  \LT@bchunk}
+\def\endfirsthead{\LT@end@hd@ft\LT@firsthead}
+\def\endhead{\LT@end@hd@ft\LT@head}
+\def\endfoot{\LT@end@hd@ft\LT@foot}
+\def\endlastfoot{\LT@end@hd@ft\LT@lastfoot}
+\def\LT@startpbox#1{%
+  \bgroup
+    \let\@footnotetext\LT@p@ftntext
+    \setlength\hsize{#1}%
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+    \vrule \@height \ht\@arstrutbox \@width \z@}
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+  \@finalstrut\@arstrutbox
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+  \global\LT@p@ftn{}%
+  \hfil}
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+  \edef\@tempa{\the\LT@p@ftn\noexpand\footnotetext[\the\c@footnote]}%
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+\@namedef{ver@longtable.sty}{2014/10/28 v4.11 Multi-page Table package (DPC) - frozen version for doxygen}
+\endinput
+%%
+%% End of file `longtable.sty'.
diff --git a/src/dcaitirobot/embedded/docs/latex/main_8cpp.tex b/src/dcaitirobot/embedded/docs/latex/main_8cpp.tex
new file mode 100644
index 0000000..4e7e007
--- /dev/null
+++ b/src/dcaitirobot/embedded/docs/latex/main_8cpp.tex
@@ -0,0 +1,147 @@
+\hypertarget{main_8cpp}{}\doxysection{src/main.cpp File Reference}
+\label{main_8cpp}\index{src/main.cpp@{src/main.cpp}}
+{\ttfamily \#include $<$Arduino.\+h$>$}\newline
+{\ttfamily \#include \char`\"{}communication/\+UARTCom.\+hpp\char`\"{}}\newline
+{\ttfamily \#include \char`\"{}communication/\+UValue.\+hpp\char`\"{}}\newline
+{\ttfamily \#include $<$Pin\+Change\+Int.\+h$>$}\newline
+{\ttfamily \#include $<$Pin\+Change\+Int\+Config.\+h$>$}\newline
+{\ttfamily \#include $<$PID\+\_\+\+Beta6.\+h$>$}\newline
+{\ttfamily \#include $<$Motor\+Wheel.\+h$>$}\newline
+Include dependency graph for main.\+cpp\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=350pt]{main_8cpp__incl}
+\end{center}
+\end{figure}
+\doxysubsection*{Macros}
+\begin{DoxyCompactItemize}
+\item 
+\#define \mbox{\hyperlink{main_8cpp_a81bcea712b48d6bf8f7193e3de40404b}{MICROS\+\_\+\+PER\+\_\+\+SEC}}~1000000
+\end{DoxyCompactItemize}
+\doxysubsection*{Functions}
+\begin{DoxyCompactItemize}
+\item 
+\mbox{\hyperlink{main_8cpp_ab8ce9c774ade2f5a0701961718ace60b}{irq\+ISR}} (irq1, isr1)
+\item 
+\mbox{\hyperlink{main_8cpp_ada0ab108e706a9c9cc278ba86a59f052}{irq\+ISR}} (irq2, isr2)
+\item 
+Motor\+Wheel \mbox{\hyperlink{main_8cpp_a182227deb83319a10df08ddb6a228004}{wheel\+Left}} (9, 8, 4, 5, \&irq1, REDUCTION\+\_\+\+RATIO, 300)
+\item 
+Motor\+Wheel \mbox{\hyperlink{main_8cpp_a1b87cd04fa37c8509ccee0cba8953d81}{wheel\+Right}} (10, 11, 6, 7, \&irq2, REDUCTION\+\_\+\+RATIO, 300)
+\item 
+void \mbox{\hyperlink{main_8cpp_a7dfd9b79bc5a37d7df40207afbc5431f}{setup}} (void)
+\item 
+void \mbox{\hyperlink{main_8cpp_a0b33edabd7f1c4e4a0bf32c67269be2f}{loop}} (void)
+\end{DoxyCompactItemize}
+\doxysubsection*{Variables}
+\begin{DoxyCompactItemize}
+\item 
+long \mbox{\hyperlink{main_8cpp_a4808d2480bde6661fe8441af78547019}{control\+Timer}} = 0
+\item 
+long \mbox{\hyperlink{main_8cpp_a99e64e7a64d61f78fe2b391d3cdeabfd}{uart\+Transmit\+Timer}} = 0
+\item 
+int \mbox{\hyperlink{main_8cpp_a218b4f7c6cc2681a99c23a3b089d68b1}{speed}} = 0
+\end{DoxyCompactItemize}
+
+
+\doxysubsection{Macro Definition Documentation}
+\mbox{\Hypertarget{main_8cpp_a81bcea712b48d6bf8f7193e3de40404b}\label{main_8cpp_a81bcea712b48d6bf8f7193e3de40404b}} 
+\index{main.cpp@{main.cpp}!MICROS\_PER\_SEC@{MICROS\_PER\_SEC}}
+\index{MICROS\_PER\_SEC@{MICROS\_PER\_SEC}!main.cpp@{main.cpp}}
+\doxysubsubsection{\texorpdfstring{MICROS\_PER\_SEC}{MICROS\_PER\_SEC}}
+{\footnotesize\ttfamily \#define MICROS\+\_\+\+PER\+\_\+\+SEC~1000000}
+
+
+
+\doxysubsection{Function Documentation}
+\mbox{\Hypertarget{main_8cpp_ab8ce9c774ade2f5a0701961718ace60b}\label{main_8cpp_ab8ce9c774ade2f5a0701961718ace60b}} 
+\index{main.cpp@{main.cpp}!irqISR@{irqISR}}
+\index{irqISR@{irqISR}!main.cpp@{main.cpp}}
+\doxysubsubsection{\texorpdfstring{irqISR()}{irqISR()}\hspace{0.1cm}{\footnotesize\ttfamily [1/2]}}
+{\footnotesize\ttfamily irq\+ISR (\begin{DoxyParamCaption}\item[{irq1}]{,  }\item[{isr1}]{ }\end{DoxyParamCaption})}
+
+\mbox{\Hypertarget{main_8cpp_ada0ab108e706a9c9cc278ba86a59f052}\label{main_8cpp_ada0ab108e706a9c9cc278ba86a59f052}} 
+\index{main.cpp@{main.cpp}!irqISR@{irqISR}}
+\index{irqISR@{irqISR}!main.cpp@{main.cpp}}
+\doxysubsubsection{\texorpdfstring{irqISR()}{irqISR()}\hspace{0.1cm}{\footnotesize\ttfamily [2/2]}}
+{\footnotesize\ttfamily irq\+ISR (\begin{DoxyParamCaption}\item[{irq2}]{,  }\item[{isr2}]{ }\end{DoxyParamCaption})}
+
+\mbox{\Hypertarget{main_8cpp_a0b33edabd7f1c4e4a0bf32c67269be2f}\label{main_8cpp_a0b33edabd7f1c4e4a0bf32c67269be2f}} 
+\index{main.cpp@{main.cpp}!loop@{loop}}
+\index{loop@{loop}!main.cpp@{main.cpp}}
+\doxysubsubsection{\texorpdfstring{loop()}{loop()}}
+{\footnotesize\ttfamily void loop (\begin{DoxyParamCaption}\item[{void}]{ }\end{DoxyParamCaption})}
+
+Here is the call graph for this function\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=350pt]{main_8cpp_a0b33edabd7f1c4e4a0bf32c67269be2f_cgraph}
+\end{center}
+\end{figure}
+\mbox{\Hypertarget{main_8cpp_a7dfd9b79bc5a37d7df40207afbc5431f}\label{main_8cpp_a7dfd9b79bc5a37d7df40207afbc5431f}} 
+\index{main.cpp@{main.cpp}!setup@{setup}}
+\index{setup@{setup}!main.cpp@{main.cpp}}
+\doxysubsubsection{\texorpdfstring{setup()}{setup()}}
+{\footnotesize\ttfamily void setup (\begin{DoxyParamCaption}\item[{void}]{ }\end{DoxyParamCaption})}
+
+Here is the call graph for this function\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=350pt]{main_8cpp_a7dfd9b79bc5a37d7df40207afbc5431f_cgraph}
+\end{center}
+\end{figure}
+\mbox{\Hypertarget{main_8cpp_a182227deb83319a10df08ddb6a228004}\label{main_8cpp_a182227deb83319a10df08ddb6a228004}} 
+\index{main.cpp@{main.cpp}!wheelLeft@{wheelLeft}}
+\index{wheelLeft@{wheelLeft}!main.cpp@{main.cpp}}
+\doxysubsubsection{\texorpdfstring{wheelLeft()}{wheelLeft()}}
+{\footnotesize\ttfamily Motor\+Wheel wheel\+Left (\begin{DoxyParamCaption}\item[{9}]{,  }\item[{8}]{,  }\item[{4}]{,  }\item[{5}]{,  }\item[{\&}]{irq1,  }\item[{REDUCTION\+\_\+\+RATIO}]{,  }\item[{300}]{ }\end{DoxyParamCaption})}
+
+Here is the caller graph for this function\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=225pt]{main_8cpp_a182227deb83319a10df08ddb6a228004_icgraph}
+\end{center}
+\end{figure}
+\mbox{\Hypertarget{main_8cpp_a1b87cd04fa37c8509ccee0cba8953d81}\label{main_8cpp_a1b87cd04fa37c8509ccee0cba8953d81}} 
+\index{main.cpp@{main.cpp}!wheelRight@{wheelRight}}
+\index{wheelRight@{wheelRight}!main.cpp@{main.cpp}}
+\doxysubsubsection{\texorpdfstring{wheelRight()}{wheelRight()}}
+{\footnotesize\ttfamily Motor\+Wheel wheel\+Right (\begin{DoxyParamCaption}\item[{10}]{,  }\item[{11}]{,  }\item[{6}]{,  }\item[{7}]{,  }\item[{\&}]{irq2,  }\item[{REDUCTION\+\_\+\+RATIO}]{,  }\item[{300}]{ }\end{DoxyParamCaption})}
+
+Here is the caller graph for this function\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=231pt]{main_8cpp_a1b87cd04fa37c8509ccee0cba8953d81_icgraph}
+\end{center}
+\end{figure}
+
+
+\doxysubsection{Variable Documentation}
+\mbox{\Hypertarget{main_8cpp_a4808d2480bde6661fe8441af78547019}\label{main_8cpp_a4808d2480bde6661fe8441af78547019}} 
+\index{main.cpp@{main.cpp}!controlTimer@{controlTimer}}
+\index{controlTimer@{controlTimer}!main.cpp@{main.cpp}}
+\doxysubsubsection{\texorpdfstring{controlTimer}{controlTimer}}
+{\footnotesize\ttfamily long control\+Timer = 0}
+
+\mbox{\Hypertarget{main_8cpp_a218b4f7c6cc2681a99c23a3b089d68b1}\label{main_8cpp_a218b4f7c6cc2681a99c23a3b089d68b1}} 
+\index{main.cpp@{main.cpp}!speed@{speed}}
+\index{speed@{speed}!main.cpp@{main.cpp}}
+\doxysubsubsection{\texorpdfstring{speed}{speed}}
+{\footnotesize\ttfamily int speed = 0}
+
+\mbox{\Hypertarget{main_8cpp_a99e64e7a64d61f78fe2b391d3cdeabfd}\label{main_8cpp_a99e64e7a64d61f78fe2b391d3cdeabfd}} 
+\index{main.cpp@{main.cpp}!uartTransmitTimer@{uartTransmitTimer}}
+\index{uartTransmitTimer@{uartTransmitTimer}!main.cpp@{main.cpp}}
+\doxysubsubsection{\texorpdfstring{uartTransmitTimer}{uartTransmitTimer}}
+{\footnotesize\ttfamily long uart\+Transmit\+Timer = 0}
+
diff --git a/src/dcaitirobot/embedded/docs/latex/main_8cpp__incl.md5 b/src/dcaitirobot/embedded/docs/latex/main_8cpp__incl.md5
new file mode 100644
index 0000000..fc2b765
--- /dev/null
+++ b/src/dcaitirobot/embedded/docs/latex/main_8cpp__incl.md5
@@ -0,0 +1 @@
+2b1d8283ff08c7ad1bfcf21ac2ca5820
\ No newline at end of file
diff --git a/src/dcaitirobot/embedded/docs/latex/main_8cpp__incl.pdf b/src/dcaitirobot/embedded/docs/latex/main_8cpp__incl.pdf
new file mode 100644
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diff --git a/src/dcaitirobot/embedded/docs/latex/md_README.tex b/src/dcaitirobot/embedded/docs/latex/md_README.tex
new file mode 100644
index 0000000..e69de29
diff --git a/src/dcaitirobot/embedded/docs/latex/refman.aux b/src/dcaitirobot/embedded/docs/latex/refman.aux
new file mode 100644
index 0000000..f73154a
--- /dev/null
+++ b/src/dcaitirobot/embedded/docs/latex/refman.aux
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diff --git a/src/dcaitirobot/embedded/docs/latex/refman.idx b/src/dcaitirobot/embedded/docs/latex/refman.idx
new file mode 100644
index 0000000..9630400
--- /dev/null
+++ b/src/dcaitirobot/embedded/docs/latex/refman.idx
@@ -0,0 +1,501 @@
+\indexentry{GearedMotor@{GearedMotor}|hyperpage}{7}
+\indexentry{GearedMotor@{GearedMotor}!GearedMotor@{GearedMotor}|hyperpage}{8}
+\indexentry{GearedMotor@{GearedMotor}!GearedMotor@{GearedMotor}|hyperpage}{8}
+\indexentry{GearedMotor@{GearedMotor}!getGearedSpeedRPM@{getGearedSpeedRPM}|hyperpage}{9}
+\indexentry{getGearedSpeedRPM@{getGearedSpeedRPM}!GearedMotor@{GearedMotor}|hyperpage}{9}
+\indexentry{GearedMotor@{GearedMotor}!getPosition@{getPosition}|hyperpage}{9}
+\indexentry{getPosition@{getPosition}!GearedMotor@{GearedMotor}|hyperpage}{9}
+\indexentry{GearedMotor@{GearedMotor}!getRatio@{getRatio}|hyperpage}{9}
+\indexentry{getRatio@{getRatio}!GearedMotor@{GearedMotor}|hyperpage}{9}
+\indexentry{GearedMotor@{GearedMotor}!setGearedSpeedRPM@{setGearedSpeedRPM}|hyperpage}{10}
+\indexentry{setGearedSpeedRPM@{setGearedSpeedRPM}!GearedMotor@{GearedMotor}|hyperpage}{10}
+\indexentry{GearedMotor@{GearedMotor}!setGearedSpeedRPM@{setGearedSpeedRPM}|hyperpage}{10}
+\indexentry{setGearedSpeedRPM@{setGearedSpeedRPM}!GearedMotor@{GearedMotor}|hyperpage}{10}
+\indexentry{GearedMotor@{GearedMotor}!setRatio@{setRatio}|hyperpage}{10}
+\indexentry{setRatio@{setRatio}!GearedMotor@{GearedMotor}|hyperpage}{10}
+\indexentry{ISRVars@{ISRVars}|hyperpage}{11}
+\indexentry{ISRVars@{ISRVars}!currDirection@{currDirection}|hyperpage}{11}
+\indexentry{currDirection@{currDirection}!ISRVars@{ISRVars}|hyperpage}{11}
+\indexentry{ISRVars@{ISRVars}!ISRfunc@{ISRfunc}|hyperpage}{11}
+\indexentry{ISRfunc@{ISRfunc}!ISRVars@{ISRVars}|hyperpage}{11}
+\indexentry{ISRVars@{ISRVars}!pinIRQ@{pinIRQ}|hyperpage}{12}
+\indexentry{pinIRQ@{pinIRQ}!ISRVars@{ISRVars}|hyperpage}{12}
+\indexentry{ISRVars@{ISRVars}!pinIRQB@{pinIRQB}|hyperpage}{12}
+\indexentry{pinIRQB@{pinIRQB}!ISRVars@{ISRVars}|hyperpage}{12}
+\indexentry{ISRVars@{ISRVars}!pulseEndMicros@{pulseEndMicros}|hyperpage}{12}
+\indexentry{pulseEndMicros@{pulseEndMicros}!ISRVars@{ISRVars}|hyperpage}{12}
+\indexentry{ISRVars@{ISRVars}!pulses@{pulses}|hyperpage}{12}
+\indexentry{pulses@{pulses}!ISRVars@{ISRVars}|hyperpage}{12}
+\indexentry{ISRVars@{ISRVars}!pulseStartMicros@{pulseStartMicros}|hyperpage}{12}
+\indexentry{pulseStartMicros@{pulseStartMicros}!ISRVars@{ISRVars}|hyperpage}{12}
+\indexentry{ISRVars@{ISRVars}!speedPPS@{speedPPS}|hyperpage}{12}
+\indexentry{speedPPS@{speedPPS}!ISRVars@{ISRVars}|hyperpage}{12}
+\indexentry{Motor@{Motor}|hyperpage}{13}
+\indexentry{Motor@{Motor}!Motor@{Motor}|hyperpage}{14}
+\indexentry{Motor@{Motor}!Motor@{Motor}|hyperpage}{14}
+\indexentry{Motor@{Motor}!advancePWM@{advancePWM}|hyperpage}{15}
+\indexentry{advancePWM@{advancePWM}!Motor@{Motor}|hyperpage}{15}
+\indexentry{Motor@{Motor}!backoffPWM@{backoffPWM}|hyperpage}{15}
+\indexentry{backoffPWM@{backoffPWM}!Motor@{Motor}|hyperpage}{15}
+\indexentry{Motor@{Motor}!debugger@{debugger}|hyperpage}{16}
+\indexentry{debugger@{debugger}!Motor@{Motor}|hyperpage}{16}
+\indexentry{Motor@{Motor}!delayMS@{delayMS}|hyperpage}{16}
+\indexentry{delayMS@{delayMS}!Motor@{Motor}|hyperpage}{16}
+\indexentry{Motor@{Motor}!getCurrDir@{getCurrDir}|hyperpage}{17}
+\indexentry{getCurrDir@{getCurrDir}!Motor@{Motor}|hyperpage}{17}
+\indexentry{Motor@{Motor}!getCurrPulse@{getCurrPulse}|hyperpage}{17}
+\indexentry{getCurrPulse@{getCurrPulse}!Motor@{Motor}|hyperpage}{17}
+\indexentry{Motor@{Motor}!getDesiredDir@{getDesiredDir}|hyperpage}{17}
+\indexentry{getDesiredDir@{getDesiredDir}!Motor@{Motor}|hyperpage}{17}
+\indexentry{Motor@{Motor}!getPinDir@{getPinDir}|hyperpage}{18}
+\indexentry{getPinDir@{getPinDir}!Motor@{Motor}|hyperpage}{18}
+\indexentry{Motor@{Motor}!getPinIRQ@{getPinIRQ}|hyperpage}{18}
+\indexentry{getPinIRQ@{getPinIRQ}!Motor@{Motor}|hyperpage}{18}
+\indexentry{Motor@{Motor}!getPinIRQB@{getPinIRQB}|hyperpage}{18}
+\indexentry{getPinIRQB@{getPinIRQB}!Motor@{Motor}|hyperpage}{18}
+\indexentry{Motor@{Motor}!getPinPWM@{getPinPWM}|hyperpage}{18}
+\indexentry{getPinPWM@{getPinPWM}!Motor@{Motor}|hyperpage}{18}
+\indexentry{Motor@{Motor}!getPWM@{getPWM}|hyperpage}{18}
+\indexentry{getPWM@{getPWM}!Motor@{Motor}|hyperpage}{18}
+\indexentry{Motor@{Motor}!getSpeedPPS@{getSpeedPPS}|hyperpage}{19}
+\indexentry{getSpeedPPS@{getSpeedPPS}!Motor@{Motor}|hyperpage}{19}
+\indexentry{Motor@{Motor}!getSpeedRPM@{getSpeedRPM}|hyperpage}{19}
+\indexentry{getSpeedRPM@{getSpeedRPM}!Motor@{Motor}|hyperpage}{19}
+\indexentry{Motor@{Motor}!PIDDisable@{PIDDisable}|hyperpage}{19}
+\indexentry{PIDDisable@{PIDDisable}!Motor@{Motor}|hyperpage}{19}
+\indexentry{Motor@{Motor}!PIDEnable@{PIDEnable}|hyperpage}{20}
+\indexentry{PIDEnable@{PIDEnable}!Motor@{Motor}|hyperpage}{20}
+\indexentry{Motor@{Motor}!PIDGetSpeedRPMDesired@{PIDGetSpeedRPMDesired}|hyperpage}{20}
+\indexentry{PIDGetSpeedRPMDesired@{PIDGetSpeedRPMDesired}!Motor@{Motor}|hyperpage}{20}
+\indexentry{Motor@{Motor}!PIDGetStatus@{PIDGetStatus}|hyperpage}{21}
+\indexentry{PIDGetStatus@{PIDGetStatus}!Motor@{Motor}|hyperpage}{21}
+\indexentry{Motor@{Motor}!PIDRegulate@{PIDRegulate}|hyperpage}{21}
+\indexentry{PIDRegulate@{PIDRegulate}!Motor@{Motor}|hyperpage}{21}
+\indexentry{Motor@{Motor}!PIDReset@{PIDReset}|hyperpage}{22}
+\indexentry{PIDReset@{PIDReset}!Motor@{Motor}|hyperpage}{22}
+\indexentry{Motor@{Motor}!PIDSetSpeedRPMDesired@{PIDSetSpeedRPMDesired}|hyperpage}{23}
+\indexentry{PIDSetSpeedRPMDesired@{PIDSetSpeedRPMDesired}!Motor@{Motor}|hyperpage}{23}
+\indexentry{Motor@{Motor}!PIDSetup@{PIDSetup}|hyperpage}{23}
+\indexentry{PIDSetup@{PIDSetup}!Motor@{Motor}|hyperpage}{23}
+\indexentry{Motor@{Motor}!resetCurrPulse@{resetCurrPulse}|hyperpage}{24}
+\indexentry{resetCurrPulse@{resetCurrPulse}!Motor@{Motor}|hyperpage}{24}
+\indexentry{Motor@{Motor}!reverseDesiredDir@{reverseDesiredDir}|hyperpage}{24}
+\indexentry{reverseDesiredDir@{reverseDesiredDir}!Motor@{Motor}|hyperpage}{24}
+\indexentry{Motor@{Motor}!runPWM@{runPWM}|hyperpage}{25}
+\indexentry{runPWM@{runPWM}!Motor@{Motor}|hyperpage}{25}
+\indexentry{Motor@{Motor}!setCurrDir@{setCurrDir}|hyperpage}{25}
+\indexentry{setCurrDir@{setCurrDir}!Motor@{Motor}|hyperpage}{25}
+\indexentry{Motor@{Motor}!setCurrPulse@{setCurrPulse}|hyperpage}{26}
+\indexentry{setCurrPulse@{setCurrPulse}!Motor@{Motor}|hyperpage}{26}
+\indexentry{Motor@{Motor}!setDesiredDir@{setDesiredDir}|hyperpage}{26}
+\indexentry{setDesiredDir@{setDesiredDir}!Motor@{Motor}|hyperpage}{26}
+\indexentry{Motor@{Motor}!setSpeedRPM@{setSpeedRPM}|hyperpage}{27}
+\indexentry{setSpeedRPM@{setSpeedRPM}!Motor@{Motor}|hyperpage}{27}
+\indexentry{Motor@{Motor}!setSpeedRPM@{setSpeedRPM}|hyperpage}{27}
+\indexentry{setSpeedRPM@{setSpeedRPM}!Motor@{Motor}|hyperpage}{27}
+\indexentry{Motor@{Motor}!setupInterrupt@{setupInterrupt}|hyperpage}{28}
+\indexentry{setupInterrupt@{setupInterrupt}!Motor@{Motor}|hyperpage}{28}
+\indexentry{Motor@{Motor}!isr@{isr}|hyperpage}{28}
+\indexentry{isr@{isr}!Motor@{Motor}|hyperpage}{28}
+\indexentry{MotorWheel@{MotorWheel}|hyperpage}{29}
+\indexentry{MotorWheel@{MotorWheel}!MotorWheel@{MotorWheel}|hyperpage}{30}
+\indexentry{MotorWheel@{MotorWheel}!MotorWheel@{MotorWheel}|hyperpage}{30}
+\indexentry{MotorWheel@{MotorWheel}!getCirMM@{getCirMM}|hyperpage}{30}
+\indexentry{getCirMM@{getCirMM}!MotorWheel@{MotorWheel}|hyperpage}{30}
+\indexentry{MotorWheel@{MotorWheel}!getSpeedCMPM@{getSpeedCMPM}|hyperpage}{30}
+\indexentry{getSpeedCMPM@{getSpeedCMPM}!MotorWheel@{MotorWheel}|hyperpage}{30}
+\indexentry{MotorWheel@{MotorWheel}!getSpeedMMPS@{getSpeedMMPS}|hyperpage}{31}
+\indexentry{getSpeedMMPS@{getSpeedMMPS}!MotorWheel@{MotorWheel}|hyperpage}{31}
+\indexentry{MotorWheel@{MotorWheel}!setCirMM@{setCirMM}|hyperpage}{31}
+\indexentry{setCirMM@{setCirMM}!MotorWheel@{MotorWheel}|hyperpage}{31}
+\indexentry{MotorWheel@{MotorWheel}!setGearedRPM@{setGearedRPM}|hyperpage}{32}
+\indexentry{setGearedRPM@{setGearedRPM}!MotorWheel@{MotorWheel}|hyperpage}{32}
+\indexentry{MotorWheel@{MotorWheel}!setSpeedCMPM@{setSpeedCMPM}|hyperpage}{32}
+\indexentry{setSpeedCMPM@{setSpeedCMPM}!MotorWheel@{MotorWheel}|hyperpage}{32}
+\indexentry{MotorWheel@{MotorWheel}!setSpeedCMPM@{setSpeedCMPM}|hyperpage}{33}
+\indexentry{setSpeedCMPM@{setSpeedCMPM}!MotorWheel@{MotorWheel}|hyperpage}{33}
+\indexentry{MotorWheel@{MotorWheel}!setSpeedMMPS@{setSpeedMMPS}|hyperpage}{33}
+\indexentry{setSpeedMMPS@{setSpeedMMPS}!MotorWheel@{MotorWheel}|hyperpage}{33}
+\indexentry{MotorWheel@{MotorWheel}!setSpeedMMPS@{setSpeedMMPS}|hyperpage}{34}
+\indexentry{setSpeedMMPS@{setSpeedMMPS}!MotorWheel@{MotorWheel}|hyperpage}{34}
+\indexentry{PCintPort::PCintPin@{PCintPort::PCintPin}|hyperpage}{34}
+\indexentry{PCintPort::PCintPin@{PCintPort::PCintPin}!PCintPin@{PCintPin}|hyperpage}{35}
+\indexentry{PCintPin@{PCintPin}!PCintPort::PCintPin@{PCintPort::PCintPin}|hyperpage}{35}
+\indexentry{PCintPort::PCintPin@{PCintPort::PCintPin}!PCintFunc@{PCintFunc}|hyperpage}{35}
+\indexentry{PCintFunc@{PCintFunc}!PCintPort::PCintPin@{PCintPort::PCintPin}|hyperpage}{35}
+\indexentry{PCintPort::PCintPin@{PCintPort::PCintPin}!PCIntMask@{PCIntMask}|hyperpage}{35}
+\indexentry{PCIntMask@{PCIntMask}!PCintPort::PCintPin@{PCintPort::PCintPin}|hyperpage}{35}
+\indexentry{PCintPort::PCintPin@{PCintPort::PCintPin}!PCintMode@{PCintMode}|hyperpage}{35}
+\indexentry{PCintMode@{PCintMode}!PCintPort::PCintPin@{PCintPort::PCintPin}|hyperpage}{35}
+\indexentry{PCintPort::PCintPin@{PCintPort::PCintPin}!pinDataAlloc@{pinDataAlloc}|hyperpage}{35}
+\indexentry{pinDataAlloc@{pinDataAlloc}!PCintPort::PCintPin@{PCintPort::PCintPin}|hyperpage}{35}
+\indexentry{PCintPort@{PCintPort}|hyperpage}{36}
+\indexentry{PCintPort@{PCintPort}!addPin@{addPin}|hyperpage}{37}
+\indexentry{addPin@{addPin}!PCintPort@{PCintPort}|hyperpage}{37}
+\indexentry{PCintPort@{PCintPort}!attachInterrupt@{attachInterrupt}|hyperpage}{37}
+\indexentry{attachInterrupt@{attachInterrupt}!PCintPort@{PCintPort}|hyperpage}{37}
+\indexentry{PCintPort@{PCintPort}!delPin@{delPin}|hyperpage}{37}
+\indexentry{delPin@{delPin}!PCintPort@{PCintPort}|hyperpage}{37}
+\indexentry{PCintPort@{PCintPort}!detachInterrupt@{detachInterrupt}|hyperpage}{38}
+\indexentry{detachInterrupt@{detachInterrupt}!PCintPort@{PCintPort}|hyperpage}{38}
+\indexentry{PCintPort@{PCintPort}!PCint@{PCint}|hyperpage}{38}
+\indexentry{PCint@{PCint}!PCintPort@{PCintPort}|hyperpage}{38}
+\indexentry{PCintPort@{PCintPort}!PCICRbit@{PCICRbit}|hyperpage}{39}
+\indexentry{PCICRbit@{PCICRbit}!PCintPort@{PCintPort}|hyperpage}{39}
+\indexentry{PCintPort@{PCintPort}!PCintLast@{PCintLast}|hyperpage}{39}
+\indexentry{PCintLast@{PCintLast}!PCintPort@{PCintPort}|hyperpage}{39}
+\indexentry{PCintPort@{PCintPort}!pcIntPins@{pcIntPins}|hyperpage}{39}
+\indexentry{pcIntPins@{pcIntPins}!PCintPort@{PCintPort}|hyperpage}{39}
+\indexentry{PCintPort@{PCintPort}!pcIntPorts@{pcIntPorts}|hyperpage}{39}
+\indexentry{pcIntPorts@{pcIntPorts}!PCintPort@{PCintPort}|hyperpage}{39}
+\indexentry{PCintPort@{PCintPort}!pcmask@{pcmask}|hyperpage}{39}
+\indexentry{pcmask@{pcmask}!PCintPort@{PCintPort}|hyperpage}{39}
+\indexentry{PCintPort@{PCintPort}!portInputReg@{portInputReg}|hyperpage}{39}
+\indexentry{portInputReg@{portInputReg}!PCintPort@{PCintPort}|hyperpage}{39}
+\indexentry{PID@{PID}|hyperpage}{40}
+\indexentry{PID@{PID}!PID@{PID}|hyperpage}{41}
+\indexentry{PID@{PID}!PID@{PID}|hyperpage}{41}
+\indexentry{PID@{PID}!PID@{PID}|hyperpage}{41}
+\indexentry{PID@{PID}!PID@{PID}|hyperpage}{41}
+\indexentry{PID@{PID}!Compute@{Compute}|hyperpage}{42}
+\indexentry{Compute@{Compute}!PID@{PID}|hyperpage}{42}
+\indexentry{PID@{PID}!GetD\_Param@{GetD\_Param}|hyperpage}{42}
+\indexentry{GetD\_Param@{GetD\_Param}!PID@{PID}|hyperpage}{42}
+\indexentry{PID@{PID}!GetI\_Param@{GetI\_Param}|hyperpage}{42}
+\indexentry{GetI\_Param@{GetI\_Param}!PID@{PID}|hyperpage}{42}
+\indexentry{PID@{PID}!GetINMax@{GetINMax}|hyperpage}{42}
+\indexentry{GetINMax@{GetINMax}!PID@{PID}|hyperpage}{42}
+\indexentry{PID@{PID}!GetINMin@{GetINMin}|hyperpage}{42}
+\indexentry{GetINMin@{GetINMin}!PID@{PID}|hyperpage}{42}
+\indexentry{PID@{PID}!GetMode@{GetMode}|hyperpage}{42}
+\indexentry{GetMode@{GetMode}!PID@{PID}|hyperpage}{42}
+\indexentry{PID@{PID}!GetOUTMax@{GetOUTMax}|hyperpage}{43}
+\indexentry{GetOUTMax@{GetOUTMax}!PID@{PID}|hyperpage}{43}
+\indexentry{PID@{PID}!GetOUTMin@{GetOUTMin}|hyperpage}{43}
+\indexentry{GetOUTMin@{GetOUTMin}!PID@{PID}|hyperpage}{43}
+\indexentry{PID@{PID}!GetP\_Param@{GetP\_Param}|hyperpage}{43}
+\indexentry{GetP\_Param@{GetP\_Param}!PID@{PID}|hyperpage}{43}
+\indexentry{PID@{PID}!GetSampleTime@{GetSampleTime}|hyperpage}{43}
+\indexentry{GetSampleTime@{GetSampleTime}!PID@{PID}|hyperpage}{43}
+\indexentry{PID@{PID}!JustCalculated@{JustCalculated}|hyperpage}{43}
+\indexentry{JustCalculated@{JustCalculated}!PID@{PID}|hyperpage}{43}
+\indexentry{PID@{PID}!Reset@{Reset}|hyperpage}{43}
+\indexentry{Reset@{Reset}!PID@{PID}|hyperpage}{43}
+\indexentry{PID@{PID}!SetInputLimits@{SetInputLimits}|hyperpage}{44}
+\indexentry{SetInputLimits@{SetInputLimits}!PID@{PID}|hyperpage}{44}
+\indexentry{PID@{PID}!SetMode@{SetMode}|hyperpage}{44}
+\indexentry{SetMode@{SetMode}!PID@{PID}|hyperpage}{44}
+\indexentry{PID@{PID}!SetOutputLimits@{SetOutputLimits}|hyperpage}{44}
+\indexentry{SetOutputLimits@{SetOutputLimits}!PID@{PID}|hyperpage}{44}
+\indexentry{PID@{PID}!SetSampleTime@{SetSampleTime}|hyperpage}{45}
+\indexentry{SetSampleTime@{SetSampleTime}!PID@{PID}|hyperpage}{45}
+\indexentry{PID@{PID}!SetTunings@{SetTunings}|hyperpage}{45}
+\indexentry{SetTunings@{SetTunings}!PID@{PID}|hyperpage}{45}
+\indexentry{UARTCom@{UARTCom}|hyperpage}{46}
+\indexentry{UARTCom@{UARTCom}!init@{init}|hyperpage}{46}
+\indexentry{init@{init}!UARTCom@{UARTCom}|hyperpage}{46}
+\indexentry{UARTCom@{UARTCom}!read@{read}|hyperpage}{47}
+\indexentry{read@{read}!UARTCom@{UARTCom}|hyperpage}{47}
+\indexentry{UARTCom@{UARTCom}!send@{send}|hyperpage}{47}
+\indexentry{send@{send}!UARTCom@{UARTCom}|hyperpage}{47}
+\indexentry{UARTCom@{UARTCom}!data@{data}|hyperpage}{48}
+\indexentry{data@{data}!UARTCom@{UARTCom}|hyperpage}{48}
+\indexentry{UCommands@{UCommands}|hyperpage}{49}
+\indexentry{UCommands@{UCommands}!setPIDParameter@{setPIDParameter}|hyperpage}{49}
+\indexentry{setPIDParameter@{setPIDParameter}!UCommands@{UCommands}|hyperpage}{49}
+\indexentry{UCommands@{UCommands}!setSetpoint@{setSetpoint}|hyperpage}{50}
+\indexentry{setSetpoint@{setSetpoint}!UCommands@{UCommands}|hyperpage}{50}
+\indexentry{Utils@{Utils}|hyperpage}{51}
+\indexentry{Utils@{Utils}!bytesToFloat@{bytesToFloat}|hyperpage}{51}
+\indexentry{bytesToFloat@{bytesToFloat}!Utils@{Utils}|hyperpage}{51}
+\indexentry{Utils@{Utils}!bytesToInt@{bytesToInt}|hyperpage}{52}
+\indexentry{bytesToInt@{bytesToInt}!Utils@{Utils}|hyperpage}{52}
+\indexentry{UValue@{UValue}|hyperpage}{53}
+\indexentry{UValue@{UValue}!sendBothEncoderValues@{sendBothEncoderValues}|hyperpage}{53}
+\indexentry{sendBothEncoderValues@{sendBothEncoderValues}!UValue@{UValue}|hyperpage}{53}
+\indexentry{UValue@{UValue}!sendEncoderValue@{sendEncoderValue}|hyperpage}{54}
+\indexentry{sendEncoderValue@{sendEncoderValue}!UValue@{UValue}|hyperpage}{54}
+\indexentry{include/communication/UARTCom.hpp@{include/communication/UARTCom.hpp}|hyperpage}{57}
+\indexentry{include/communication/UCommands.hpp@{include/communication/UCommands.hpp}|hyperpage}{58}
+\indexentry{include/communication/UValue.hpp@{include/communication/UValue.hpp}|hyperpage}{59}
+\indexentry{include/constants.h@{include/constants.h}|hyperpage}{61}
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+\indexentry{constants.h@{constants.h}!COMMAND\_POS@{COMMAND\_POS}|hyperpage}{62}
+\indexentry{COMMAND\_POS@{COMMAND\_POS}!constants.h@{constants.h}|hyperpage}{62}
+\indexentry{constants.h@{constants.h}!COMPONENT\_ENDBIT@{COMPONENT\_ENDBIT}|hyperpage}{62}
+\indexentry{COMPONENT\_ENDBIT@{COMPONENT\_ENDBIT}!constants.h@{constants.h}|hyperpage}{62}
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+\indexentry{COMPONENT\_POS@{COMPONENT\_POS}!constants.h@{constants.h}|hyperpage}{63}
+\indexentry{constants.h@{constants.h}!COMPONENT\_STARTBIT@{COMPONENT\_STARTBIT}|hyperpage}{63}
+\indexentry{COMPONENT\_STARTBIT@{COMPONENT\_STARTBIT}!constants.h@{constants.h}|hyperpage}{63}
+\indexentry{constants.h@{constants.h}!COUNT\_PER\_ROTATION@{COUNT\_PER\_ROTATION}|hyperpage}{63}
+\indexentry{COUNT\_PER\_ROTATION@{COUNT\_PER\_ROTATION}!constants.h@{constants.h}|hyperpage}{63}
+\indexentry{constants.h@{constants.h}!CP\_ALL\_M\_BV@{CP\_ALL\_M\_BV}|hyperpage}{63}
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+\indexentry{constants.h@{constants.h}!CP\_DEFAULT\_BV@{CP\_DEFAULT\_BV}|hyperpage}{63}
+\indexentry{CP\_DEFAULT\_BV@{CP\_DEFAULT\_BV}!constants.h@{constants.h}|hyperpage}{63}
+\indexentry{constants.h@{constants.h}!CP\_LEFT\_M\_BV@{CP\_LEFT\_M\_BV}|hyperpage}{63}
+\indexentry{CP\_LEFT\_M\_BV@{CP\_LEFT\_M\_BV}!constants.h@{constants.h}|hyperpage}{63}
+\indexentry{constants.h@{constants.h}!CP\_RIGHT\_M\_BV@{CP\_RIGHT\_M\_BV}|hyperpage}{63}
+\indexentry{CP\_RIGHT\_M\_BV@{CP\_RIGHT\_M\_BV}!constants.h@{constants.h}|hyperpage}{63}
+\indexentry{constants.h@{constants.h}!ENC\_1\_A@{ENC\_1\_A}|hyperpage}{63}
+\indexentry{ENC\_1\_A@{ENC\_1\_A}!constants.h@{constants.h}|hyperpage}{63}
+\indexentry{constants.h@{constants.h}!ENC\_1\_B@{ENC\_1\_B}|hyperpage}{64}
+\indexentry{ENC\_1\_B@{ENC\_1\_B}!constants.h@{constants.h}|hyperpage}{64}
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+\indexentry{ENC\_2\_A@{ENC\_2\_A}!constants.h@{constants.h}|hyperpage}{64}
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+\indexentry{ENC\_2\_B@{ENC\_2\_B}!constants.h@{constants.h}|hyperpage}{64}
+\indexentry{constants.h@{constants.h}!FRAME\_TYPE\_ENDBIT@{FRAME\_TYPE\_ENDBIT}|hyperpage}{64}
+\indexentry{FRAME\_TYPE\_ENDBIT@{FRAME\_TYPE\_ENDBIT}!constants.h@{constants.h}|hyperpage}{64}
+\indexentry{constants.h@{constants.h}!FRAME\_TYPE\_POS@{FRAME\_TYPE\_POS}|hyperpage}{64}
+\indexentry{FRAME\_TYPE\_POS@{FRAME\_TYPE\_POS}!constants.h@{constants.h}|hyperpage}{64}
+\indexentry{constants.h@{constants.h}!FRAME\_TYPE\_STARTBIT@{FRAME\_TYPE\_STARTBIT}|hyperpage}{64}
+\indexentry{FRAME\_TYPE\_STARTBIT@{FRAME\_TYPE\_STARTBIT}!constants.h@{constants.h}|hyperpage}{64}
+\indexentry{constants.h@{constants.h}!FT\_REQUEST\_BV@{FT\_REQUEST\_BV}|hyperpage}{64}
+\indexentry{FT\_REQUEST\_BV@{FT\_REQUEST\_BV}!constants.h@{constants.h}|hyperpage}{64}
+\indexentry{constants.h@{constants.h}!FT\_RESPONSE\_BV@{FT\_RESPONSE\_BV}|hyperpage}{64}
+\indexentry{FT\_RESPONSE\_BV@{FT\_RESPONSE\_BV}!constants.h@{constants.h}|hyperpage}{64}
+\indexentry{constants.h@{constants.h}!FT\_VALUE\_BV@{FT\_VALUE\_BV}|hyperpage}{65}
+\indexentry{FT\_VALUE\_BV@{FT\_VALUE\_BV}!constants.h@{constants.h}|hyperpage}{65}
+\indexentry{constants.h@{constants.h}!KD\_1@{KD\_1}|hyperpage}{65}
+\indexentry{KD\_1@{KD\_1}!constants.h@{constants.h}|hyperpage}{65}
+\indexentry{constants.h@{constants.h}!KD\_2@{KD\_2}|hyperpage}{65}
+\indexentry{KD\_2@{KD\_2}!constants.h@{constants.h}|hyperpage}{65}
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+\indexentry{KI\_1@{KI\_1}!constants.h@{constants.h}|hyperpage}{65}
+\indexentry{constants.h@{constants.h}!KI\_2@{KI\_2}|hyperpage}{65}
+\indexentry{KI\_2@{KI\_2}!constants.h@{constants.h}|hyperpage}{65}
+\indexentry{constants.h@{constants.h}!KP\_1@{KP\_1}|hyperpage}{65}
+\indexentry{KP\_1@{KP\_1}!constants.h@{constants.h}|hyperpage}{65}
+\indexentry{constants.h@{constants.h}!KP\_2@{KP\_2}|hyperpage}{65}
+\indexentry{KP\_2@{KP\_2}!constants.h@{constants.h}|hyperpage}{65}
+\indexentry{constants.h@{constants.h}!LAST@{LAST}|hyperpage}{65}
+\indexentry{LAST@{LAST}!constants.h@{constants.h}|hyperpage}{65}
+\indexentry{constants.h@{constants.h}!M1\_DIR\_PIN@{M1\_DIR\_PIN}|hyperpage}{66}
+\indexentry{M1\_DIR\_PIN@{M1\_DIR\_PIN}!constants.h@{constants.h}|hyperpage}{66}
+\indexentry{constants.h@{constants.h}!M1\_EN\_PIN@{M1\_EN\_PIN}|hyperpage}{66}
+\indexentry{M1\_EN\_PIN@{M1\_EN\_PIN}!constants.h@{constants.h}|hyperpage}{66}
+\indexentry{constants.h@{constants.h}!M2\_DIR\_PIN@{M2\_DIR\_PIN}|hyperpage}{66}
+\indexentry{M2\_DIR\_PIN@{M2\_DIR\_PIN}!constants.h@{constants.h}|hyperpage}{66}
+\indexentry{constants.h@{constants.h}!M2\_EN\_PIN@{M2\_EN\_PIN}|hyperpage}{66}
+\indexentry{M2\_EN\_PIN@{M2\_EN\_PIN}!constants.h@{constants.h}|hyperpage}{66}
+\indexentry{constants.h@{constants.h}!MAX\_PACKET\_LENGTH@{MAX\_PACKET\_LENGTH}|hyperpage}{66}
+\indexentry{MAX\_PACKET\_LENGTH@{MAX\_PACKET\_LENGTH}!constants.h@{constants.h}|hyperpage}{66}
+\indexentry{constants.h@{constants.h}!MAX\_SPEED@{MAX\_SPEED}|hyperpage}{66}
+\indexentry{MAX\_SPEED@{MAX\_SPEED}!constants.h@{constants.h}|hyperpage}{66}
+\indexentry{constants.h@{constants.h}!MID@{MID}|hyperpage}{66}
+\indexentry{MID@{MID}!constants.h@{constants.h}|hyperpage}{66}
+\indexentry{constants.h@{constants.h}!NUM\_MOTORS@{NUM\_MOTORS}|hyperpage}{67}
+\indexentry{NUM\_MOTORS@{NUM\_MOTORS}!constants.h@{constants.h}|hyperpage}{67}
+\indexentry{constants.h@{constants.h}!P\_GAIN@{P\_GAIN}|hyperpage}{67}
+\indexentry{P\_GAIN@{P\_GAIN}!constants.h@{constants.h}|hyperpage}{67}
+\indexentry{constants.h@{constants.h}!PACKAGE\_LENGTH\_NO\_P@{PACKAGE\_LENGTH\_NO\_P}|hyperpage}{67}
+\indexentry{PACKAGE\_LENGTH\_NO\_P@{PACKAGE\_LENGTH\_NO\_P}!constants.h@{constants.h}|hyperpage}{67}
+\indexentry{constants.h@{constants.h}!PACKAGE\_PAUSE\_MS@{PACKAGE\_PAUSE\_MS}|hyperpage}{67}
+\indexentry{PACKAGE\_PAUSE\_MS@{PACKAGE\_PAUSE\_MS}!constants.h@{constants.h}|hyperpage}{67}
+\indexentry{constants.h@{constants.h}!PAYLOAD\_LENGTH\_POS@{PAYLOAD\_LENGTH\_POS}|hyperpage}{67}
+\indexentry{PAYLOAD\_LENGTH\_POS@{PAYLOAD\_LENGTH\_POS}!constants.h@{constants.h}|hyperpage}{67}
+\indexentry{constants.h@{constants.h}!PAYLOAD\_POS@{PAYLOAD\_POS}|hyperpage}{67}
+\indexentry{PAYLOAD\_POS@{PAYLOAD\_POS}!constants.h@{constants.h}|hyperpage}{67}
+\indexentry{constants.h@{constants.h}!PRINT\_RATE\_MS@{PRINT\_RATE\_MS}|hyperpage}{67}
+\indexentry{PRINT\_RATE\_MS@{PRINT\_RATE\_MS}!constants.h@{constants.h}|hyperpage}{67}
+\indexentry{constants.h@{constants.h}!REQUEST\_DRIVE\_MOTOR@{REQUEST\_DRIVE\_MOTOR}|hyperpage}{68}
+\indexentry{REQUEST\_DRIVE\_MOTOR@{REQUEST\_DRIVE\_MOTOR}!constants.h@{constants.h}|hyperpage}{68}
+\indexentry{constants.h@{constants.h}!REQUEST\_RESET\_TIMESTAMP@{REQUEST\_RESET\_TIMESTAMP}|hyperpage}{68}
+\indexentry{REQUEST\_RESET\_TIMESTAMP@{REQUEST\_RESET\_TIMESTAMP}!constants.h@{constants.h}|hyperpage}{68}
+\indexentry{constants.h@{constants.h}!RX\_328\_PIN@{RX\_328\_PIN}|hyperpage}{68}
+\indexentry{RX\_328\_PIN@{RX\_328\_PIN}!constants.h@{constants.h}|hyperpage}{68}
+\indexentry{constants.h@{constants.h}!SPEED\_THRESHOLD@{SPEED\_THRESHOLD}|hyperpage}{68}
+\indexentry{SPEED\_THRESHOLD@{SPEED\_THRESHOLD}!constants.h@{constants.h}|hyperpage}{68}
+\indexentry{constants.h@{constants.h}!START\_BYTE@{START\_BYTE}|hyperpage}{68}
+\indexentry{START\_BYTE@{START\_BYTE}!constants.h@{constants.h}|hyperpage}{68}
+\indexentry{constants.h@{constants.h}!START\_BYTE\_POS@{START\_BYTE\_POS}|hyperpage}{68}
+\indexentry{START\_BYTE\_POS@{START\_BYTE\_POS}!constants.h@{constants.h}|hyperpage}{68}
+\indexentry{constants.h@{constants.h}!TIMESTAMP\_POS@{TIMESTAMP\_POS}|hyperpage}{68}
+\indexentry{TIMESTAMP\_POS@{TIMESTAMP\_POS}!constants.h@{constants.h}|hyperpage}{68}
+\indexentry{constants.h@{constants.h}!TX\_328\_PIN@{TX\_328\_PIN}|hyperpage}{68}
+\indexentry{TX\_328\_PIN@{TX\_328\_PIN}!constants.h@{constants.h}|hyperpage}{68}
+\indexentry{constants.h@{constants.h}!UART\_BAUD\_RATE@{UART\_BAUD\_RATE}|hyperpage}{69}
+\indexentry{UART\_BAUD\_RATE@{UART\_BAUD\_RATE}!constants.h@{constants.h}|hyperpage}{69}
+\indexentry{constants.h@{constants.h}!UART\_TRANSMIT\_MS@{UART\_TRANSMIT\_MS}|hyperpage}{69}
+\indexentry{UART\_TRANSMIT\_MS@{UART\_TRANSMIT\_MS}!constants.h@{constants.h}|hyperpage}{69}
+\indexentry{constants.h@{constants.h}!VEL2TORQUE\_RATIO@{VEL2TORQUE\_RATIO}|hyperpage}{69}
+\indexentry{VEL2TORQUE\_RATIO@{VEL2TORQUE\_RATIO}!constants.h@{constants.h}|hyperpage}{69}
+\indexentry{constants.h@{constants.h}!VEL\_UPDATE\_RATE\_MS@{VEL\_UPDATE\_RATE\_MS}|hyperpage}{69}
+\indexentry{VEL\_UPDATE\_RATE\_MS@{VEL\_UPDATE\_RATE\_MS}!constants.h@{constants.h}|hyperpage}{69}
+\indexentry{constants.h@{constants.h}!U\_Component@{U\_Component}|hyperpage}{69}
+\indexentry{U\_Component@{U\_Component}!constants.h@{constants.h}|hyperpage}{69}
+\indexentry{constants.h@{constants.h}!U\_FrameType@{U\_FrameType}|hyperpage}{69}
+\indexentry{U\_FrameType@{U\_FrameType}!constants.h@{constants.h}|hyperpage}{69}
+\indexentry{constants.h@{constants.h}!U\_Request@{U\_Request}|hyperpage}{69}
+\indexentry{U\_Request@{U\_Request}!constants.h@{constants.h}|hyperpage}{69}
+\indexentry{constants.h@{constants.h}!components@{components}|hyperpage}{69}
+\indexentry{components@{components}!constants.h@{constants.h}|hyperpage}{69}
+\indexentry{DEFAULT\_COMPONENT@{DEFAULT\_COMPONENT}!constants.h@{constants.h}|hyperpage}{70}
+\indexentry{constants.h@{constants.h}!DEFAULT\_COMPONENT@{DEFAULT\_COMPONENT}|hyperpage}{70}
+\indexentry{LEFT\_MOTOR@{LEFT\_MOTOR}!constants.h@{constants.h}|hyperpage}{70}
+\indexentry{constants.h@{constants.h}!LEFT\_MOTOR@{LEFT\_MOTOR}|hyperpage}{70}
+\indexentry{RIGHT\_MOTOR@{RIGHT\_MOTOR}!constants.h@{constants.h}|hyperpage}{70}
+\indexentry{constants.h@{constants.h}!RIGHT\_MOTOR@{RIGHT\_MOTOR}|hyperpage}{70}
+\indexentry{ALL\_MOTORS@{ALL\_MOTORS}!constants.h@{constants.h}|hyperpage}{70}
+\indexentry{constants.h@{constants.h}!ALL\_MOTORS@{ALL\_MOTORS}|hyperpage}{70}
+\indexentry{constants.h@{constants.h}!frametypes@{frametypes}|hyperpage}{70}
+\indexentry{frametypes@{frametypes}!constants.h@{constants.h}|hyperpage}{70}
+\indexentry{VALUE@{VALUE}!constants.h@{constants.h}|hyperpage}{70}
+\indexentry{constants.h@{constants.h}!VALUE@{VALUE}|hyperpage}{70}
+\indexentry{REQUEST@{REQUEST}!constants.h@{constants.h}|hyperpage}{70}
+\indexentry{constants.h@{constants.h}!REQUEST@{REQUEST}|hyperpage}{70}
+\indexentry{RESPONSE@{RESPONSE}!constants.h@{constants.h}|hyperpage}{70}
+\indexentry{constants.h@{constants.h}!RESPONSE@{RESPONSE}|hyperpage}{70}
+\indexentry{constants.h@{constants.h}!requests@{requests}|hyperpage}{70}
+\indexentry{requests@{requests}!constants.h@{constants.h}|hyperpage}{70}
+\indexentry{DEFAULT\_REQUEST@{DEFAULT\_REQUEST}!constants.h@{constants.h}|hyperpage}{70}
+\indexentry{constants.h@{constants.h}!DEFAULT\_REQUEST@{DEFAULT\_REQUEST}|hyperpage}{70}
+\indexentry{DRIVE\_MOTOR@{DRIVE\_MOTOR}!constants.h@{constants.h}|hyperpage}{70}
+\indexentry{constants.h@{constants.h}!DRIVE\_MOTOR@{DRIVE\_MOTOR}|hyperpage}{70}
+\indexentry{RESET\_TIMESTAMP@{RESET\_TIMESTAMP}!constants.h@{constants.h}|hyperpage}{70}
+\indexentry{constants.h@{constants.h}!RESET\_TIMESTAMP@{RESET\_TIMESTAMP}|hyperpage}{70}
+\indexentry{DRIVE\_ENCODER@{DRIVE\_ENCODER}!constants.h@{constants.h}|hyperpage}{70}
+\indexentry{constants.h@{constants.h}!DRIVE\_ENCODER@{DRIVE\_ENCODER}|hyperpage}{70}
+\indexentry{PID\_PARAMETER@{PID\_PARAMETER}!constants.h@{constants.h}|hyperpage}{70}
+\indexentry{constants.h@{constants.h}!PID\_PARAMETER@{PID\_PARAMETER}|hyperpage}{70}
+\indexentry{include/misc/Utils.hpp@{include/misc/Utils.hpp}|hyperpage}{70}
+\indexentry{lib/MotorWheel/MotorWheel.cpp@{lib/MotorWheel/MotorWheel.cpp}|hyperpage}{72}
+\indexentry{lib/MotorWheel/MotorWheel.h@{lib/MotorWheel/MotorWheel.h}|hyperpage}{72}
+\indexentry{MotorWheel.h@{MotorWheel.h}!Baudrate@{Baudrate}|hyperpage}{73}
+\indexentry{Baudrate@{Baudrate}!MotorWheel.h@{MotorWheel.h}|hyperpage}{73}
+\indexentry{MotorWheel.h@{MotorWheel.h}!CIRMM@{CIRMM}|hyperpage}{73}
+\indexentry{CIRMM@{CIRMM}!MotorWheel.h@{MotorWheel.h}|hyperpage}{73}
+\indexentry{MotorWheel.h@{MotorWheel.h}!CPR@{CPR}|hyperpage}{74}
+\indexentry{CPR@{CPR}!MotorWheel.h@{MotorWheel.h}|hyperpage}{74}
+\indexentry{MotorWheel.h@{MotorWheel.h}!debug@{debug}|hyperpage}{74}
+\indexentry{debug@{debug}!MotorWheel.h@{MotorWheel.h}|hyperpage}{74}
+\indexentry{MotorWheel.h@{MotorWheel.h}!DIR\_ADVANCE@{DIR\_ADVANCE}|hyperpage}{74}
+\indexentry{DIR\_ADVANCE@{DIR\_ADVANCE}!MotorWheel.h@{MotorWheel.h}|hyperpage}{74}
+\indexentry{MotorWheel.h@{MotorWheel.h}!DIR\_BACKOFF@{DIR\_BACKOFF}|hyperpage}{74}
+\indexentry{DIR\_BACKOFF@{DIR\_BACKOFF}!MotorWheel.h@{MotorWheel.h}|hyperpage}{74}
+\indexentry{MotorWheel.h@{MotorWheel.h}!DIR\_INVERSE@{DIR\_INVERSE}|hyperpage}{74}
+\indexentry{DIR\_INVERSE@{DIR\_INVERSE}!MotorWheel.h@{MotorWheel.h}|hyperpage}{74}
+\indexentry{MotorWheel.h@{MotorWheel.h}!irqISR@{irqISR}|hyperpage}{74}
+\indexentry{irqISR@{irqISR}!MotorWheel.h@{MotorWheel.h}|hyperpage}{74}
+\indexentry{MotorWheel.h@{MotorWheel.h}!KC@{KC}|hyperpage}{74}
+\indexentry{KC@{KC}!MotorWheel.h@{MotorWheel.h}|hyperpage}{74}
+\indexentry{MotorWheel.h@{MotorWheel.h}!MAX\_PWM@{MAX\_PWM}|hyperpage}{75}
+\indexentry{MAX\_PWM@{MAX\_PWM}!MotorWheel.h@{MotorWheel.h}|hyperpage}{75}
+\indexentry{MotorWheel.h@{MotorWheel.h}!MAX\_SPEEDRPM@{MAX\_SPEEDRPM}|hyperpage}{75}
+\indexentry{MAX\_SPEEDRPM@{MAX\_SPEEDRPM}!MotorWheel.h@{MotorWheel.h}|hyperpage}{75}
+\indexentry{MotorWheel.h@{MotorWheel.h}!MICROS\_PER\_SEC@{MICROS\_PER\_SEC}|hyperpage}{75}
+\indexentry{MICROS\_PER\_SEC@{MICROS\_PER\_SEC}!MotorWheel.h@{MotorWheel.h}|hyperpage}{75}
+\indexentry{MotorWheel.h@{MotorWheel.h}!PI@{PI}|hyperpage}{75}
+\indexentry{PI@{PI}!MotorWheel.h@{MotorWheel.h}|hyperpage}{75}
+\indexentry{MotorWheel.h@{MotorWheel.h}!PIN\_UNDEFINED@{PIN\_UNDEFINED}|hyperpage}{75}
+\indexentry{PIN\_UNDEFINED@{PIN\_UNDEFINED}!MotorWheel.h@{MotorWheel.h}|hyperpage}{75}
+\indexentry{MotorWheel.h@{MotorWheel.h}!REDUCTION\_RATIO@{REDUCTION\_RATIO}|hyperpage}{75}
+\indexentry{REDUCTION\_RATIO@{REDUCTION\_RATIO}!MotorWheel.h@{MotorWheel.h}|hyperpage}{75}
+\indexentry{MotorWheel.h@{MotorWheel.h}!REF\_VOLT@{REF\_VOLT}|hyperpage}{75}
+\indexentry{REF\_VOLT@{REF\_VOLT}!MotorWheel.h@{MotorWheel.h}|hyperpage}{75}
+\indexentry{MotorWheel.h@{MotorWheel.h}!SAMPLETIME@{SAMPLETIME}|hyperpage}{75}
+\indexentry{SAMPLETIME@{SAMPLETIME}!MotorWheel.h@{MotorWheel.h}|hyperpage}{75}
+\indexentry{MotorWheel.h@{MotorWheel.h}!SEC\_PER\_MIN@{SEC\_PER\_MIN}|hyperpage}{76}
+\indexentry{SEC\_PER\_MIN@{SEC\_PER\_MIN}!MotorWheel.h@{MotorWheel.h}|hyperpage}{76}
+\indexentry{MotorWheel.h@{MotorWheel.h}!SPEEDPPS2SPEEDRPM@{SPEEDPPS2SPEEDRPM}|hyperpage}{76}
+\indexentry{SPEEDPPS2SPEEDRPM@{SPEEDPPS2SPEEDRPM}!MotorWheel.h@{MotorWheel.h}|hyperpage}{76}
+\indexentry{MotorWheel.h@{MotorWheel.h}!TAUD@{TAUD}|hyperpage}{76}
+\indexentry{TAUD@{TAUD}!MotorWheel.h@{MotorWheel.h}|hyperpage}{76}
+\indexentry{MotorWheel.h@{MotorWheel.h}!TAUI@{TAUI}|hyperpage}{76}
+\indexentry{TAUI@{TAUI}!MotorWheel.h@{MotorWheel.h}|hyperpage}{76}
+\indexentry{MotorWheel.h@{MotorWheel.h}!TRIGGER@{TRIGGER}|hyperpage}{76}
+\indexentry{TRIGGER@{TRIGGER}!MotorWheel.h@{MotorWheel.h}|hyperpage}{76}
+\indexentry{lib/PID\_Beta6/fuzzy\_table.h@{lib/PID\_Beta6/fuzzy\_table.h}|hyperpage}{76}
+\indexentry{lib/PID\_Beta6/PID\_Beta6.cpp@{lib/PID\_Beta6/PID\_Beta6.cpp}|hyperpage}{77}
+\indexentry{lib/PID\_Beta6/PID\_Beta6.h@{lib/PID\_Beta6/PID\_Beta6.h}|hyperpage}{77}
+\indexentry{PID\_Beta6.h@{PID\_Beta6.h}!AUTO@{AUTO}|hyperpage}{77}
+\indexentry{AUTO@{AUTO}!PID\_Beta6.h@{PID\_Beta6.h}|hyperpage}{77}
+\indexentry{PID\_Beta6.h@{PID\_Beta6.h}!LIBRARY\_VERSION@{LIBRARY\_VERSION}|hyperpage}{78}
+\indexentry{LIBRARY\_VERSION@{LIBRARY\_VERSION}!PID\_Beta6.h@{PID\_Beta6.h}|hyperpage}{78}
+\indexentry{PID\_Beta6.h@{PID\_Beta6.h}!MANUAL@{MANUAL}|hyperpage}{78}
+\indexentry{MANUAL@{MANUAL}!PID\_Beta6.h@{PID\_Beta6.h}|hyperpage}{78}
+\indexentry{lib/PinChangeInt/PinChangeInt.cpp@{lib/PinChangeInt/PinChangeInt.cpp}|hyperpage}{78}
+\indexentry{PinChangeInt.cpp@{PinChangeInt.cpp}!ISR@{ISR}|hyperpage}{78}
+\indexentry{ISR@{ISR}!PinChangeInt.cpp@{PinChangeInt.cpp}|hyperpage}{78}
+\indexentry{PinChangeInt.cpp@{PinChangeInt.cpp}!ISR@{ISR}|hyperpage}{79}
+\indexentry{ISR@{ISR}!PinChangeInt.cpp@{PinChangeInt.cpp}|hyperpage}{79}
+\indexentry{PinChangeInt.cpp@{PinChangeInt.cpp}!ISR@{ISR}|hyperpage}{79}
+\indexentry{ISR@{ISR}!PinChangeInt.cpp@{PinChangeInt.cpp}|hyperpage}{79}
+\indexentry{lib/PinChangeInt/PinChangeInt.h@{lib/PinChangeInt/PinChangeInt.h}|hyperpage}{80}
+\indexentry{PinChangeInt.h@{PinChangeInt.h}!INLINE\_PCINT@{INLINE\_PCINT}|hyperpage}{81}
+\indexentry{INLINE\_PCINT@{INLINE\_PCINT}!PinChangeInt.h@{PinChangeInt.h}|hyperpage}{81}
+\indexentry{PinChangeInt.h@{PinChangeInt.h}!MAX\_PIN\_CHANGE\_PINS@{MAX\_PIN\_CHANGE\_PINS}|hyperpage}{81}
+\indexentry{MAX\_PIN\_CHANGE\_PINS@{MAX\_PIN\_CHANGE\_PINS}!PinChangeInt.h@{PinChangeInt.h}|hyperpage}{81}
+\indexentry{PinChangeInt.h@{PinChangeInt.h}!PCattachInterrupt@{PCattachInterrupt}|hyperpage}{81}
+\indexentry{PCattachInterrupt@{PCattachInterrupt}!PinChangeInt.h@{PinChangeInt.h}|hyperpage}{81}
+\indexentry{PinChangeInt.h@{PinChangeInt.h}!PCdetachInterrupt@{PCdetachInterrupt}|hyperpage}{81}
+\indexentry{PCdetachInterrupt@{PCdetachInterrupt}!PinChangeInt.h@{PinChangeInt.h}|hyperpage}{81}
+\indexentry{PinChangeInt.h@{PinChangeInt.h}!PCIntvoidFuncPtr@{PCIntvoidFuncPtr}|hyperpage}{81}
+\indexentry{PCIntvoidFuncPtr@{PCIntvoidFuncPtr}!PinChangeInt.h@{PinChangeInt.h}|hyperpage}{81}
+\indexentry{lib/PinChangeInt/PinChangeIntConfig.h@{lib/PinChangeInt/PinChangeIntConfig.h}|hyperpage}{82}
+\indexentry{src/communication/UARTCom.cpp@{src/communication/UARTCom.cpp}|hyperpage}{82}
+\indexentry{UARTCom.cpp@{UARTCom.cpp}!clearPackage@{clearPackage}|hyperpage}{83}
+\indexentry{clearPackage@{clearPackage}!UARTCom.cpp@{UARTCom.cpp}|hyperpage}{83}
+\indexentry{UARTCom.cpp@{UARTCom.cpp}!computeChecksum@{computeChecksum}|hyperpage}{84}
+\indexentry{computeChecksum@{computeChecksum}!UARTCom.cpp@{UARTCom.cpp}|hyperpage}{84}
+\indexentry{UARTCom.cpp@{UARTCom.cpp}!correctChecksum@{correctChecksum}|hyperpage}{84}
+\indexentry{correctChecksum@{correctChecksum}!UARTCom.cpp@{UARTCom.cpp}|hyperpage}{84}
+\indexentry{UARTCom.cpp@{UARTCom.cpp}!fromComponent@{fromComponent}|hyperpage}{85}
+\indexentry{fromComponent@{fromComponent}!UARTCom.cpp@{UARTCom.cpp}|hyperpage}{85}
+\indexentry{UARTCom.cpp@{UARTCom.cpp}!fromFrameType@{fromFrameType}|hyperpage}{85}
+\indexentry{fromFrameType@{fromFrameType}!UARTCom.cpp@{UARTCom.cpp}|hyperpage}{85}
+\indexentry{UARTCom.cpp@{UARTCom.cpp}!handlePackage@{handlePackage}|hyperpage}{86}
+\indexentry{handlePackage@{handlePackage}!UARTCom.cpp@{UARTCom.cpp}|hyperpage}{86}
+\indexentry{UARTCom.cpp@{UARTCom.cpp}!handleRequest@{handleRequest}|hyperpage}{87}
+\indexentry{handleRequest@{handleRequest}!UARTCom.cpp@{UARTCom.cpp}|hyperpage}{87}
+\indexentry{UARTCom.cpp@{UARTCom.cpp}!parseComponent@{parseComponent}|hyperpage}{87}
+\indexentry{parseComponent@{parseComponent}!UARTCom.cpp@{UARTCom.cpp}|hyperpage}{87}
+\indexentry{UARTCom.cpp@{UARTCom.cpp}!parseFrameType@{parseFrameType}|hyperpage}{88}
+\indexentry{parseFrameType@{parseFrameType}!UARTCom.cpp@{UARTCom.cpp}|hyperpage}{88}
+\indexentry{UARTCom.cpp@{UARTCom.cpp}!parseRequest@{parseRequest}|hyperpage}{88}
+\indexentry{parseRequest@{parseRequest}!UARTCom.cpp@{UARTCom.cpp}|hyperpage}{88}
+\indexentry{UARTCom.cpp@{UARTCom.cpp}!parseTimestamp@{parseTimestamp}|hyperpage}{89}
+\indexentry{parseTimestamp@{parseTimestamp}!UARTCom.cpp@{UARTCom.cpp}|hyperpage}{89}
+\indexentry{UARTCom.cpp@{UARTCom.cpp}!showPackage@{showPackage}|hyperpage}{90}
+\indexentry{showPackage@{showPackage}!UARTCom.cpp@{UARTCom.cpp}|hyperpage}{90}
+\indexentry{UARTCom.cpp@{UARTCom.cpp}!currentParseIndex@{currentParseIndex}|hyperpage}{90}
+\indexentry{currentParseIndex@{currentParseIndex}!UARTCom.cpp@{UARTCom.cpp}|hyperpage}{90}
+\indexentry{UARTCom.cpp@{UARTCom.cpp}!currentTimestamp@{currentTimestamp}|hyperpage}{90}
+\indexentry{currentTimestamp@{currentTimestamp}!UARTCom.cpp@{UARTCom.cpp}|hyperpage}{90}
+\indexentry{UARTCom.cpp@{UARTCom.cpp}!payloadLength@{payloadLength}|hyperpage}{90}
+\indexentry{payloadLength@{payloadLength}!UARTCom.cpp@{UARTCom.cpp}|hyperpage}{90}
+\indexentry{UARTCom.cpp@{UARTCom.cpp}!wheelLeft@{wheelLeft}|hyperpage}{90}
+\indexentry{wheelLeft@{wheelLeft}!UARTCom.cpp@{UARTCom.cpp}|hyperpage}{90}
+\indexentry{UARTCom.cpp@{UARTCom.cpp}!wheelRight@{wheelRight}|hyperpage}{91}
+\indexentry{wheelRight@{wheelRight}!UARTCom.cpp@{UARTCom.cpp}|hyperpage}{91}
+\indexentry{src/communication/UCommands.cpp@{src/communication/UCommands.cpp}|hyperpage}{91}
+\indexentry{UCommands.cpp@{UCommands.cpp}!wheelLeft@{wheelLeft}|hyperpage}{91}
+\indexentry{wheelLeft@{wheelLeft}!UCommands.cpp@{UCommands.cpp}|hyperpage}{91}
+\indexentry{UCommands.cpp@{UCommands.cpp}!wheelRight@{wheelRight}|hyperpage}{91}
+\indexentry{wheelRight@{wheelRight}!UCommands.cpp@{UCommands.cpp}|hyperpage}{91}
+\indexentry{src/communication/UValue.cpp@{src/communication/UValue.cpp}|hyperpage}{92}
+\indexentry{src/main.cpp@{src/main.cpp}|hyperpage}{92}
+\indexentry{main.cpp@{main.cpp}!MICROS\_PER\_SEC@{MICROS\_PER\_SEC}|hyperpage}{93}
+\indexentry{MICROS\_PER\_SEC@{MICROS\_PER\_SEC}!main.cpp@{main.cpp}|hyperpage}{93}
+\indexentry{main.cpp@{main.cpp}!irqISR@{irqISR}|hyperpage}{93}
+\indexentry{irqISR@{irqISR}!main.cpp@{main.cpp}|hyperpage}{93}
+\indexentry{main.cpp@{main.cpp}!irqISR@{irqISR}|hyperpage}{93}
+\indexentry{irqISR@{irqISR}!main.cpp@{main.cpp}|hyperpage}{93}
+\indexentry{main.cpp@{main.cpp}!loop@{loop}|hyperpage}{93}
+\indexentry{loop@{loop}!main.cpp@{main.cpp}|hyperpage}{93}
+\indexentry{main.cpp@{main.cpp}!setup@{setup}|hyperpage}{94}
+\indexentry{setup@{setup}!main.cpp@{main.cpp}|hyperpage}{94}
+\indexentry{main.cpp@{main.cpp}!controlTimer@{controlTimer}|hyperpage}{94}
+\indexentry{controlTimer@{controlTimer}!main.cpp@{main.cpp}|hyperpage}{94}
+\indexentry{main.cpp@{main.cpp}!speed@{speed}|hyperpage}{94}
+\indexentry{speed@{speed}!main.cpp@{main.cpp}|hyperpage}{94}
+\indexentry{main.cpp@{main.cpp}!uartTransmitTimer@{uartTransmitTimer}|hyperpage}{95}
+\indexentry{uartTransmitTimer@{uartTransmitTimer}!main.cpp@{main.cpp}|hyperpage}{95}
+\indexentry{main.cpp@{main.cpp}!wheelLeft@{wheelLeft}|hyperpage}{95}
+\indexentry{wheelLeft@{wheelLeft}!main.cpp@{main.cpp}|hyperpage}{95}
+\indexentry{main.cpp@{main.cpp}!wheelRight@{wheelRight}|hyperpage}{95}
+\indexentry{wheelRight@{wheelRight}!main.cpp@{main.cpp}|hyperpage}{95}
+\indexentry{src/misc/Utils.cpp@{src/misc/Utils.cpp}|hyperpage}{95}
diff --git a/src/dcaitirobot/embedded/docs/latex/refman.ilg b/src/dcaitirobot/embedded/docs/latex/refman.ilg
new file mode 100644
index 0000000..e10019a
--- /dev/null
+++ b/src/dcaitirobot/embedded/docs/latex/refman.ilg
@@ -0,0 +1,6 @@
+This is makeindex, version 2.15 [TeX Live 2022/dev] (kpathsea + Thai support).
+Scanning input file refman.idx....done (501 entries accepted, 0 rejected).
+Sorting entries.......done (5022 comparisons).
+Generating output file refman.ind....done (771 lines written, 0 warnings).
+Output written in refman.ind.
+Transcript written in refman.ilg.
diff --git a/src/dcaitirobot/embedded/docs/latex/refman.ind b/src/dcaitirobot/embedded/docs/latex/refman.ind
new file mode 100644
index 0000000..32a871d
--- /dev/null
+++ b/src/dcaitirobot/embedded/docs/latex/refman.ind
@@ -0,0 +1,771 @@
+\begin{theindex}
+
+  \item {addPin}
+    \subitem {PCintPort}, \hyperpage{37}
+  \item {advancePWM}
+    \subitem {Motor}, \hyperpage{15}
+  \item {ALL\_MOTORS}
+    \subitem {constants.h}, \hyperpage{70}
+  \item {attachInterrupt}
+    \subitem {PCintPort}, \hyperpage{37}
+  \item {AUTO}
+    \subitem {PID\_Beta6.h}, \hyperpage{77}
+
+  \indexspace
+
+  \item {backoffPWM}
+    \subitem {Motor}, \hyperpage{15}
+  \item {Baudrate}
+    \subitem {MotorWheel.h}, \hyperpage{73}
+  \item {bytesToFloat}
+    \subitem {Utils}, \hyperpage{51}
+  \item {bytesToInt}
+    \subitem {Utils}, \hyperpage{52}
+
+  \indexspace
+
+  \item {CHAIN\_LENGTH\_M}
+    \subitem {constants.h}, \hyperpage{62}
+  \item {CIRMM}
+    \subitem {MotorWheel.h}, \hyperpage{73}
+  \item {clearPackage}
+    \subitem {UARTCom.cpp}, \hyperpage{83}
+  \item {COMMAND\_POS}
+    \subitem {constants.h}, \hyperpage{62}
+  \item {COMPONENT\_ENDBIT}
+    \subitem {constants.h}, \hyperpage{62}
+  \item {COMPONENT\_POS}
+    \subitem {constants.h}, \hyperpage{63}
+  \item {COMPONENT\_STARTBIT}
+    \subitem {constants.h}, \hyperpage{63}
+  \item {components}
+    \subitem {constants.h}, \hyperpage{69}
+  \item {Compute}
+    \subitem {PID}, \hyperpage{42}
+  \item {computeChecksum}
+    \subitem {UARTCom.cpp}, \hyperpage{84}
+  \item {constants.h}
+    \subitem {ALL\_MOTORS}, \hyperpage{70}
+    \subitem {CHAIN\_LENGTH\_M}, \hyperpage{62}
+    \subitem {COMMAND\_POS}, \hyperpage{62}
+    \subitem {COMPONENT\_ENDBIT}, \hyperpage{62}
+    \subitem {COMPONENT\_POS}, \hyperpage{63}
+    \subitem {COMPONENT\_STARTBIT}, \hyperpage{63}
+    \subitem {components}, \hyperpage{69}
+    \subitem {COUNT\_PER\_ROTATION}, \hyperpage{63}
+    \subitem {CP\_ALL\_M\_BV}, \hyperpage{63}
+    \subitem {CP\_DEFAULT\_BV}, \hyperpage{63}
+    \subitem {CP\_LEFT\_M\_BV}, \hyperpage{63}
+    \subitem {CP\_RIGHT\_M\_BV}, \hyperpage{63}
+    \subitem {DEFAULT\_COMPONENT}, \hyperpage{70}
+    \subitem {DEFAULT\_REQUEST}, \hyperpage{70}
+    \subitem {DRIVE\_ENCODER}, \hyperpage{70}
+    \subitem {DRIVE\_MOTOR}, \hyperpage{70}
+    \subitem {ENC\_1\_A}, \hyperpage{63}
+    \subitem {ENC\_1\_B}, \hyperpage{64}
+    \subitem {ENC\_2\_A}, \hyperpage{64}
+    \subitem {ENC\_2\_B}, \hyperpage{64}
+    \subitem {FRAME\_TYPE\_ENDBIT}, \hyperpage{64}
+    \subitem {FRAME\_TYPE\_POS}, \hyperpage{64}
+    \subitem {FRAME\_TYPE\_STARTBIT}, \hyperpage{64}
+    \subitem {frametypes}, \hyperpage{70}
+    \subitem {FT\_REQUEST\_BV}, \hyperpage{64}
+    \subitem {FT\_RESPONSE\_BV}, \hyperpage{64}
+    \subitem {FT\_VALUE\_BV}, \hyperpage{65}
+    \subitem {KD\_1}, \hyperpage{65}
+    \subitem {KD\_2}, \hyperpage{65}
+    \subitem {KI\_1}, \hyperpage{65}
+    \subitem {KI\_2}, \hyperpage{65}
+    \subitem {KP\_1}, \hyperpage{65}
+    \subitem {KP\_2}, \hyperpage{65}
+    \subitem {LAST}, \hyperpage{65}
+    \subitem {LEFT\_MOTOR}, \hyperpage{70}
+    \subitem {M1\_DIR\_PIN}, \hyperpage{66}
+    \subitem {M1\_EN\_PIN}, \hyperpage{66}
+    \subitem {M2\_DIR\_PIN}, \hyperpage{66}
+    \subitem {M2\_EN\_PIN}, \hyperpage{66}
+    \subitem {MAX\_PACKET\_LENGTH}, \hyperpage{66}
+    \subitem {MAX\_SPEED}, \hyperpage{66}
+    \subitem {MID}, \hyperpage{66}
+    \subitem {NUM\_MOTORS}, \hyperpage{67}
+    \subitem {P\_GAIN}, \hyperpage{67}
+    \subitem {PACKAGE\_LENGTH\_NO\_P}, \hyperpage{67}
+    \subitem {PACKAGE\_PAUSE\_MS}, \hyperpage{67}
+    \subitem {PAYLOAD\_LENGTH\_POS}, \hyperpage{67}
+    \subitem {PAYLOAD\_POS}, \hyperpage{67}
+    \subitem {PID\_PARAMETER}, \hyperpage{70}
+    \subitem {PRINT\_RATE\_MS}, \hyperpage{67}
+    \subitem {REQUEST}, \hyperpage{70}
+    \subitem {REQUEST\_DRIVE\_MOTOR}, \hyperpage{68}
+    \subitem {REQUEST\_RESET\_TIMESTAMP}, \hyperpage{68}
+    \subitem {requests}, \hyperpage{70}
+    \subitem {RESET\_TIMESTAMP}, \hyperpage{70}
+    \subitem {RESPONSE}, \hyperpage{70}
+    \subitem {RIGHT\_MOTOR}, \hyperpage{70}
+    \subitem {RX\_328\_PIN}, \hyperpage{68}
+    \subitem {SPEED\_THRESHOLD}, \hyperpage{68}
+    \subitem {START\_BYTE}, \hyperpage{68}
+    \subitem {START\_BYTE\_POS}, \hyperpage{68}
+    \subitem {TIMESTAMP\_POS}, \hyperpage{68}
+    \subitem {TX\_328\_PIN}, \hyperpage{68}
+    \subitem {U\_Component}, \hyperpage{69}
+    \subitem {U\_FrameType}, \hyperpage{69}
+    \subitem {U\_Request}, \hyperpage{69}
+    \subitem {UART\_BAUD\_RATE}, \hyperpage{69}
+    \subitem {UART\_TRANSMIT\_MS}, \hyperpage{69}
+    \subitem {VALUE}, \hyperpage{70}
+    \subitem {VEL2TORQUE\_RATIO}, \hyperpage{69}
+    \subitem {VEL\_UPDATE\_RATE\_MS}, \hyperpage{69}
+  \item {controlTimer}
+    \subitem {main.cpp}, \hyperpage{94}
+  \item {correctChecksum}
+    \subitem {UARTCom.cpp}, \hyperpage{84}
+  \item {COUNT\_PER\_ROTATION}
+    \subitem {constants.h}, \hyperpage{63}
+  \item {CP\_ALL\_M\_BV}
+    \subitem {constants.h}, \hyperpage{63}
+  \item {CP\_DEFAULT\_BV}
+    \subitem {constants.h}, \hyperpage{63}
+  \item {CP\_LEFT\_M\_BV}
+    \subitem {constants.h}, \hyperpage{63}
+  \item {CP\_RIGHT\_M\_BV}
+    \subitem {constants.h}, \hyperpage{63}
+  \item {CPR}
+    \subitem {MotorWheel.h}, \hyperpage{74}
+  \item {currDirection}
+    \subitem {ISRVars}, \hyperpage{11}
+  \item {currentParseIndex}
+    \subitem {UARTCom.cpp}, \hyperpage{90}
+  \item {currentTimestamp}
+    \subitem {UARTCom.cpp}, \hyperpage{90}
+
+  \indexspace
+
+  \item {data}
+    \subitem {UARTCom}, \hyperpage{48}
+  \item {debug}
+    \subitem {MotorWheel.h}, \hyperpage{74}
+  \item {debugger}
+    \subitem {Motor}, \hyperpage{16}
+  \item {DEFAULT\_COMPONENT}
+    \subitem {constants.h}, \hyperpage{70}
+  \item {DEFAULT\_REQUEST}
+    \subitem {constants.h}, \hyperpage{70}
+  \item {delayMS}
+    \subitem {Motor}, \hyperpage{16}
+  \item {delPin}
+    \subitem {PCintPort}, \hyperpage{37}
+  \item {detachInterrupt}
+    \subitem {PCintPort}, \hyperpage{38}
+  \item {DIR\_ADVANCE}
+    \subitem {MotorWheel.h}, \hyperpage{74}
+  \item {DIR\_BACKOFF}
+    \subitem {MotorWheel.h}, \hyperpage{74}
+  \item {DIR\_INVERSE}
+    \subitem {MotorWheel.h}, \hyperpage{74}
+  \item {DRIVE\_ENCODER}
+    \subitem {constants.h}, \hyperpage{70}
+  \item {DRIVE\_MOTOR}
+    \subitem {constants.h}, \hyperpage{70}
+
+  \indexspace
+
+  \item {ENC\_1\_A}
+    \subitem {constants.h}, \hyperpage{63}
+  \item {ENC\_1\_B}
+    \subitem {constants.h}, \hyperpage{64}
+  \item {ENC\_2\_A}
+    \subitem {constants.h}, \hyperpage{64}
+  \item {ENC\_2\_B}
+    \subitem {constants.h}, \hyperpage{64}
+
+  \indexspace
+
+  \item {FRAME\_TYPE\_ENDBIT}
+    \subitem {constants.h}, \hyperpage{64}
+  \item {FRAME\_TYPE\_POS}
+    \subitem {constants.h}, \hyperpage{64}
+  \item {FRAME\_TYPE\_STARTBIT}
+    \subitem {constants.h}, \hyperpage{64}
+  \item {frametypes}
+    \subitem {constants.h}, \hyperpage{70}
+  \item {fromComponent}
+    \subitem {UARTCom.cpp}, \hyperpage{85}
+  \item {fromFrameType}
+    \subitem {UARTCom.cpp}, \hyperpage{85}
+  \item {FT\_REQUEST\_BV}
+    \subitem {constants.h}, \hyperpage{64}
+  \item {FT\_RESPONSE\_BV}
+    \subitem {constants.h}, \hyperpage{64}
+  \item {FT\_VALUE\_BV}
+    \subitem {constants.h}, \hyperpage{65}
+
+  \indexspace
+
+  \item {GearedMotor}, \hyperpage{7}
+    \subitem {GearedMotor}, \hyperpage{8}
+    \subitem {getGearedSpeedRPM}, \hyperpage{9}
+    \subitem {getPosition}, \hyperpage{9}
+    \subitem {getRatio}, \hyperpage{9}
+    \subitem {setGearedSpeedRPM}, \hyperpage{10}
+    \subitem {setRatio}, \hyperpage{10}
+  \item {getCirMM}
+    \subitem {MotorWheel}, \hyperpage{30}
+  \item {getCurrDir}
+    \subitem {Motor}, \hyperpage{17}
+  \item {getCurrPulse}
+    \subitem {Motor}, \hyperpage{17}
+  \item {GetD\_Param}
+    \subitem {PID}, \hyperpage{42}
+  \item {getDesiredDir}
+    \subitem {Motor}, \hyperpage{17}
+  \item {getGearedSpeedRPM}
+    \subitem {GearedMotor}, \hyperpage{9}
+  \item {GetI\_Param}
+    \subitem {PID}, \hyperpage{42}
+  \item {GetINMax}
+    \subitem {PID}, \hyperpage{42}
+  \item {GetINMin}
+    \subitem {PID}, \hyperpage{42}
+  \item {GetMode}
+    \subitem {PID}, \hyperpage{42}
+  \item {GetOUTMax}
+    \subitem {PID}, \hyperpage{43}
+  \item {GetOUTMin}
+    \subitem {PID}, \hyperpage{43}
+  \item {GetP\_Param}
+    \subitem {PID}, \hyperpage{43}
+  \item {getPinDir}
+    \subitem {Motor}, \hyperpage{18}
+  \item {getPinIRQ}
+    \subitem {Motor}, \hyperpage{18}
+  \item {getPinIRQB}
+    \subitem {Motor}, \hyperpage{18}
+  \item {getPinPWM}
+    \subitem {Motor}, \hyperpage{18}
+  \item {getPosition}
+    \subitem {GearedMotor}, \hyperpage{9}
+  \item {getPWM}
+    \subitem {Motor}, \hyperpage{18}
+  \item {getRatio}
+    \subitem {GearedMotor}, \hyperpage{9}
+  \item {GetSampleTime}
+    \subitem {PID}, \hyperpage{43}
+  \item {getSpeedCMPM}
+    \subitem {MotorWheel}, \hyperpage{30}
+  \item {getSpeedMMPS}
+    \subitem {MotorWheel}, \hyperpage{31}
+  \item {getSpeedPPS}
+    \subitem {Motor}, \hyperpage{19}
+  \item {getSpeedRPM}
+    \subitem {Motor}, \hyperpage{19}
+
+  \indexspace
+
+  \item {handlePackage}
+    \subitem {UARTCom.cpp}, \hyperpage{86}
+  \item {handleRequest}
+    \subitem {UARTCom.cpp}, \hyperpage{87}
+
+  \indexspace
+
+  \item {include/communication/UARTCom.hpp}, \hyperpage{57}
+  \item {include/communication/UCommands.hpp}, \hyperpage{58}
+  \item {include/communication/UValue.hpp}, \hyperpage{59}
+  \item {include/constants.h}, \hyperpage{61}
+  \item {include/misc/Utils.hpp}, \hyperpage{70}
+  \item {init}
+    \subitem {UARTCom}, \hyperpage{46}
+  \item {INLINE\_PCINT}
+    \subitem {PinChangeInt.h}, \hyperpage{81}
+  \item {irqISR}
+    \subitem {main.cpp}, \hyperpage{93}
+    \subitem {MotorWheel.h}, \hyperpage{74}
+  \item {ISR}
+    \subitem {PinChangeInt.cpp}, \hyperpage{78, 79}
+  \item {isr}
+    \subitem {Motor}, \hyperpage{28}
+  \item {ISRfunc}
+    \subitem {ISRVars}, \hyperpage{11}
+  \item {ISRVars}, \hyperpage{11}
+    \subitem {currDirection}, \hyperpage{11}
+    \subitem {ISRfunc}, \hyperpage{11}
+    \subitem {pinIRQ}, \hyperpage{12}
+    \subitem {pinIRQB}, \hyperpage{12}
+    \subitem {pulseEndMicros}, \hyperpage{12}
+    \subitem {pulses}, \hyperpage{12}
+    \subitem {pulseStartMicros}, \hyperpage{12}
+    \subitem {speedPPS}, \hyperpage{12}
+
+  \indexspace
+
+  \item {JustCalculated}
+    \subitem {PID}, \hyperpage{43}
+
+  \indexspace
+
+  \item {KC}
+    \subitem {MotorWheel.h}, \hyperpage{74}
+  \item {KD\_1}
+    \subitem {constants.h}, \hyperpage{65}
+  \item {KD\_2}
+    \subitem {constants.h}, \hyperpage{65}
+  \item {KI\_1}
+    \subitem {constants.h}, \hyperpage{65}
+  \item {KI\_2}
+    \subitem {constants.h}, \hyperpage{65}
+  \item {KP\_1}
+    \subitem {constants.h}, \hyperpage{65}
+  \item {KP\_2}
+    \subitem {constants.h}, \hyperpage{65}
+
+  \indexspace
+
+  \item {LAST}
+    \subitem {constants.h}, \hyperpage{65}
+  \item {LEFT\_MOTOR}
+    \subitem {constants.h}, \hyperpage{70}
+  \item {lib/MotorWheel/MotorWheel.cpp}, \hyperpage{72}
+  \item {lib/MotorWheel/MotorWheel.h}, \hyperpage{72}
+  \item {lib/PID\_Beta6/fuzzy\_table.h}, \hyperpage{76}
+  \item {lib/PID\_Beta6/PID\_Beta6.cpp}, \hyperpage{77}
+  \item {lib/PID\_Beta6/PID\_Beta6.h}, \hyperpage{77}
+  \item {lib/PinChangeInt/PinChangeInt.cpp}, \hyperpage{78}
+  \item {lib/PinChangeInt/PinChangeInt.h}, \hyperpage{80}
+  \item {lib/PinChangeInt/PinChangeIntConfig.h}, \hyperpage{82}
+  \item {LIBRARY\_VERSION}
+    \subitem {PID\_Beta6.h}, \hyperpage{78}
+  \item {loop}
+    \subitem {main.cpp}, \hyperpage{93}
+
+  \indexspace
+
+  \item {M1\_DIR\_PIN}
+    \subitem {constants.h}, \hyperpage{66}
+  \item {M1\_EN\_PIN}
+    \subitem {constants.h}, \hyperpage{66}
+  \item {M2\_DIR\_PIN}
+    \subitem {constants.h}, \hyperpage{66}
+  \item {M2\_EN\_PIN}
+    \subitem {constants.h}, \hyperpage{66}
+  \item {main.cpp}
+    \subitem {controlTimer}, \hyperpage{94}
+    \subitem {irqISR}, \hyperpage{93}
+    \subitem {loop}, \hyperpage{93}
+    \subitem {MICROS\_PER\_SEC}, \hyperpage{93}
+    \subitem {setup}, \hyperpage{94}
+    \subitem {speed}, \hyperpage{94}
+    \subitem {uartTransmitTimer}, \hyperpage{95}
+    \subitem {wheelLeft}, \hyperpage{95}
+    \subitem {wheelRight}, \hyperpage{95}
+  \item {MANUAL}
+    \subitem {PID\_Beta6.h}, \hyperpage{78}
+  \item {MAX\_PACKET\_LENGTH}
+    \subitem {constants.h}, \hyperpage{66}
+  \item {MAX\_PIN\_CHANGE\_PINS}
+    \subitem {PinChangeInt.h}, \hyperpage{81}
+  \item {MAX\_PWM}
+    \subitem {MotorWheel.h}, \hyperpage{75}
+  \item {MAX\_SPEED}
+    \subitem {constants.h}, \hyperpage{66}
+  \item {MAX\_SPEEDRPM}
+    \subitem {MotorWheel.h}, \hyperpage{75}
+  \item {MICROS\_PER\_SEC}
+    \subitem {main.cpp}, \hyperpage{93}
+    \subitem {MotorWheel.h}, \hyperpage{75}
+  \item {MID}
+    \subitem {constants.h}, \hyperpage{66}
+  \item {Motor}, \hyperpage{13}
+    \subitem {advancePWM}, \hyperpage{15}
+    \subitem {backoffPWM}, \hyperpage{15}
+    \subitem {debugger}, \hyperpage{16}
+    \subitem {delayMS}, \hyperpage{16}
+    \subitem {getCurrDir}, \hyperpage{17}
+    \subitem {getCurrPulse}, \hyperpage{17}
+    \subitem {getDesiredDir}, \hyperpage{17}
+    \subitem {getPinDir}, \hyperpage{18}
+    \subitem {getPinIRQ}, \hyperpage{18}
+    \subitem {getPinIRQB}, \hyperpage{18}
+    \subitem {getPinPWM}, \hyperpage{18}
+    \subitem {getPWM}, \hyperpage{18}
+    \subitem {getSpeedPPS}, \hyperpage{19}
+    \subitem {getSpeedRPM}, \hyperpage{19}
+    \subitem {isr}, \hyperpage{28}
+    \subitem {Motor}, \hyperpage{14}
+    \subitem {PIDDisable}, \hyperpage{19}
+    \subitem {PIDEnable}, \hyperpage{20}
+    \subitem {PIDGetSpeedRPMDesired}, \hyperpage{20}
+    \subitem {PIDGetStatus}, \hyperpage{21}
+    \subitem {PIDRegulate}, \hyperpage{21}
+    \subitem {PIDReset}, \hyperpage{22}
+    \subitem {PIDSetSpeedRPMDesired}, \hyperpage{23}
+    \subitem {PIDSetup}, \hyperpage{23}
+    \subitem {resetCurrPulse}, \hyperpage{24}
+    \subitem {reverseDesiredDir}, \hyperpage{24}
+    \subitem {runPWM}, \hyperpage{25}
+    \subitem {setCurrDir}, \hyperpage{25}
+    \subitem {setCurrPulse}, \hyperpage{26}
+    \subitem {setDesiredDir}, \hyperpage{26}
+    \subitem {setSpeedRPM}, \hyperpage{27}
+    \subitem {setupInterrupt}, \hyperpage{28}
+  \item {MotorWheel}, \hyperpage{29}
+    \subitem {getCirMM}, \hyperpage{30}
+    \subitem {getSpeedCMPM}, \hyperpage{30}
+    \subitem {getSpeedMMPS}, \hyperpage{31}
+    \subitem {MotorWheel}, \hyperpage{30}
+    \subitem {setCirMM}, \hyperpage{31}
+    \subitem {setGearedRPM}, \hyperpage{32}
+    \subitem {setSpeedCMPM}, \hyperpage{32, 33}
+    \subitem {setSpeedMMPS}, \hyperpage{33, 34}
+  \item {MotorWheel.h}
+    \subitem {Baudrate}, \hyperpage{73}
+    \subitem {CIRMM}, \hyperpage{73}
+    \subitem {CPR}, \hyperpage{74}
+    \subitem {debug}, \hyperpage{74}
+    \subitem {DIR\_ADVANCE}, \hyperpage{74}
+    \subitem {DIR\_BACKOFF}, \hyperpage{74}
+    \subitem {DIR\_INVERSE}, \hyperpage{74}
+    \subitem {irqISR}, \hyperpage{74}
+    \subitem {KC}, \hyperpage{74}
+    \subitem {MAX\_PWM}, \hyperpage{75}
+    \subitem {MAX\_SPEEDRPM}, \hyperpage{75}
+    \subitem {MICROS\_PER\_SEC}, \hyperpage{75}
+    \subitem {PI}, \hyperpage{75}
+    \subitem {PIN\_UNDEFINED}, \hyperpage{75}
+    \subitem {REDUCTION\_RATIO}, \hyperpage{75}
+    \subitem {REF\_VOLT}, \hyperpage{75}
+    \subitem {SAMPLETIME}, \hyperpage{75}
+    \subitem {SEC\_PER\_MIN}, \hyperpage{76}
+    \subitem {SPEEDPPS2SPEEDRPM}, \hyperpage{76}
+    \subitem {TAUD}, \hyperpage{76}
+    \subitem {TAUI}, \hyperpage{76}
+    \subitem {TRIGGER}, \hyperpage{76}
+
+  \indexspace
+
+  \item {NUM\_MOTORS}
+    \subitem {constants.h}, \hyperpage{67}
+
+  \indexspace
+
+  \item {P\_GAIN}
+    \subitem {constants.h}, \hyperpage{67}
+  \item {PACKAGE\_LENGTH\_NO\_P}
+    \subitem {constants.h}, \hyperpage{67}
+  \item {PACKAGE\_PAUSE\_MS}
+    \subitem {constants.h}, \hyperpage{67}
+  \item {parseComponent}
+    \subitem {UARTCom.cpp}, \hyperpage{87}
+  \item {parseFrameType}
+    \subitem {UARTCom.cpp}, \hyperpage{88}
+  \item {parseRequest}
+    \subitem {UARTCom.cpp}, \hyperpage{88}
+  \item {parseTimestamp}
+    \subitem {UARTCom.cpp}, \hyperpage{89}
+  \item {PAYLOAD\_LENGTH\_POS}
+    \subitem {constants.h}, \hyperpage{67}
+  \item {PAYLOAD\_POS}
+    \subitem {constants.h}, \hyperpage{67}
+  \item {payloadLength}
+    \subitem {UARTCom.cpp}, \hyperpage{90}
+  \item {PCattachInterrupt}
+    \subitem {PinChangeInt.h}, \hyperpage{81}
+  \item {PCdetachInterrupt}
+    \subitem {PinChangeInt.h}, \hyperpage{81}
+  \item {PCICRbit}
+    \subitem {PCintPort}, \hyperpage{39}
+  \item {PCint}
+    \subitem {PCintPort}, \hyperpage{38}
+  \item {PCintFunc}
+    \subitem {PCintPort::PCintPin}, \hyperpage{35}
+  \item {PCintLast}
+    \subitem {PCintPort}, \hyperpage{39}
+  \item {PCIntMask}
+    \subitem {PCintPort::PCintPin}, \hyperpage{35}
+  \item {PCintMode}
+    \subitem {PCintPort::PCintPin}, \hyperpage{35}
+  \item {PCintPin}
+    \subitem {PCintPort::PCintPin}, \hyperpage{35}
+  \item {pcIntPins}
+    \subitem {PCintPort}, \hyperpage{39}
+  \item {PCintPort}, \hyperpage{36}
+    \subitem {addPin}, \hyperpage{37}
+    \subitem {attachInterrupt}, \hyperpage{37}
+    \subitem {delPin}, \hyperpage{37}
+    \subitem {detachInterrupt}, \hyperpage{38}
+    \subitem {PCICRbit}, \hyperpage{39}
+    \subitem {PCint}, \hyperpage{38}
+    \subitem {PCintLast}, \hyperpage{39}
+    \subitem {pcIntPins}, \hyperpage{39}
+    \subitem {pcIntPorts}, \hyperpage{39}
+    \subitem {pcmask}, \hyperpage{39}
+    \subitem {portInputReg}, \hyperpage{39}
+  \item {PCintPort::PCintPin}, \hyperpage{34}
+    \subitem {PCintFunc}, \hyperpage{35}
+    \subitem {PCIntMask}, \hyperpage{35}
+    \subitem {PCintMode}, \hyperpage{35}
+    \subitem {PCintPin}, \hyperpage{35}
+    \subitem {pinDataAlloc}, \hyperpage{35}
+  \item {pcIntPorts}
+    \subitem {PCintPort}, \hyperpage{39}
+  \item {PCIntvoidFuncPtr}
+    \subitem {PinChangeInt.h}, \hyperpage{81}
+  \item {pcmask}
+    \subitem {PCintPort}, \hyperpage{39}
+  \item {PI}
+    \subitem {MotorWheel.h}, \hyperpage{75}
+  \item {PID}, \hyperpage{40}
+    \subitem {Compute}, \hyperpage{42}
+    \subitem {GetD\_Param}, \hyperpage{42}
+    \subitem {GetI\_Param}, \hyperpage{42}
+    \subitem {GetINMax}, \hyperpage{42}
+    \subitem {GetINMin}, \hyperpage{42}
+    \subitem {GetMode}, \hyperpage{42}
+    \subitem {GetOUTMax}, \hyperpage{43}
+    \subitem {GetOUTMin}, \hyperpage{43}
+    \subitem {GetP\_Param}, \hyperpage{43}
+    \subitem {GetSampleTime}, \hyperpage{43}
+    \subitem {JustCalculated}, \hyperpage{43}
+    \subitem {PID}, \hyperpage{41}
+    \subitem {Reset}, \hyperpage{43}
+    \subitem {SetInputLimits}, \hyperpage{44}
+    \subitem {SetMode}, \hyperpage{44}
+    \subitem {SetOutputLimits}, \hyperpage{44}
+    \subitem {SetSampleTime}, \hyperpage{45}
+    \subitem {SetTunings}, \hyperpage{45}
+  \item {PID\_Beta6.h}
+    \subitem {AUTO}, \hyperpage{77}
+    \subitem {LIBRARY\_VERSION}, \hyperpage{78}
+    \subitem {MANUAL}, \hyperpage{78}
+  \item {PID\_PARAMETER}
+    \subitem {constants.h}, \hyperpage{70}
+  \item {PIDDisable}
+    \subitem {Motor}, \hyperpage{19}
+  \item {PIDEnable}
+    \subitem {Motor}, \hyperpage{20}
+  \item {PIDGetSpeedRPMDesired}
+    \subitem {Motor}, \hyperpage{20}
+  \item {PIDGetStatus}
+    \subitem {Motor}, \hyperpage{21}
+  \item {PIDRegulate}
+    \subitem {Motor}, \hyperpage{21}
+  \item {PIDReset}
+    \subitem {Motor}, \hyperpage{22}
+  \item {PIDSetSpeedRPMDesired}
+    \subitem {Motor}, \hyperpage{23}
+  \item {PIDSetup}
+    \subitem {Motor}, \hyperpage{23}
+  \item {PIN\_UNDEFINED}
+    \subitem {MotorWheel.h}, \hyperpage{75}
+  \item {PinChangeInt.cpp}
+    \subitem {ISR}, \hyperpage{78, 79}
+  \item {PinChangeInt.h}
+    \subitem {INLINE\_PCINT}, \hyperpage{81}
+    \subitem {MAX\_PIN\_CHANGE\_PINS}, \hyperpage{81}
+    \subitem {PCattachInterrupt}, \hyperpage{81}
+    \subitem {PCdetachInterrupt}, \hyperpage{81}
+    \subitem {PCIntvoidFuncPtr}, \hyperpage{81}
+  \item {pinDataAlloc}
+    \subitem {PCintPort::PCintPin}, \hyperpage{35}
+  \item {pinIRQ}
+    \subitem {ISRVars}, \hyperpage{12}
+  \item {pinIRQB}
+    \subitem {ISRVars}, \hyperpage{12}
+  \item {portInputReg}
+    \subitem {PCintPort}, \hyperpage{39}
+  \item {PRINT\_RATE\_MS}
+    \subitem {constants.h}, \hyperpage{67}
+  \item {pulseEndMicros}
+    \subitem {ISRVars}, \hyperpage{12}
+  \item {pulses}
+    \subitem {ISRVars}, \hyperpage{12}
+  \item {pulseStartMicros}
+    \subitem {ISRVars}, \hyperpage{12}
+
+  \indexspace
+
+  \item {read}
+    \subitem {UARTCom}, \hyperpage{47}
+  \item {REDUCTION\_RATIO}
+    \subitem {MotorWheel.h}, \hyperpage{75}
+  \item {REF\_VOLT}
+    \subitem {MotorWheel.h}, \hyperpage{75}
+  \item {REQUEST}
+    \subitem {constants.h}, \hyperpage{70}
+  \item {REQUEST\_DRIVE\_MOTOR}
+    \subitem {constants.h}, \hyperpage{68}
+  \item {REQUEST\_RESET\_TIMESTAMP}
+    \subitem {constants.h}, \hyperpage{68}
+  \item {requests}
+    \subitem {constants.h}, \hyperpage{70}
+  \item {Reset}
+    \subitem {PID}, \hyperpage{43}
+  \item {RESET\_TIMESTAMP}
+    \subitem {constants.h}, \hyperpage{70}
+  \item {resetCurrPulse}
+    \subitem {Motor}, \hyperpage{24}
+  \item {RESPONSE}
+    \subitem {constants.h}, \hyperpage{70}
+  \item {reverseDesiredDir}
+    \subitem {Motor}, \hyperpage{24}
+  \item {RIGHT\_MOTOR}
+    \subitem {constants.h}, \hyperpage{70}
+  \item {runPWM}
+    \subitem {Motor}, \hyperpage{25}
+  \item {RX\_328\_PIN}
+    \subitem {constants.h}, \hyperpage{68}
+
+  \indexspace
+
+  \item {SAMPLETIME}
+    \subitem {MotorWheel.h}, \hyperpage{75}
+  \item {SEC\_PER\_MIN}
+    \subitem {MotorWheel.h}, \hyperpage{76}
+  \item {send}
+    \subitem {UARTCom}, \hyperpage{47}
+  \item {sendBothEncoderValues}
+    \subitem {UValue}, \hyperpage{53}
+  \item {sendEncoderValue}
+    \subitem {UValue}, \hyperpage{54}
+  \item {setCirMM}
+    \subitem {MotorWheel}, \hyperpage{31}
+  \item {setCurrDir}
+    \subitem {Motor}, \hyperpage{25}
+  \item {setCurrPulse}
+    \subitem {Motor}, \hyperpage{26}
+  \item {setDesiredDir}
+    \subitem {Motor}, \hyperpage{26}
+  \item {setGearedRPM}
+    \subitem {MotorWheel}, \hyperpage{32}
+  \item {setGearedSpeedRPM}
+    \subitem {GearedMotor}, \hyperpage{10}
+  \item {SetInputLimits}
+    \subitem {PID}, \hyperpage{44}
+  \item {SetMode}
+    \subitem {PID}, \hyperpage{44}
+  \item {SetOutputLimits}
+    \subitem {PID}, \hyperpage{44}
+  \item {setPIDParameter}
+    \subitem {UCommands}, \hyperpage{49}
+  \item {setRatio}
+    \subitem {GearedMotor}, \hyperpage{10}
+  \item {SetSampleTime}
+    \subitem {PID}, \hyperpage{45}
+  \item {setSetpoint}
+    \subitem {UCommands}, \hyperpage{50}
+  \item {setSpeedCMPM}
+    \subitem {MotorWheel}, \hyperpage{32, 33}
+  \item {setSpeedMMPS}
+    \subitem {MotorWheel}, \hyperpage{33, 34}
+  \item {setSpeedRPM}
+    \subitem {Motor}, \hyperpage{27}
+  \item {SetTunings}
+    \subitem {PID}, \hyperpage{45}
+  \item {setup}
+    \subitem {main.cpp}, \hyperpage{94}
+  \item {setupInterrupt}
+    \subitem {Motor}, \hyperpage{28}
+  \item {showPackage}
+    \subitem {UARTCom.cpp}, \hyperpage{90}
+  \item {speed}
+    \subitem {main.cpp}, \hyperpage{94}
+  \item {SPEED\_THRESHOLD}
+    \subitem {constants.h}, \hyperpage{68}
+  \item {speedPPS}
+    \subitem {ISRVars}, \hyperpage{12}
+  \item {SPEEDPPS2SPEEDRPM}
+    \subitem {MotorWheel.h}, \hyperpage{76}
+  \item {src/communication/UARTCom.cpp}, \hyperpage{82}
+  \item {src/communication/UCommands.cpp}, \hyperpage{91}
+  \item {src/communication/UValue.cpp}, \hyperpage{92}
+  \item {src/main.cpp}, \hyperpage{92}
+  \item {src/misc/Utils.cpp}, \hyperpage{95}
+  \item {START\_BYTE}
+    \subitem {constants.h}, \hyperpage{68}
+  \item {START\_BYTE\_POS}
+    \subitem {constants.h}, \hyperpage{68}
+
+  \indexspace
+
+  \item {TAUD}
+    \subitem {MotorWheel.h}, \hyperpage{76}
+  \item {TAUI}
+    \subitem {MotorWheel.h}, \hyperpage{76}
+  \item {TIMESTAMP\_POS}
+    \subitem {constants.h}, \hyperpage{68}
+  \item {TRIGGER}
+    \subitem {MotorWheel.h}, \hyperpage{76}
+  \item {TX\_328\_PIN}
+    \subitem {constants.h}, \hyperpage{68}
+
+  \indexspace
+
+  \item {U\_Component}
+    \subitem {constants.h}, \hyperpage{69}
+  \item {U\_FrameType}
+    \subitem {constants.h}, \hyperpage{69}
+  \item {U\_Request}
+    \subitem {constants.h}, \hyperpage{69}
+  \item {UART\_BAUD\_RATE}
+    \subitem {constants.h}, \hyperpage{69}
+  \item {UART\_TRANSMIT\_MS}
+    \subitem {constants.h}, \hyperpage{69}
+  \item {UARTCom}, \hyperpage{46}
+    \subitem {data}, \hyperpage{48}
+    \subitem {init}, \hyperpage{46}
+    \subitem {read}, \hyperpage{47}
+    \subitem {send}, \hyperpage{47}
+  \item {UARTCom.cpp}
+    \subitem {clearPackage}, \hyperpage{83}
+    \subitem {computeChecksum}, \hyperpage{84}
+    \subitem {correctChecksum}, \hyperpage{84}
+    \subitem {currentParseIndex}, \hyperpage{90}
+    \subitem {currentTimestamp}, \hyperpage{90}
+    \subitem {fromComponent}, \hyperpage{85}
+    \subitem {fromFrameType}, \hyperpage{85}
+    \subitem {handlePackage}, \hyperpage{86}
+    \subitem {handleRequest}, \hyperpage{87}
+    \subitem {parseComponent}, \hyperpage{87}
+    \subitem {parseFrameType}, \hyperpage{88}
+    \subitem {parseRequest}, \hyperpage{88}
+    \subitem {parseTimestamp}, \hyperpage{89}
+    \subitem {payloadLength}, \hyperpage{90}
+    \subitem {showPackage}, \hyperpage{90}
+    \subitem {wheelLeft}, \hyperpage{90}
+    \subitem {wheelRight}, \hyperpage{91}
+  \item {uartTransmitTimer}
+    \subitem {main.cpp}, \hyperpage{95}
+  \item {UCommands}, \hyperpage{49}
+    \subitem {setPIDParameter}, \hyperpage{49}
+    \subitem {setSetpoint}, \hyperpage{50}
+  \item {UCommands.cpp}
+    \subitem {wheelLeft}, \hyperpage{91}
+    \subitem {wheelRight}, \hyperpage{91}
+  \item {Utils}, \hyperpage{51}
+    \subitem {bytesToFloat}, \hyperpage{51}
+    \subitem {bytesToInt}, \hyperpage{52}
+  \item {UValue}, \hyperpage{53}
+    \subitem {sendBothEncoderValues}, \hyperpage{53}
+    \subitem {sendEncoderValue}, \hyperpage{54}
+
+  \indexspace
+
+  \item {VALUE}
+    \subitem {constants.h}, \hyperpage{70}
+  \item {VEL2TORQUE\_RATIO}
+    \subitem {constants.h}, \hyperpage{69}
+  \item {VEL\_UPDATE\_RATE\_MS}
+    \subitem {constants.h}, \hyperpage{69}
+
+  \indexspace
+
+  \item {wheelLeft}
+    \subitem {main.cpp}, \hyperpage{95}
+    \subitem {UARTCom.cpp}, \hyperpage{90}
+    \subitem {UCommands.cpp}, \hyperpage{91}
+  \item {wheelRight}
+    \subitem {main.cpp}, \hyperpage{95}
+    \subitem {UARTCom.cpp}, \hyperpage{91}
+    \subitem {UCommands.cpp}, \hyperpage{91}
+
+\end{theindex}
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diff --git a/src/dcaitirobot/embedded/docs/latex/refman.tex b/src/dcaitirobot/embedded/docs/latex/refman.tex
new file mode 100644
index 0000000..9d587ee
--- /dev/null
+++ b/src/dcaitirobot/embedded/docs/latex/refman.tex
@@ -0,0 +1,204 @@
+\let\mypdfximage\pdfximage\def\pdfximage{\immediate\mypdfximage}\documentclass[twoside]{book}
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+%% moved from doxygen.sty due to workaround for LaTex 2019 version and unmaintained tabu package
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+\fi
+%%
+% Packages required by doxygen
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+\usepackage{graphicx}
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+\newcommand\hrulefilll{\leavevmode\leaders\hrule\hskip 0pt plus 1filll\kern\z@}
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+
+% Headers & footers
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+%
+\renewcommand{\chaptermark}[1]{%
+  \markboth{#1}{}%
+}
+\renewcommand{\sectionmark}[1]{%
+  \markright{\thesection\ #1}%
+}
+
+% Indices & bibliography
+\usepackage{natbib}
+\usepackage[titles]{tocloft}
+\setcounter{tocdepth}{3}
+\setcounter{secnumdepth}{5}
+\makeindex
+
+\usepackage{newunicodechar}
+  \newunicodechar{⁻}{${}^{-}$}% Superscript minus
+  \newunicodechar{²}{${}^{2}$}% Superscript two
+  \newunicodechar{³}{${}^{3}$}% Superscript three
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+\ifpdf
+  \usepackage[pdftex,pagebackref=true]{hyperref}
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+    \usepackage[ps2pdf,pagebackref=true]{hyperref}
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+}
+
+\usepackage{caption}
+\captionsetup{labelsep=space,justification=centering,font={bf},singlelinecheck=off,skip=4pt,position=top}
+
+\usepackage{etoc}
+\etocsettocstyle{\doxytocparskip}{\doxynormalparskip}
+\renewcommand{\numberline}[1]{#1~}
+%===== C O N T E N T S =====
+
+\begin{document}
+\raggedbottom
+
+% Titlepage & ToC
+\hypersetup{pageanchor=false,
+             bookmarksnumbered=true,
+             pdfencoding=unicode
+            }
+\pagenumbering{alph}
+\begin{titlepage}
+\vspace*{7cm}
+\begin{center}%
+{\Large DCAITI Robot Hardware \\[1ex]\large 1.\+0 }\\
+\vspace*{1cm}
+{\large Generated by Doxygen 1.9.1}\\
+\end{center}
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+\clearemptydoublepage
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+\hypersetup{pageanchor=true}
+
+%--- Begin generated contents ---
+\chapter{Class Index}
+\input{annotated}
+\chapter{File Index}
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+\input{classUValue}
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+\input{Utils_8hpp}
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+\input{main_8cpp}
+\input{Utils_8cpp}
+%--- End generated contents ---
+
+% Index
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+
+\end{document}
diff --git a/src/dcaitirobot/embedded/docs/latex/refman.toc b/src/dcaitirobot/embedded/docs/latex/refman.toc
new file mode 100644
index 0000000..92ad112
--- /dev/null
+++ b/src/dcaitirobot/embedded/docs/latex/refman.toc
@@ -0,0 +1,300 @@
+\@ifundefined {etoctocstyle}{\let \etoc@startlocaltoc \@gobble \let \etoc@settocdepth \@gobble \let \etoc@depthtag \@gobble \let \etoc@setlocaltop \@gobble }{}
+\contentsline {chapter}{\numberline {1}Hierarchical Index}{1}{chapter.1}%
+\contentsline {section}{\numberline {1.1}Class Hierarchy}{1}{section.1.1}%
+\contentsline {chapter}{\numberline {2}Class Index}{3}{chapter.2}%
+\contentsline {section}{\numberline {2.1}Class List}{3}{section.2.1}%
+\contentsline {chapter}{\numberline {3}File Index}{5}{chapter.3}%
+\contentsline {section}{\numberline {3.1}File List}{5}{section.3.1}%
+\contentsline {chapter}{\numberline {4}Class Documentation}{7}{chapter.4}%
+\contentsline {section}{\numberline {4.1}Geared\discretionary {\mbox {\scriptsize $\hookleftarrow $}}{}{}Motor Class Reference}{7}{section.4.1}%
+\contentsline {subsection}{\numberline {4.1.1}Constructor \& Destructor Documentation}{8}{subsection.4.1.1}%
+\contentsline {subsubsection}{\numberline {4.1.1.1}GearedMotor()}{8}{subsubsection.4.1.1.1}%
+\contentsline {subsection}{\numberline {4.1.2}Member Function Documentation}{9}{subsection.4.1.2}%
+\contentsline {subsubsection}{\numberline {4.1.2.1}getGearedSpeedRPM()}{9}{subsubsection.4.1.2.1}%
+\contentsline {subsubsection}{\numberline {4.1.2.2}getPosition()}{9}{subsubsection.4.1.2.2}%
+\contentsline {subsubsection}{\numberline {4.1.2.3}getRatio()}{10}{subsubsection.4.1.2.3}%
+\contentsline {subsubsection}{\numberline {4.1.2.4}setGearedSpeedRPM()\hspace {0.1cm}{\footnotesize \ttfamily [1/2]}}{10}{subsubsection.4.1.2.4}%
+\contentsline {subsubsection}{\numberline {4.1.2.5}setGearedSpeedRPM()\hspace {0.1cm}{\footnotesize \ttfamily [2/2]}}{10}{subsubsection.4.1.2.5}%
+\contentsline {subsubsection}{\numberline {4.1.2.6}setRatio()}{11}{subsubsection.4.1.2.6}%
+\contentsline {section}{\numberline {4.2}ISRVars Struct Reference}{11}{section.4.2}%
+\contentsline {subsection}{\numberline {4.2.1}Member Data Documentation}{11}{subsection.4.2.1}%
+\contentsline {subsubsection}{\numberline {4.2.1.1}currDirection}{11}{subsubsection.4.2.1.1}%
+\contentsline {subsubsection}{\numberline {4.2.1.2}ISRfunc}{12}{subsubsection.4.2.1.2}%
+\contentsline {subsubsection}{\numberline {4.2.1.3}pinIRQ}{12}{subsubsection.4.2.1.3}%
+\contentsline {subsubsection}{\numberline {4.2.1.4}pinIRQB}{12}{subsubsection.4.2.1.4}%
+\contentsline {subsubsection}{\numberline {4.2.1.5}pulseEndMicros}{12}{subsubsection.4.2.1.5}%
+\contentsline {subsubsection}{\numberline {4.2.1.6}pulses}{12}{subsubsection.4.2.1.6}%
+\contentsline {subsubsection}{\numberline {4.2.1.7}pulseStartMicros}{12}{subsubsection.4.2.1.7}%
+\contentsline {subsubsection}{\numberline {4.2.1.8}speedPPS}{12}{subsubsection.4.2.1.8}%
+\contentsline {section}{\numberline {4.3}Motor Class Reference}{13}{section.4.3}%
+\contentsline {subsection}{\numberline {4.3.1}Constructor \& Destructor Documentation}{14}{subsection.4.3.1}%
+\contentsline {subsubsection}{\numberline {4.3.1.1}Motor()}{14}{subsubsection.4.3.1.1}%
+\contentsline {subsection}{\numberline {4.3.2}Member Function Documentation}{15}{subsection.4.3.2}%
+\contentsline {subsubsection}{\numberline {4.3.2.1}advancePWM()}{15}{subsubsection.4.3.2.1}%
+\contentsline {subsubsection}{\numberline {4.3.2.2}backoffPWM()}{16}{subsubsection.4.3.2.2}%
+\contentsline {subsubsection}{\numberline {4.3.2.3}debugger()}{16}{subsubsection.4.3.2.3}%
+\contentsline {subsubsection}{\numberline {4.3.2.4}delayMS()}{16}{subsubsection.4.3.2.4}%
+\contentsline {subsubsection}{\numberline {4.3.2.5}getCurrDir()}{17}{subsubsection.4.3.2.5}%
+\contentsline {subsubsection}{\numberline {4.3.2.6}getCurrPulse()}{17}{subsubsection.4.3.2.6}%
+\contentsline {subsubsection}{\numberline {4.3.2.7}getDesiredDir()}{18}{subsubsection.4.3.2.7}%
+\contentsline {subsubsection}{\numberline {4.3.2.8}getPinDir()}{18}{subsubsection.4.3.2.8}%
+\contentsline {subsubsection}{\numberline {4.3.2.9}getPinIRQ()}{18}{subsubsection.4.3.2.9}%
+\contentsline {subsubsection}{\numberline {4.3.2.10}getPinIRQB()}{18}{subsubsection.4.3.2.10}%
+\contentsline {subsubsection}{\numberline {4.3.2.11}getPinPWM()}{18}{subsubsection.4.3.2.11}%
+\contentsline {subsubsection}{\numberline {4.3.2.12}getPWM()}{19}{subsubsection.4.3.2.12}%
+\contentsline {subsubsection}{\numberline {4.3.2.13}getSpeedPPS()}{19}{subsubsection.4.3.2.13}%
+\contentsline {subsubsection}{\numberline {4.3.2.14}getSpeedRPM()}{19}{subsubsection.4.3.2.14}%
+\contentsline {subsubsection}{\numberline {4.3.2.15}PIDDisable()}{20}{subsubsection.4.3.2.15}%
+\contentsline {subsubsection}{\numberline {4.3.2.16}PIDEnable()}{20}{subsubsection.4.3.2.16}%
+\contentsline {subsubsection}{\numberline {4.3.2.17}PIDGetSpeedRPMDesired()}{21}{subsubsection.4.3.2.17}%
+\contentsline {subsubsection}{\numberline {4.3.2.18}PIDGetStatus()}{21}{subsubsection.4.3.2.18}%
+\contentsline {subsubsection}{\numberline {4.3.2.19}PIDRegulate()}{21}{subsubsection.4.3.2.19}%
+\contentsline {subsubsection}{\numberline {4.3.2.20}PIDReset()}{22}{subsubsection.4.3.2.20}%
+\contentsline {subsubsection}{\numberline {4.3.2.21}PIDSetSpeedRPMDesired()}{23}{subsubsection.4.3.2.21}%
+\contentsline {subsubsection}{\numberline {4.3.2.22}PIDSetup()}{23}{subsubsection.4.3.2.22}%
+\contentsline {subsubsection}{\numberline {4.3.2.23}resetCurrPulse()}{24}{subsubsection.4.3.2.23}%
+\contentsline {subsubsection}{\numberline {4.3.2.24}reverseDesiredDir()}{25}{subsubsection.4.3.2.24}%
+\contentsline {subsubsection}{\numberline {4.3.2.25}runPWM()}{25}{subsubsection.4.3.2.25}%
+\contentsline {subsubsection}{\numberline {4.3.2.26}setCurrDir()}{26}{subsubsection.4.3.2.26}%
+\contentsline {subsubsection}{\numberline {4.3.2.27}setCurrPulse()}{26}{subsubsection.4.3.2.27}%
+\contentsline {subsubsection}{\numberline {4.3.2.28}setDesiredDir()}{27}{subsubsection.4.3.2.28}%
+\contentsline {subsubsection}{\numberline {4.3.2.29}setSpeedRPM()\hspace {0.1cm}{\footnotesize \ttfamily [1/2]}}{27}{subsubsection.4.3.2.29}%
+\contentsline {subsubsection}{\numberline {4.3.2.30}setSpeedRPM()\hspace {0.1cm}{\footnotesize \ttfamily [2/2]}}{28}{subsubsection.4.3.2.30}%
+\contentsline {subsubsection}{\numberline {4.3.2.31}setupInterrupt()}{28}{subsubsection.4.3.2.31}%
+\contentsline {subsection}{\numberline {4.3.3}Member Data Documentation}{28}{subsection.4.3.3}%
+\contentsline {subsubsection}{\numberline {4.3.3.1}isr}{28}{subsubsection.4.3.3.1}%
+\contentsline {section}{\numberline {4.4}Motor\discretionary {\mbox {\scriptsize $\hookleftarrow $}}{}{}Wheel Class Reference}{29}{section.4.4}%
+\contentsline {subsection}{\numberline {4.4.1}Constructor \& Destructor Documentation}{30}{subsection.4.4.1}%
+\contentsline {subsubsection}{\numberline {4.4.1.1}MotorWheel()}{30}{subsubsection.4.4.1.1}%
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+\contentsline {subsection}{\numberline {5.12.1}Macro Definition Documentation}{81}{subsection.5.12.1}%
+\contentsline {subsubsection}{\numberline {5.12.1.1}INLINE\_PCINT}{81}{subsubsection.5.12.1.1}%
+\contentsline {subsubsection}{\numberline {5.12.1.2}MAX\_PIN\_CHANGE\_PINS}{81}{subsubsection.5.12.1.2}%
+\contentsline {subsubsection}{\numberline {5.12.1.3}PCattachInterrupt}{81}{subsubsection.5.12.1.3}%
+\contentsline {subsubsection}{\numberline {5.12.1.4}PCdetachInterrupt}{81}{subsubsection.5.12.1.4}%
+\contentsline {subsection}{\numberline {5.12.2}Typedef Documentation}{81}{subsection.5.12.2}%
+\contentsline {subsubsection}{\numberline {5.12.2.1}PCIntvoidFuncPtr}{81}{subsubsection.5.12.2.1}%
+\contentsline {section}{\numberline {5.13}lib/\discretionary {\mbox {\scriptsize $\hookleftarrow $}}{}{}Pin\discretionary {\mbox {\scriptsize $\hookleftarrow $}}{}{}Change\discretionary {\mbox {\scriptsize $\hookleftarrow $}}{}{}Int/\discretionary {\mbox {\scriptsize $\hookleftarrow $}}{}{}Pin\discretionary {\mbox {\scriptsize $\hookleftarrow $}}{}{}Change\discretionary {\mbox {\scriptsize $\hookleftarrow $}}{}{}Int\discretionary {\mbox {\scriptsize $\hookleftarrow $}}{}{}Config.h File Reference}{82}{section.5.13}%
+\contentsline {section}{\numberline {5.14}src/communication/\discretionary {\mbox {\scriptsize $\hookleftarrow $}}{}{}UARTCom.cpp File Reference}{82}{section.5.14}%
+\contentsline {subsection}{\numberline {5.14.1}Function Documentation}{83}{subsection.5.14.1}%
+\contentsline {subsubsection}{\numberline {5.14.1.1}clearPackage()}{83}{subsubsection.5.14.1.1}%
+\contentsline {subsubsection}{\numberline {5.14.1.2}computeChecksum()}{84}{subsubsection.5.14.1.2}%
+\contentsline {subsubsection}{\numberline {5.14.1.3}correctChecksum()}{84}{subsubsection.5.14.1.3}%
+\contentsline {subsubsection}{\numberline {5.14.1.4}fromComponent()}{85}{subsubsection.5.14.1.4}%
+\contentsline {subsubsection}{\numberline {5.14.1.5}fromFrameType()}{86}{subsubsection.5.14.1.5}%
+\contentsline {subsubsection}{\numberline {5.14.1.6}handlePackage()}{86}{subsubsection.5.14.1.6}%
+\contentsline {subsubsection}{\numberline {5.14.1.7}handleRequest()}{87}{subsubsection.5.14.1.7}%
+\contentsline {subsubsection}{\numberline {5.14.1.8}parseComponent()}{88}{subsubsection.5.14.1.8}%
+\contentsline {subsubsection}{\numberline {5.14.1.9}parseFrameType()}{88}{subsubsection.5.14.1.9}%
+\contentsline {subsubsection}{\numberline {5.14.1.10}parseRequest()}{89}{subsubsection.5.14.1.10}%
+\contentsline {subsubsection}{\numberline {5.14.1.11}parseTimestamp()}{89}{subsubsection.5.14.1.11}%
+\contentsline {subsubsection}{\numberline {5.14.1.12}showPackage()}{90}{subsubsection.5.14.1.12}%
+\contentsline {subsection}{\numberline {5.14.2}Variable Documentation}{90}{subsection.5.14.2}%
+\contentsline {subsubsection}{\numberline {5.14.2.1}currentParseIndex}{90}{subsubsection.5.14.2.1}%
+\contentsline {subsubsection}{\numberline {5.14.2.2}currentTimestamp}{90}{subsubsection.5.14.2.2}%
+\contentsline {subsubsection}{\numberline {5.14.2.3}payloadLength}{90}{subsubsection.5.14.2.3}%
+\contentsline {subsubsection}{\numberline {5.14.2.4}wheelLeft}{91}{subsubsection.5.14.2.4}%
+\contentsline {subsubsection}{\numberline {5.14.2.5}wheelRight}{91}{subsubsection.5.14.2.5}%
+\contentsline {section}{\numberline {5.15}src/communication/\discretionary {\mbox {\scriptsize $\hookleftarrow $}}{}{}UCommands.cpp File Reference}{91}{section.5.15}%
+\contentsline {subsection}{\numberline {5.15.1}Variable Documentation}{91}{subsection.5.15.1}%
+\contentsline {subsubsection}{\numberline {5.15.1.1}wheelLeft}{91}{subsubsection.5.15.1.1}%
+\contentsline {subsubsection}{\numberline {5.15.1.2}wheelRight}{92}{subsubsection.5.15.1.2}%
+\contentsline {section}{\numberline {5.16}src/communication/\discretionary {\mbox {\scriptsize $\hookleftarrow $}}{}{}UValue.cpp File Reference}{92}{section.5.16}%
+\contentsline {section}{\numberline {5.17}src/main.cpp File Reference}{92}{section.5.17}%
+\contentsline {subsection}{\numberline {5.17.1}Macro Definition Documentation}{93}{subsection.5.17.1}%
+\contentsline {subsubsection}{\numberline {5.17.1.1}MICROS\_PER\_SEC}{93}{subsubsection.5.17.1.1}%
+\contentsline {subsection}{\numberline {5.17.2}Function Documentation}{93}{subsection.5.17.2}%
+\contentsline {subsubsection}{\numberline {5.17.2.1}irqISR()\hspace {0.1cm}{\footnotesize \ttfamily [1/2]}}{93}{subsubsection.5.17.2.1}%
+\contentsline {subsubsection}{\numberline {5.17.2.2}irqISR()\hspace {0.1cm}{\footnotesize \ttfamily [2/2]}}{93}{subsubsection.5.17.2.2}%
+\contentsline {subsubsection}{\numberline {5.17.2.3}loop()}{94}{subsubsection.5.17.2.3}%
+\contentsline {subsubsection}{\numberline {5.17.2.4}setup()}{94}{subsubsection.5.17.2.4}%
+\contentsline {subsection}{\numberline {5.17.3}Variable Documentation}{94}{subsection.5.17.3}%
+\contentsline {subsubsection}{\numberline {5.17.3.1}controlTimer}{94}{subsubsection.5.17.3.1}%
+\contentsline {subsubsection}{\numberline {5.17.3.2}speed}{95}{subsubsection.5.17.3.2}%
+\contentsline {subsubsection}{\numberline {5.17.3.3}uartTransmitTimer}{95}{subsubsection.5.17.3.3}%
+\contentsline {subsubsection}{\numberline {5.17.3.4}wheelLeft}{95}{subsubsection.5.17.3.4}%
+\contentsline {subsubsection}{\numberline {5.17.3.5}wheelRight}{95}{subsubsection.5.17.3.5}%
+\contentsline {section}{\numberline {5.18}src/misc/\discretionary {\mbox {\scriptsize $\hookleftarrow $}}{}{}Utils.cpp File Reference}{95}{section.5.18}%
+\contentsline {chapter}{Index}{97}{section*.187}%
diff --git a/src/dcaitirobot/embedded/docs/latex/structISRVars.tex b/src/dcaitirobot/embedded/docs/latex/structISRVars.tex
new file mode 100644
index 0000000..b4102d3
--- /dev/null
+++ b/src/dcaitirobot/embedded/docs/latex/structISRVars.tex
@@ -0,0 +1,81 @@
+\hypertarget{structISRVars}{}\doxysection{ISRVars Struct Reference}
+\label{structISRVars}\index{ISRVars@{ISRVars}}
+
+
+{\ttfamily \#include $<$Motor\+Wheel.\+h$>$}
+
+\doxysubsection*{Public Attributes}
+\begin{DoxyCompactItemize}
+\item 
+void($\ast$ \mbox{\hyperlink{structISRVars_a38f71602d525494877c66159cf704309}{ISRfunc}} )()
+\item 
+volatile long \mbox{\hyperlink{structISRVars_a5fb13f185745e43667ba30d2c0481f74}{pulses}}
+\item 
+volatile unsigned long \mbox{\hyperlink{structISRVars_aad94840301dc39f51a918b556df8fc11}{pulse\+Start\+Micros}}
+\item 
+volatile unsigned long \mbox{\hyperlink{structISRVars_a935b7a7cfe9c5a33902ce56256980846}{pulse\+End\+Micros}}
+\item 
+volatile unsigned int \mbox{\hyperlink{structISRVars_af6857712234eae5709feba7c699e0ac7}{speed\+PPS}}
+\item 
+volatile bool \mbox{\hyperlink{structISRVars_a9db372787f75f20b71f24706af08878e}{curr\+Direction}}
+\item 
+unsigned char \mbox{\hyperlink{structISRVars_a24a642bb0d154409a0c7799c6e79552a}{pin\+IRQB}}
+\item 
+unsigned char \mbox{\hyperlink{structISRVars_ac1eba4ab5f07f4751a050d9cbcedc797}{pin\+IRQ}}
+\end{DoxyCompactItemize}
+
+
+\doxysubsection{Member Data Documentation}
+\mbox{\Hypertarget{structISRVars_a9db372787f75f20b71f24706af08878e}\label{structISRVars_a9db372787f75f20b71f24706af08878e}} 
+\index{ISRVars@{ISRVars}!currDirection@{currDirection}}
+\index{currDirection@{currDirection}!ISRVars@{ISRVars}}
+\doxysubsubsection{\texorpdfstring{currDirection}{currDirection}}
+{\footnotesize\ttfamily volatile bool ISRVars\+::curr\+Direction}
+
+\mbox{\Hypertarget{structISRVars_a38f71602d525494877c66159cf704309}\label{structISRVars_a38f71602d525494877c66159cf704309}} 
+\index{ISRVars@{ISRVars}!ISRfunc@{ISRfunc}}
+\index{ISRfunc@{ISRfunc}!ISRVars@{ISRVars}}
+\doxysubsubsection{\texorpdfstring{ISRfunc}{ISRfunc}}
+{\footnotesize\ttfamily void($\ast$ ISRVars\+::\+ISRfunc) ()}
+
+\mbox{\Hypertarget{structISRVars_ac1eba4ab5f07f4751a050d9cbcedc797}\label{structISRVars_ac1eba4ab5f07f4751a050d9cbcedc797}} 
+\index{ISRVars@{ISRVars}!pinIRQ@{pinIRQ}}
+\index{pinIRQ@{pinIRQ}!ISRVars@{ISRVars}}
+\doxysubsubsection{\texorpdfstring{pinIRQ}{pinIRQ}}
+{\footnotesize\ttfamily unsigned char ISRVars\+::pin\+IRQ}
+
+\mbox{\Hypertarget{structISRVars_a24a642bb0d154409a0c7799c6e79552a}\label{structISRVars_a24a642bb0d154409a0c7799c6e79552a}} 
+\index{ISRVars@{ISRVars}!pinIRQB@{pinIRQB}}
+\index{pinIRQB@{pinIRQB}!ISRVars@{ISRVars}}
+\doxysubsubsection{\texorpdfstring{pinIRQB}{pinIRQB}}
+{\footnotesize\ttfamily unsigned char ISRVars\+::pin\+IRQB}
+
+\mbox{\Hypertarget{structISRVars_a935b7a7cfe9c5a33902ce56256980846}\label{structISRVars_a935b7a7cfe9c5a33902ce56256980846}} 
+\index{ISRVars@{ISRVars}!pulseEndMicros@{pulseEndMicros}}
+\index{pulseEndMicros@{pulseEndMicros}!ISRVars@{ISRVars}}
+\doxysubsubsection{\texorpdfstring{pulseEndMicros}{pulseEndMicros}}
+{\footnotesize\ttfamily volatile unsigned long ISRVars\+::pulse\+End\+Micros}
+
+\mbox{\Hypertarget{structISRVars_a5fb13f185745e43667ba30d2c0481f74}\label{structISRVars_a5fb13f185745e43667ba30d2c0481f74}} 
+\index{ISRVars@{ISRVars}!pulses@{pulses}}
+\index{pulses@{pulses}!ISRVars@{ISRVars}}
+\doxysubsubsection{\texorpdfstring{pulses}{pulses}}
+{\footnotesize\ttfamily volatile long ISRVars\+::pulses}
+
+\mbox{\Hypertarget{structISRVars_aad94840301dc39f51a918b556df8fc11}\label{structISRVars_aad94840301dc39f51a918b556df8fc11}} 
+\index{ISRVars@{ISRVars}!pulseStartMicros@{pulseStartMicros}}
+\index{pulseStartMicros@{pulseStartMicros}!ISRVars@{ISRVars}}
+\doxysubsubsection{\texorpdfstring{pulseStartMicros}{pulseStartMicros}}
+{\footnotesize\ttfamily volatile unsigned long ISRVars\+::pulse\+Start\+Micros}
+
+\mbox{\Hypertarget{structISRVars_af6857712234eae5709feba7c699e0ac7}\label{structISRVars_af6857712234eae5709feba7c699e0ac7}} 
+\index{ISRVars@{ISRVars}!speedPPS@{speedPPS}}
+\index{speedPPS@{speedPPS}!ISRVars@{ISRVars}}
+\doxysubsubsection{\texorpdfstring{speedPPS}{speedPPS}}
+{\footnotesize\ttfamily volatile unsigned int ISRVars\+::speed\+PPS}
+
+
+
+The documentation for this struct was generated from the following file\+:\begin{DoxyCompactItemize}
+\item 
+lib/\+Motor\+Wheel/\mbox{\hyperlink{MotorWheel_8h}{Motor\+Wheel.\+h}}\end{DoxyCompactItemize}
diff --git a/src/dcaitirobot/embedded/docs/latex/tabu_doxygen.sty b/src/dcaitirobot/embedded/docs/latex/tabu_doxygen.sty
new file mode 100644
index 0000000..60fd7e8
--- /dev/null
+++ b/src/dcaitirobot/embedded/docs/latex/tabu_doxygen.sty
@@ -0,0 +1,2557 @@
+%%
+%% This is file `tabu.sty',
+%% generated with the docstrip utility.
+%%
+%% The original source files were:
+%%
+%% tabu.dtx  (with options: `package')
+%% 
+%% This is a generated file.
+%% Copyright (FC) 2010-2011 - lppl
+%% 
+%% tabu : 2011/02/26 v2.8 - tabu : Flexible LaTeX tabulars
+%% 
+%% **********************************************************************************************
+%% \begin{tabu}               { preamble } => default target: \linewidth or \linegoal
+%% \begin{tabu} to     <dimen>{ preamble } => target specified
+%% \begin{tabu} spread <dimen>{ preamble } => target relative to the ``natural width''
+%% 
+%%  tabu works in text and in math modes.
+%% 
+%%  X columns: automatic width adjustment + horizontal and vertical alignment
+%%  \begin{tabu}   { X[4c] X[1c] X[-2ml]  }
+%% 
+%%  Horizontal lines and / or leaders:
+%%         \hline\hline                          => double horizontal line
+%%         \firsthline\hline                     => for nested tabulars
+%%         \lasthline\hline                      => for nested tabulars
+%%         \tabucline[line spec]{column-column}  => ``funny'' lines (dash/leader)
+%%  Automatic lines / leaders :
+%%         \everyrow{\hline\hline}
+%% 
+%%  Vertical lines and / or leaders:
+%%  \begin{tabu}   { |[3pt red] X[4c] X[1c] X[-2ml] |[3pt blue] }
+%%  \begin{tabu}   { |[3pt red] X[4c] X[1c] X[-2ml] |[3pt on 2pt off 4pt blue] }
+%% 
+%%  Fixed vertical spacing adjustment:
+%%         \extrarowheight=<dimen>     \extrarowdepth=<dimen>
+%%    or:     \extrarowsep=<dimen>               => may be prefixed by \global
+%% 
+%%  Dynamic vertical spacing adjustment:
+%%       \abovetabulinesep=<dimen>  \belowtabulinesep=<dimen>
+%%   or:      \tabulinesep=<dimen>               => may be prefixed by \global
+%% 
+%%  delarray.sty shortcuts: in math and text modes
+%%  \begin{tabu} ....        \({ preamble }\)
+%% 
+%%  Algorithms reports:
+%%            \tracingtabu=1             \tracingtabu=2
+%% 
+%% **********************************************************************************************
+%% 
+%% This work may be distributed and/or modified under the
+%% conditions of the LaTeX Project Public License, either
+%% version 1.3 of this license or (at your option) any later
+%% version. The latest version of this license is in
+%%    http://www.latex-project.org/lppl.txt
+%% 
+%% This work consists of the main source file tabu.dtx
+%% and the derived files
+%%    tabu.sty, tabu.pdf, tabu.ins
+%% 
+%% tabu : Flexible LaTeX tabulars
+%% lppl copyright 2010-2011 by FC <florent.chervet@free.fr>
+%% 
+
+\NeedsTeXFormat{LaTeX2e}[2005/12/01]
+\ProvidesPackage{tabu_doxygen}[2011/02/26 v2.8 - flexible LaTeX tabulars (FC), frozen version for doxygen]
+\RequirePackage{array}[2008/09/09]
+\RequirePackage{varwidth}[2009/03/30]
+\AtEndOfPackage{\tabu@AtEnd \let\tabu@AtEnd \@undefined}
+\let\tabu@AtEnd\@empty
+\def\TMP@EnsureCode#1={%
+    \edef\tabu@AtEnd{\tabu@AtEnd
+                     \catcode#1 \the\catcode#1}%
+    \catcode#1=%
+}% \TMP@EnsureCode
+\TMP@EnsureCode 33 = 12 % !
+\TMP@EnsureCode 58 = 12 % : (for siunitx)
+\TMP@EnsureCode124 = 12 % |
+\TMP@EnsureCode 36 =  3 % $ = math shift
+\TMP@EnsureCode 38 =  4 % & = tab alignment character
+\TMP@EnsureCode 32 = 10 % space
+\TMP@EnsureCode 94 =  7 % ^
+\TMP@EnsureCode 95 =  8 % _
+%% Constants --------------------------------------------------------
+\newcount \c@taburow        \def\thetaburow {\number\c@taburow}
+\newcount \tabu@nbcols
+\newcount \tabu@cnt
+\newcount \tabu@Xcol
+\let\tabu@start \@tempcnta
+\let\tabu@stop  \@tempcntb
+\newcount \tabu@alloc  \tabu@alloc=\m@ne
+\newcount \tabu@nested
+\def\tabu@alloc@{\global\advance\tabu@alloc \@ne \tabu@nested\tabu@alloc}
+\newdimen \tabu@target
+\newdimen \tabu@spreadtarget
+\newdimen \tabu@naturalX
+\newdimen \tabucolX
+\let\tabu@DELTA \@tempdimc
+\let\tabu@thick \@tempdima
+\let\tabu@on    \@tempdimb
+\let\tabu@off   \@tempdimc
+\newdimen \tabu@Xsum
+\newdimen \extrarowdepth
+\newdimen \abovetabulinesep
+\newdimen \belowtabulinesep
+\newdimen \tabustrutrule      \tabustrutrule \z@
+\newtoks \tabu@thebody
+\newtoks \tabu@footnotes
+\newsavebox \tabu@box
+\newsavebox \tabu@arstrutbox
+\newsavebox \tabu@hleads
+\newsavebox \tabu@vleads
+\newif \iftabu@colortbl
+\newif \iftabu@siunitx
+\newif \iftabu@measuring
+\newif \iftabu@spread
+\newif \iftabu@negcoef
+\newif \iftabu@everyrow
+\def\tabu@everyrowtrue {\global\let\iftabu@everyrow \iftrue}
+\def\tabu@everyrowfalse{\global\let\iftabu@everyrow \iffalse}
+\newif \iftabu@long
+\newif \iftabuscantokens
+\def\tabu@rescan {\tabu@verbatim \scantokens  }
+%% Utilities (for internal usage) -----------------------------------
+\def\tabu@gobblespace #1  {#1}
+\def\tabu@gobbletoken #1#2{#1}
+\def\tabu@gobbleX{\futurelet\@let@token \tabu@gobblex}
+\def\tabu@gobblex{\if ^^J\noexpand\@let@token \expandafter\@gobble
+                  \else\ifx \@sptoken\@let@token
+                    \expandafter\tabu@gobblespace\expandafter\tabu@gobbleX
+                  \fi\fi
+}% \tabu@gobblex
+\def\tabu@X{^^J}
+{\obeyspaces
+\global\let\tabu@spxiii= % saves an active space (for \ifx)
+\gdef\tabu@@spxiii{ }}
+\def\tabu@ifenvir {% only for \multicolumn
+    \expandafter\tabu@if@nvir\csname\@currenvir\endcsname
+}% \tabu@ifenvir
+\def\tabu@if@nvir #1{\csname @\ifx\tabu#1first\else
+                              \ifx\longtabu#1first\else
+                              second\fi\fi oftwo\endcsname
+}% \tabu@ifenvir
+\def\tabu@modulo #1#2{\numexpr\ifnum\numexpr#1=\z@ 0\else #1-(#1-(#2-1)/2)/(#2)*(#2)\fi}
+{\catcode`\&=3
+\gdef\tabu@strtrim  #1{% #1 = control sequence to trim
+    \ifodd 1\ifx #1\@empty \else \ifx #1\space \else 0\fi \fi
+            \let\tabu@c@l@r \@empty       \let#1\@empty
+    \else   \expandafter  \tabu@trimspaces  #1&#1\@nnil
+    \fi
+}% \tabu@strtrim
+\gdef\tabu@trimspaces #1&#2\@nnil{\let\tabu@c@l@r=#2\tabu@firstspace .#1& &#2}%
+\gdef\tabu@firstspace #1#2#3 &{\tabu@lastspace #2#3&}
+\gdef\tabu@lastspace #1&#2&#3{\def #3{#1}%
+    \ifx #3\tabu@c@l@r \def\tabu@c@l@r{\protect\color{#1}}\expandafter\remove@to@nnil \fi
+    \tabu@trimspaces #1&#3\@nnil}
+}% \catcode
+\def\tabu@sanitizearg #1#2{{%
+    \csname \ifcsname if@safe@actives\endcsname         % <babel>
+                      @safe@activestrue\else
+                      relax\fi       \endcsname
+    \edef#2{#1}\tabu@strtrim#2\@onelevel@sanitize#2%
+    \expandafter}\expandafter\def\expandafter#2\expandafter{#2}%
+}% \tabu@sanitizearg
+\def\tabu@textbar #1{\begingroup \endlinechar\m@ne \scantokens{\def\:{|}}%
+    \expandafter\endgroup \expandafter#1\:% !!! semi simple group !!!
+}% \tabu@textbar
+\def\tabu@everyrow@bgroup{\iftabu@everyrow \begingroup \else \noalign{\ifnum0=`}\fi \fi}
+\def\tabu@everyrow@egroup{%
+    \iftabu@everyrow \expandafter \endgroup \the\toks@
+    \else            \ifnum0=`{\fi}%
+    \fi
+}% \tabu@everyrow@egroup
+\def\tabu@arstrut {\global\setbox\@arstrutbox \hbox{\vrule
+    height \arraystretch \dimexpr\ht\strutbox+\extrarowheight
+    depth  \arraystretch \dimexpr\dp\strutbox+\extrarowdepth
+    width  \z@}%
+}% \tabu@arstrut
+\def\tabu@rearstrut {%
+    \@tempdima \arraystretch\dimexpr\ht\strutbox+\extrarowheight \relax
+    \@tempdimb \arraystretch\dimexpr\dp\strutbox+\extrarowdepth  \relax
+    \ifodd 1\ifdim \ht\@arstrutbox=\@tempdima
+            \ifdim \dp\@arstrutbox=\@tempdimb 0 \fi\fi
+        \tabu@mkarstrut
+    \fi
+}% \tabu@rearstrut
+\def\tabu@@DBG #1{\ifdim\tabustrutrule>\z@ \color{#1}\fi}
+\def\tabu@DBG@arstrut {\global\setbox\@arstrutbox
+    \hbox to\z@{\hbox to\z@{\hss
+    {\tabu@DBG{cyan}\vrule
+    height \arraystretch \dimexpr\ht\strutbox+\extrarowheight
+    depth  \z@
+    width  \tabustrutrule}\kern-\tabustrutrule
+    {\tabu@DBG{pink}\vrule
+    height \z@
+    depth  \arraystretch \dimexpr\dp\strutbox+\extrarowdepth
+    width \tabustrutrule}}}%
+}% \tabu@DBG@arstrut
+\def\tabu@save@decl{\toks\count@ \expandafter{\the\toks\expandafter\count@
+                                                              \@nextchar}}%
+\def\tabu@savedecl{\ifcat$\d@llarend\else
+       \let\save@decl \tabu@save@decl \fi % no inversion of tokens in text mode
+}% \tabu@savedecl
+\def\tabu@finalstrut #1{\unskip\ifhmode\nobreak\fi\vrule height\z@ depth\z@ width\z@}
+\newcommand*\tabuDisableCommands {\g@addto@macro\tabu@trialh@@k }
+\let\tabu@trialh@@k \@empty
+\def\tabu@nowrite #1#{{\afterassignment}\toks@}
+\let\tabu@write\write
+\let\tabu@immediate\immediate
+\def\tabu@WRITE{\begingroup
+   \def\immediate\write{\aftergroup\endgroup
+                  \tabu@immediate\tabu@write}%
+}% \tabu@WRITE
+\expandafter\def\expandafter\tabu@GenericError\expandafter{%
+                      \expandafter\tabu@WRITE\GenericError}
+\def\tabu@warn{\tabu@WRITE\PackageWarning{tabu}}
+\def\tabu@noxfootnote [#1]{\@gobble}
+\def\tabu@nocolor #1#{\@gobble}
+\newcommand*\tabu@norowcolor[2][]{}
+\def\tabu@maybesiunitx #1{\def\tabu@temp{#1}%
+                          \futurelet\@let@token \tabu@m@ybesiunitx}
+\def\tabu@m@ybesiunitx #1{\def\tabu@m@ybesiunitx {%
+    \ifx #1\@let@token \let\tabu@cellleft \@empty \let\tabu@cellright \@empty \fi
+    \tabu@temp}% \tabu@m@ybesiunitx
+}\expandafter\tabu@m@ybesiunitx \csname siunitx_table_collect_begin:Nn\endcsname
+\def\tabu@celllalign@def #1{\def\tabu@celllalign{\tabu@maybesiunitx{#1}}}%
+%% Fixed vertical spacing adjustment: \extrarowsep ------------------
+\newcommand*\extrarowsep{\edef\tabu@C@extra{\the\numexpr\tabu@C@extra+1}%
+    \iftabu@everyrow    \aftergroup\tabu@Gextra
+    \else               \aftergroup\tabu@n@Gextra
+    \fi
+    \@ifnextchar={\tabu@gobbletoken\tabu@extra} \tabu@extra
+}% \extrarowsep
+\def\tabu@extra {\@ifnextchar_%
+    {\tabu@gobbletoken{\tabu@setextra\extrarowheight \extrarowdepth}}
+    {\ifx ^\@let@token \def\tabu@temp{%
+            \tabu@gobbletoken{\tabu@setextra\extrarowdepth \extrarowheight}}%
+    \else   \let\tabu@temp \@empty
+            \afterassignment \tabu@setextrasep \extrarowdepth
+    \fi \tabu@temp}%
+}% \tabu@extra
+\def\tabu@setextra #1#2{\def\tabu@temp{\tabu@extr@#1#2}\afterassignment\tabu@temp#2}
+\def\tabu@extr@ #1#2{\@ifnextchar^%
+    {\tabu@gobbletoken{\tabu@setextra\extrarowdepth \extrarowheight}}
+    {\ifx _\@let@token \def\tabu@temp{%
+            \tabu@gobbletoken{\tabu@setextra\extrarowheight \extrarowdepth}}%
+    \else   \let\tabu@temp \@empty
+            \tabu@Gsave \tabu@G@extra \tabu@C@extra \extrarowheight \extrarowdepth
+    \fi \tabu@temp}%
+}% \tabu@extr@
+\def\tabu@setextrasep {\extrarowheight=\extrarowdepth
+    \tabu@Gsave \tabu@G@extra \tabu@C@extra \extrarowheight \extrarowdepth
+}% \tabu@setextrasep
+\def\tabu@Gextra{\ifx \tabu@G@extra\@empty \else {\tabu@Rextra}\fi}
+\def\tabu@n@Gextra{\ifx \tabu@G@extra\@empty \else \noalign{\tabu@Rextra}\fi}
+\def\tabu@Rextra{\tabu@Grestore \tabu@G@extra \tabu@C@extra}
+\let\tabu@C@extra \z@
+\let\tabu@G@extra \@empty
+%% Dynamic vertical spacing adjustment: \tabulinesep ----------------
+\newcommand*\tabulinesep{\edef\tabu@C@linesep{\the\numexpr\tabu@C@linesep+1}%
+    \iftabu@everyrow    \aftergroup\tabu@Glinesep
+    \else               \aftergroup\tabu@n@Glinesep
+    \fi
+    \@ifnextchar={\tabu@gobbletoken\tabu@linesep} \tabu@linesep
+}% \tabulinesep
+\def\tabu@linesep {\@ifnextchar_%
+    {\tabu@gobbletoken{\tabu@setsep\abovetabulinesep \belowtabulinesep}}
+    {\ifx ^\@let@token \def\tabu@temp{%
+            \tabu@gobbletoken{\tabu@setsep\belowtabulinesep \abovetabulinesep}}%
+     \else  \let\tabu@temp \@empty
+            \afterassignment \tabu@setlinesep \abovetabulinesep
+     \fi \tabu@temp}%
+}% \tabu@linesep
+\def\tabu@setsep #1#2{\def\tabu@temp{\tabu@sets@p#1#2}\afterassignment\tabu@temp#2}
+\def\tabu@sets@p #1#2{\@ifnextchar^%
+    {\tabu@gobbletoken{\tabu@setsep\belowtabulinesep \abovetabulinesep}}
+    {\ifx _\@let@token \def\tabu@temp{%
+            \tabu@gobbletoken{\tabu@setsep\abovetabulinesep \belowtabulinesep}}%
+    \else   \let\tabu@temp \@empty
+            \tabu@Gsave \tabu@G@linesep \tabu@C@linesep \abovetabulinesep \belowtabulinesep
+    \fi \tabu@temp}%
+}% \tabu@sets@p
+\def\tabu@setlinesep {\belowtabulinesep=\abovetabulinesep
+    \tabu@Gsave \tabu@G@linesep \tabu@C@linesep \abovetabulinesep \belowtabulinesep
+}% \tabu@setlinesep
+\def\tabu@Glinesep{\ifx \tabu@G@linesep\@empty \else {\tabu@Rlinesep}\fi}
+\def\tabu@n@Glinesep{\ifx \tabu@G@linesep\@empty \else \noalign{\tabu@Rlinesep}\fi}
+\def\tabu@Rlinesep{\tabu@Grestore \tabu@G@linesep \tabu@C@linesep}
+\let\tabu@C@linesep \z@
+\let\tabu@G@linesep \@empty
+%% \global\extrarowsep  and  \global\tabulinesep  -------------------
+\def\tabu@Gsave #1#2#3#4{\xdef#1{#1%
+    \toks#2{\toks\the\currentgrouplevel{\global#3\the#3\global#4\the#4}}}%
+}% \tabu@Gsave
+\def\tabu@Grestore#1#2{%
+    \toks#2{}#1\toks\currentgrouplevel\expandafter{\expandafter}\the\toks#2\relax
+    \ifcat$\the\toks\currentgrouplevel$\else
+        \global\let#1\@empty \global\let#2\z@
+        \the\toks\currentgrouplevel
+    \fi
+}% \tabu@Grestore
+%% Setting code for every row ---------------------------------------
+\newcommand*\everyrow{\tabu@everyrow@bgroup
+                      \tabu@start \z@ \tabu@stop \z@ \tabu@evrstartstop
+}% \everyrow
+\def\tabu@evrstartstop {\@ifnextchar^%
+    {\afterassignment \tabu@evrstartstop \tabu@stop=}%
+    {\ifx ^\@let@token
+            \afterassignment\tabu@evrstartstop \tabu@start=%
+     \else  \afterassignment\tabu@everyr@w     \toks@
+     \fi}%
+}% \tabu@evrstartstop
+\def\tabu@everyr@w {%
+    \xdef\tabu@everyrow{%
+        \noexpand\tabu@everyrowfalse
+        \let\noalign \relax
+        \noexpand\tabu@rowfontreset
+        \iftabu@colortbl \noexpand\tabu@rc@ \fi % \taburowcolors
+        \let\noexpand\tabu@docline \noexpand\tabu@docline@evr
+        \the\toks@
+        \noexpand\tabu@evrh@@k
+        \noexpand\tabu@rearstrut
+        \global\advance\c@taburow \@ne}%
+    \iftabu@everyrow \toks@\expandafter
+        {\expandafter\def\expandafter\tabu@evr@L\expandafter{\the\toks@}\ignorespaces}%
+    \else \xdef\tabu@evr@G{\the\toks@}%
+    \fi
+    \tabu@everyrow@egroup
+}% \tabu@everyr@w
+\def\tabu@evr {\def\tabu@evrh@@k}         % for internal use only
+\tabu@evr{}
+%% line style and leaders -------------------------------------------
+\newcommand*\newtabulinestyle [1]{%
+    {\@for \@tempa :=#1\do{\expandafter\tabu@newlinestyle \@tempa==\@nil}}%
+}% \newtabulinestyle
+\def\tabu@newlinestyle #1=#2=#3\@nil{\tabu@getline {#2}%
+    \tabu@sanitizearg {#1}\@tempa
+    \ifodd 1\ifx \@tempa\@empty \ifdefined\tabu@linestyle@ 0 \fi\fi
+    \global\expandafter\let
+        \csname tabu@linestyle@\@tempa \endcsname =\tabu@thestyle \fi
+}% \tabu@newlinestyle
+\newcommand*\tabulinestyle [1]{\tabu@everyrow@bgroup \tabu@getline{#1}%
+    \iftabu@everyrow
+        \toks@\expandafter{\expandafter \def \expandafter
+                    \tabu@ls@L\expandafter{\tabu@thestyle}\ignorespaces}%
+        \gdef\tabu@ls@{\tabu@ls@L}%
+    \else
+        \global\let\tabu@ls@G \tabu@thestyle
+        \gdef\tabu@ls@{\tabu@ls@G}%
+    \fi
+    \tabu@everyrow@egroup
+}% \tabulinestyle
+\newcommand*\taburulecolor{\tabu@everyrow@bgroup \tabu@textbar \tabu@rulecolor}
+\def\tabu@rulecolor #1{\toks@{}%
+    \def\tabu@temp #1##1#1{\tabu@ruledrsc{##1}}\@ifnextchar #1%
+                                                    \tabu@temp
+                                                 \tabu@rulearc
+}% \tabu@rulecolor
+\def\tabu@ruledrsc #1{\edef\tabu@temp{#1}\tabu@strtrim\tabu@temp
+    \ifx \tabu@temp\@empty \def\tabu@temp{\tabu@rule@drsc@ {}{}}%
+    \else \edef\tabu@temp{\noexpand\tabu@rule@drsc@ {}{\tabu@temp}}%
+    \fi
+    \tabu@temp
+}% \tabu@ruledrsc@
+\def\tabu@ruledrsc@   #1#{\tabu@rule@drsc@ {#1}}
+\def\tabu@rule@drsc@ #1#2{%
+    \iftabu@everyrow
+        \ifx \\#1#2\\\toks@{\let\CT@drsc@ \relax}%
+        \else        \toks@{\def\CT@drsc@{\color #1{#2}}}%
+        \fi
+    \else
+        \ifx \\#1#2\\\global\let\CT@drsc@ \relax
+        \else        \gdef\CT@drsc@{\color #1{#2}}%
+        \fi
+    \fi
+    \tabu@rulearc
+}% \tabu@rule@drsc@
+\def\tabu@rulearc    #1#{\tabu@rule@arc@ {#1}}
+\def\tabu@rule@arc@ #1#2{%
+    \iftabu@everyrow
+        \ifx \\#1#2\\\toks@\expandafter{\the\toks@ \def\CT@arc@{}}%
+        \else        \toks@\expandafter{\the\toks@ \def\CT@arc@{\color #1{#2}}}%
+        \fi
+        \toks@\expandafter{\the\toks@
+            \let\tabu@arc@L  \CT@arc@
+            \let\tabu@drsc@L \CT@drsc@
+            \ignorespaces}%
+    \else
+        \ifx \\#1#2\\\gdef\CT@arc@{}%
+        \else        \gdef\CT@arc@{\color #1{#2}}%
+        \fi
+        \global\let\tabu@arc@G  \CT@arc@
+        \global\let\tabu@drsc@G \CT@drsc@
+    \fi
+    \tabu@everyrow@egroup
+}% \tabu@rule@arc@
+\def\taburowcolors {\tabu@everyrow@bgroup \@testopt \tabu@rowcolors 1}
+\def\tabu@rowcolors [#1]#2#{\tabu@rowc@lors{#1}{#2}}
+\def\tabu@rowc@lors #1#2#3{%
+    \toks@{}\@defaultunits \count@      =\number0#2\relax \@nnil
+            \@defaultunits \tabu@start  =\number0#1\relax \@nnil
+    \ifnum \count@<\tw@ \count@=\tw@ \fi
+    \advance\tabu@start \m@ne
+    \ifnum \tabu@start<\z@ \tabu@start \z@ \fi
+    \tabu@rowcolorseries #3\in@..\in@ \@nnil
+}% \tabu@rowcolors
+\def\tabu@rowcolorseries #1..#2\in@ #3\@nnil {%
+    \ifx \in@#1\relax
+        \iftabu@everyrow \toks@{\def\tabu@rc@{}\let\tabu@rc@L \tabu@rc@}%
+        \else   \gdef\tabu@rc@{}\global\let\tabu@rc@G \tabu@rc@
+        \fi
+    \else
+        \ifx \\#2\\\tabu@rowcolorserieserror \fi
+        \tabu@sanitizearg{#1}\tabu@temp
+        \tabu@sanitizearg{#2}\@tempa
+        \advance\count@ \m@ne
+    \iftabu@everyrow
+        \def\tabu@rc@ ##1##2##3##4{\def\tabu@rc@{%
+            \ifnum ##2=\c@taburow
+                \definecolorseries{tabu@rcseries@\the\tabu@nested}{rgb}{last}{##3}{##4}\fi
+            \ifnum \c@taburow<##2 \else
+                \ifnum \tabu@modulo {\c@taburow-##2}{##1+1}=\z@
+                    \resetcolorseries[{##1}]{tabu@rcseries@\the\tabu@nested}\fi
+                \xglobal\colorlet{tabu@rc@\the\tabu@nested}{tabu@rcseries@\the\tabu@nested!!+}%
+                \rowcolor{tabu@rc@\the\tabu@nested}\fi}%
+        }\edef\x{\noexpand\tabu@rc@           {\the\count@}
+                                          {\the\tabu@start}
+                                               {\tabu@temp}
+                                                  {\@tempa}%
+                }\x
+        \toks@\expandafter{\expandafter\def\expandafter\tabu@rc@\expandafter{\tabu@rc@}}%
+        \toks@\expandafter{\the\toks@ \let\tabu@rc@L \tabu@rc@ \ignorespaces}%
+    \else   % inside \noalign
+        \definecolorseries{tabu@rcseries@\the\tabu@nested}{rgb}{last}{\tabu@temp}{\@tempa}%
+        \expandafter\resetcolorseries\expandafter[\the\count@]{tabu@rcseries@\the\tabu@nested}%
+        \xglobal\colorlet{tabu@rc@\the\tabu@nested}{tabu@rcseries@\the\tabu@nested!!+}%
+        \let\noalign \relax \rowcolor{tabu@rc@\the\tabu@nested}%
+        \def\tabu@rc@ ##1##2{\gdef\tabu@rc@{%
+            \ifnum \tabu@modulo {\c@taburow-##2}{##1+1}=\@ne
+                \resetcolorseries[{##1}]{tabu@rcseries@\the\tabu@nested}\fi
+            \xglobal\colorlet{tabu@rc@\the\tabu@nested}{tabu@rcseries@\the\tabu@nested!!+}%
+            \rowcolor{tabu@rc@\the\tabu@nested}}%
+        }\edef\x{\noexpand\tabu@rc@{\the\count@}{\the\c@taburow}}\x
+        \global\let\tabu@rc@G \tabu@rc@
+    \fi
+    \fi
+    \tabu@everyrow@egroup
+}% \tabu@rowcolorseries
+\tabuDisableCommands {\let\tabu@rc@ \@empty }
+\def\tabu@rowcolorserieserror {\PackageError{tabu}
+    {Invalid syntax for \string\taburowcolors
+    \MessageBreak Please look at the documentation!}\@ehd
+}% \tabu@rowcolorserieserror
+\newcommand*\tabureset {%
+    \tabulinesep=\z@ \extrarowsep=\z@ \extratabsurround=\z@
+    \tabulinestyle{}\everyrow{}\taburulecolor||{}\taburowcolors{}%
+}% \tabureset
+%% Parsing the line styles ------------------------------------------
+\def\tabu@getline #1{\begingroup
+    \csname \ifcsname if@safe@actives\endcsname         % <babel>
+                      @safe@activestrue\else
+                      relax\fi       \endcsname
+    \edef\tabu@temp{#1}\tabu@sanitizearg{#1}\@tempa
+    \let\tabu@thestyle \relax
+    \ifcsname tabu@linestyle@\@tempa \endcsname
+            \edef\tabu@thestyle{\endgroup
+                \def\tabu@thestyle{\expandafter\noexpand
+                    \csname tabu@linestyle@\@tempa\endcsname}%
+            }\tabu@thestyle
+    \else   \expandafter\tabu@definestyle \tabu@temp \@nil
+    \fi
+}% \tabu@getline
+\def\tabu@definestyle #1#2\@nil {\endlinechar \m@ne \makeatletter
+    \tabu@thick \maxdimen  \tabu@on \maxdimen   \tabu@off \maxdimen
+    \let\tabu@c@lon \@undefined  \let\tabu@c@loff \@undefined
+    \ifodd 1\ifcat .#1\else\ifcat\relax #1\else 0\fi\fi % catcode 12 or non expandable cs
+            \def\tabu@temp{\tabu@getparam{thick}}%
+    \else   \def\tabu@temp{\tabu@getparam{thick}\maxdimen}%
+    \fi
+    {%
+        \let\tabu@ \relax
+        \def\:{\obeyspaces \tabu@oXIII \tabu@commaXIII \edef\:}% (space active \: happy ;-))
+        \scantokens{\:{\tabu@temp #1#2 \tabu@\tabu@}}%
+                        \expandafter}\expandafter
+                                \def\expandafter\:\expandafter{\:}% line spec rewritten now ;-)
+    \def\;{\def\:}%
+    \scantokens\expandafter{\expandafter\;\expandafter{\:}}% space is now inactive (catcode 10)
+    \let\tabu@ \tabu@getcolor    \:%    all arguments are ready now ;-)
+    \ifdefined\tabu@c@lon \else \let\tabu@c@lon\@empty \fi
+    \ifx \tabu@c@lon\@empty \def\tabu@c@lon{\CT@arc@}\fi
+    \ifdefined\tabu@c@loff \else \let\tabu@c@loff \@empty        \fi
+    \ifdim \tabu@on=\maxdimen \ifdim \tabu@off<\maxdimen
+                                  \tabu@on \tabulineon        \fi\fi
+    \ifdim \tabu@off=\maxdimen \ifdim \tabu@on<\maxdimen
+                                  \tabu@off \tabulineoff      \fi\fi
+    \ifodd 1\ifdim \tabu@off=\maxdimen \ifdim \tabu@on=\maxdimen 0 \fi\fi
+            \in@true    % <leaders>
+    \else   \in@false   % <rule>
+    \fi
+    \ifdim\tabu@thick=\maxdimen \def\tabu@thick{\arrayrulewidth}%
+    \else                       \edef\tabu@thick{\the\tabu@thick}%
+    \fi
+    \edef \tabu@thestyle ##1##2{\endgroup
+        \def\tabu@thestyle{%
+            \ifin@  \noexpand\tabu@leadersstyle {\tabu@thick}
+                                                {\the\tabu@on}{##1}
+                                                {\the\tabu@off}{##2}%
+            \else   \noexpand\tabu@rulesstyle
+                            {##1\vrule width \tabu@thick}%
+                            {##1\leaders \hrule height \tabu@thick \hfil}%
+            \fi}%
+    }\expandafter \expandafter
+        \expandafter \tabu@thestyle \expandafter
+            \expandafter \expandafter
+                {\expandafter\tabu@c@lon\expandafter}\expandafter{\tabu@c@loff}%
+}% \tabu@definestyle
+{\catcode`\O=\active \lccode`\O=`\o \catcode`\,=\active
+    \lowercase{\gdef\tabu@oXIII {\catcode`\o=\active \let O=\tabu@oxiii}}
+    \gdef\tabu@commaXIII {\catcode`\,=\active \let ,=\space}
+}% \catcode
+\def\tabu@oxiii #1{%
+    \ifcase  \ifx n#1\z@ \else
+             \ifx f#1\@ne\else
+             \tw@       \fi\fi
+          \expandafter\tabu@onxiii
+    \or   \expandafter\tabu@ofxiii
+    \else o%
+    \fi#1}%
+\def\tabu@onxiii #1#2{%
+    \ifcase  \ifx  !#2\tw@          \else
+             \ifcat.\noexpand#2\z@  \else
+             \ifx \tabu@spxiii#2\@ne\else
+             \tw@               \fi\fi\fi
+          \tabu@getparam{on}#2\expandafter\@gobble
+    \or   \expandafter\tabu@onxiii    % (space is active)
+    \else o\expandafter\@firstofone
+    \fi{#1#2}}%
+\def\tabu@ofxiii #1#2{%
+    \ifx #2f\expandafter\tabu@offxiii
+    \else   o\expandafter\@firstofone
+    \fi{#1#2}}
+\def\tabu@offxiii #1#2{%
+    \ifcase \ifx  !#2\tw@           \else
+            \ifcat.\noexpand#2\z@   \else
+            \ifx\tabu@spxiii#2\@ne  \else
+            \tw@                \fi\fi\fi
+          \tabu@getparam{off}#2\expandafter\@gobble
+    \or   \expandafter\tabu@offxiii   % (space is active)
+    \else o\expandafter\@firstofone
+    \fi{#1#2}}
+\def\tabu@getparam #1{\tabu@ \csname tabu@#1\endcsname=}
+\def\tabu@getcolor #1{% \tabu@ <- \tabu@getcolor after \edef
+    \ifx \tabu@#1\else   % no more spec
+        \let\tabu@theparam=#1\afterassignment \tabu@getc@l@r #1\fi
+}% \tabu@getcolor
+\def\tabu@getc@l@r #1\tabu@ {%
+    \def\tabu@temp{#1}\tabu@strtrim \tabu@temp
+    \ifx \tabu@temp\@empty
+    \else%\ifcsname \string\color@\tabu@temp \endcsname  % if the color exists
+        \ifx \tabu@theparam \tabu@off   \let\tabu@c@loff \tabu@c@l@r
+        \else                           \let\tabu@c@lon  \tabu@c@l@r
+        \fi
+    %\else \tabu@warncolour{\tabu@temp}%
+    \fi%\fi
+    \tabu@ % next spec
+}% \tabu@getc@l@r
+\def\tabu@warncolour #1{\PackageWarning{tabu}
+    {Color #1 is not defined. Default color used}%
+}% \tabu@warncolour
+\def\tabu@leadersstyle #1#2#3#4#5{\def\tabu@leaders{{#1}{#2}{#3}{#4}{#5}}%
+    \ifx \tabu@leaders\tabu@leaders@G \else
+                \tabu@LEADERS{#1}{#2}{#3}{#4}{#5}\fi
+}% \tabu@leadersstyle
+\def\tabu@rulesstyle #1#2{\let\tabu@leaders \@undefined
+        \gdef\tabu@thevrule{#1}\gdef\tabu@thehrule{#2}%
+}% \tabu@rulesstyle
+%% The leaders boxes ------------------------------------------------
+\def\tabu@LEADERS #1#2#3#4#5{%% width, dash, dash color, gap, gap color
+    {\let\color \tabu@color % => during trials ->  \color = \tabu@nocolor
+    {%                      %    but the leaders boxes should have colors !
+    \def\@therule{\vrule}\def\@thick{height}\def\@length{width}%
+    \def\@box{\hbox}\def\@unbox{\unhbox}\def\@elt{\wd}%
+    \def\@skip{\hskip}\def\@ss{\hss}\def\tabu@leads{\tabu@hleads}%
+    \tabu@l@@d@rs {#1}{#2}{#3}{#4}{#5}%
+    \global\let\tabu@thehleaders \tabu@theleaders
+    }%
+    {%
+    \def\@therule{\hrule}\def\@thick{width}\def\@length{height}%
+    \def\@box{\vbox}\def\@unbox{\unvbox}\def\@elt{\ht}%
+    \def\@skip{\vskip}\def\@ss{\vss}\def\tabu@leads{\tabu@vleads}%
+    \tabu@l@@d@rs {#1}{#2}{#3}{#4}{#5}%
+    \global\let\tabu@thevleaders \tabu@theleaders
+    }%
+    \gdef\tabu@leaders@G{{#1}{#2}{#3}{#4}{#5}}%
+    }%
+}% \tabu@LEADERS
+\def\tabu@therule #1#2{\@therule \@thick#1\@length\dimexpr#2/2 \@depth\z@}
+\def\tabu@l@@d@rs #1#2#3#4#5{%% width, dash, dash color, gap, gap color
+    \global\setbox \tabu@leads=\@box{%
+        {#3\tabu@therule{#1}{#2}}%
+        \ifx\\#5\\\@skip#4\else{#5\tabu@therule{#1}{#4*2}}\fi
+        {#3\tabu@therule{#1}{#2}}}%
+    \global\setbox\tabu@leads=\@box to\@elt\tabu@leads{\@ss
+        {#3\tabu@therule{#1}{#2}}\@unbox\tabu@leads}%
+    \edef\tabu@theleaders ##1{\def\noexpand\tabu@theleaders {%
+        {##1\tabu@therule{#1}{#2}}%
+        \xleaders \copy\tabu@leads \@ss
+        \tabu@therule{0pt}{-#2}{##1\tabu@therule{#1}{#2}}}%
+    }\tabu@theleaders{#3}%
+}% \tabu@l@@d@rs
+%% \tabu \endtabu \tabu* \longtabu \endlongtabu \longtabu* ----------
+\newcommand*\tabu {\tabu@longfalse
+    \ifmmode \def\tabu@ {\array}\def\endtabu {\endarray}%
+    \else  \def\tabu@ {\tabu@tabular}\def\endtabu {\endtabular}\fi
+    \expandafter\let\csname tabu*\endcsname \tabu
+    \expandafter\def\csname endtabu*\endcsname{\endtabu}%
+    \tabu@spreadfalse \tabu@negcoeffalse \tabu@settarget
+}% {tabu}
+\let\tabu@tabular \tabular % <For LyX: some users redefine \tabular...>
+\expandafter\def\csname tabu*\endcsname{\tabuscantokenstrue \tabu}
+\newcommand*\longtabu {\tabu@longtrue
+   \ifmmode\PackageError{tabu}{longtabu not allowed in math mode}\fi
+   \def\tabu@{\longtable}\def\endlongtabu{\endlongtable}%
+   \LTchunksize=\@M
+   \expandafter\let\csname tabu*\endcsname \tabu
+   \expandafter\def\csname endlongtabu*\endcsname{\endlongtabu}%
+   \let\LT@startpbox \tabu@LT@startpbox % \everypar{ array struts }
+   \tabu@spreadfalse \tabu@negcoeffalse \tabu@settarget
+}% {longtabu}
+\expandafter\def\csname longtabu*\endcsname{\tabuscantokenstrue \longtabu}
+\def\tabu@nolongtabu{\PackageError{tabu}
+   {longtabu requires the longtable package}\@ehd}
+%% Read the target and  then : \tabular or \@array ------------------
+\def\tabu@settarget {\futurelet\@let@token \tabu@sett@rget }
+\def\tabu@sett@rget {\tabu@target \z@
+   \ifcase \ifx \bgroup\@let@token   \z@  \else
+           \ifx \@sptoken\@let@token \@ne \else
+           \if t\@let@token          \tw@ \else
+           \if s\@let@token          \thr@@\else
+           \z@\fi\fi\fi\fi
+         \expandafter\tabu@begin
+   \or   \expandafter\tabu@gobblespace\expandafter\tabu@settarget
+   \or   \expandafter\tabu@to
+   \or   \expandafter\tabu@spread
+   \fi
+}% \tabu@sett@rget
+\def\tabu@to to{\def\tabu@halignto{to}\tabu@gettarget}
+\def\tabu@spread spread{\tabu@spreadtrue\def\tabu@halignto{spread}\tabu@gettarget}
+\def\tabu@gettarget {\afterassignment\tabu@linegoaltarget \tabu@target }
+\def\tabu@linegoaltarget {\futurelet\tabu@temp \tabu@linegoalt@rget }
+\def\tabu@linegoalt@rget {%
+   \ifx \tabu@temp\LNGL@setlinegoal
+        \LNGL@setlinegoal \expandafter \@firstoftwo \fi % @gobbles \LNGL@setlinegoal
+   \tabu@begin
+}% \tabu@linegoalt@rget
+\def\tabu@begin #1#{%
+    \iftabu@measuring \expandafter\tabu@nestedmeasure \fi
+    \ifdim \tabu@target=\z@ \let\tabu@halignto \@empty
+    \else                   \edef\tabu@halignto{\tabu@halignto\the\tabu@target}%
+    \fi
+    \@testopt \tabu@tabu@ \tabu@aligndefault #1\@nil
+}% \tabu@begin
+\long\def\tabu@tabu@ [#1]#2\@nil #3{\tabu@setup
+   \def\tabu@align {#1}\def\tabu@savedpream{\NC@find #3}%
+   \tabu@ [\tabu@align ]#2{#3\tabu@rewritefirst }%
+}% \tabu@tabu@
+\def\tabu@nestedmeasure {%
+    \ifodd 1\iftabu@spread \else \ifdim\tabu@target=\z@ \else 0 \fi\fi\relax
+            \tabu@spreadtrue
+    \else   \begingroup \iffalse{\fi \ifnum0=`}\fi
+            \toks@{}\def\tabu@stack{b}%
+            \expandafter\tabu@collectbody\expandafter\tabu@quickrule
+                                         \expandafter\endgroup
+    \fi
+}% \tabu@nestedmeasure
+\def\tabu@quickrule {\indent\vrule height\z@ depth\z@ width\tabu@target}
+%% \tabu@setup  \tabu@init  \tabu@indent
+\def\tabu@setup{\tabu@alloc@
+    \ifcase \tabu@nested
+        \ifmmode \else \iftabu@spread\else \ifdim\tabu@target=\z@
+            \let\tabu@afterendpar \par
+        \fi\fi\fi
+        \def\tabu@aligndefault{c}\tabu@init \tabu@indent
+    \else       % <nested tabu>
+        \def\tabu@aligndefault{t}\let\tabudefaulttarget \linewidth
+    \fi
+    \let\tabu@thetarget \tabudefaulttarget \let\tabu@restored \@undefined
+    \edef\tabu@NC@list{\the\NC@list}\NC@list{\NC@do \tabu@rewritefirst}%
+    \everycr{}\let\@startpbox \tabu@startpbox % for nested tabu inside longtabu...
+              \let\@endpbox   \tabu@endpbox   % idem "    "    "    "    "    "
+              \let\@tabarray  \tabu@tabarray  % idem "    "    "    "    "    "
+    \tabu@setcleanup \tabu@setreset
+}% \tabu@setup
+\def\tabu@init{\tabu@starttimer \tabu@measuringfalse
+    \edef\tabu@hfuzz  {\the\dimexpr\hfuzz+1sp}\global\tabu@footnotes{}%
+    \let\firsthline    \tabu@firsthline   \let\lasthline      \tabu@lasthline
+    \let\firstline     \tabu@firstline    \let\lastline       \tabu@lastline
+    \let\hline         \tabu@hline        \let\@xhline        \tabu@xhline
+    \let\color         \tabu@color        \let\@arstrutbox    \tabu@arstrutbox
+    \iftabu@colortbl\else\let\LT@@hline   \tabu@LT@@hline \fi
+    \tabu@trivlist     %<restore \\=\@normalcr inside lists>
+    \let\@footnotetext \tabu@footnotetext \let\@xfootnotetext \tabu@xfootnotetext
+    \let\@xfootnote    \tabu@xfootnote    \let\centering      \tabu@centering
+    \let\raggedright   \tabu@raggedright  \let\raggedleft     \tabu@raggedleft
+    \let\tabudecimal   \tabu@tabudecimal  \let\Centering      \tabu@Centering
+    \let\RaggedRight   \tabu@RaggedRight  \let\RaggedLeft     \tabu@RaggedLeft
+    \let\justifying    \tabu@justifying   \let\rowfont        \tabu@rowfont
+    \let\fbox          \tabu@fbox         \let\color@b@x      \tabu@color@b@x
+    \let\tabu@@everycr \everycr           \let\tabu@@everypar \everypar
+    \let\tabu@prepnext@tokORI \prepnext@tok\let\prepnext@tok  \tabu@prepnext@tok
+    \let\tabu@multicolumnORI\multicolumn  \let\multicolumn    \tabu@multicolumn
+    \let\tabu@startpbox \@startpbox      % for nested tabu inside longtabu pfff !!!
+    \let\tabu@endpbox   \@endpbox        % idem  "    "    "    "    "    "    "
+    \let\tabu@tabarray  \@tabarray       % idem  "    "    "    "    "    "    "
+    \tabu@adl@fix      \let\endarray      \tabu@endarray % <fix> colortbl & arydshln (delarray)
+    \iftabu@colortbl\CT@everycr\expandafter{\expandafter\iftabu@everyrow \the\CT@everycr \fi}\fi
+}% \tabu@init
+\def\tabu@indent{% correction for indentation
+    \ifdim \parindent>\z@\ifx \linewidth\tabudefaulttarget
+    \everypar\expandafter{%
+        \the\everypar\everypar\expandafter{\the\everypar}%
+            \setbox\z@=\lastbox
+            \ifdim\wd\z@>\z@ \edef\tabu@thetarget
+                {\the\dimexpr -\wd\z@+\tabudefaulttarget}\fi
+            \box\z@}%
+    \fi\fi
+}% \tabu@indent
+\def\tabu@setcleanup {% saves last global assignments
+    \ifodd 1\ifmmode \else \iftabu@long \else 0\fi\fi\relax
+        \def\tabu@aftergroupcleanup{%
+                \def\tabu@aftergroupcleanup{\aftergroup\tabu@cleanup}}%
+    \else
+        \def\tabu@aftergroupcleanup{%
+                \aftergroup\aftergroup\aftergroup\tabu@cleanup
+                \let\tabu@aftergroupcleanup \relax}%
+    \fi
+    \let\tabu@arc@Gsave         \tabu@arc@G
+    \let\tabu@arc@G             \tabu@arc@L   % <init>
+    \let\tabu@drsc@Gsave        \tabu@drsc@G
+    \let\tabu@drsc@G            \tabu@drsc@L  % <init>
+    \let\tabu@ls@Gsave          \tabu@ls@G
+    \let\tabu@ls@G              \tabu@ls@L    % <init>
+    \let\tabu@rc@Gsave          \tabu@rc@G
+    \let\tabu@rc@G              \tabu@rc@L    % <init>
+    \let\tabu@evr@Gsave         \tabu@evr@G
+    \let\tabu@evr@G             \tabu@evr@L   % <init>
+    \let\tabu@celllalign@save   \tabu@celllalign
+    \let\tabu@cellralign@save   \tabu@cellralign
+    \let\tabu@cellleft@save     \tabu@cellleft
+    \let\tabu@cellright@save    \tabu@cellright
+    \let\tabu@@celllalign@save  \tabu@@celllalign
+    \let\tabu@@cellralign@save  \tabu@@cellralign
+    \let\tabu@@cellleft@save    \tabu@@cellleft
+    \let\tabu@@cellright@save   \tabu@@cellright
+    \let\tabu@rowfontreset@save \tabu@rowfontreset
+    \let\tabu@@rowfontreset@save\tabu@@rowfontreset
+    \let\tabu@rowfontreset      \@empty
+    \edef\tabu@alloc@save      {\the\tabu@alloc}%   restore at \tabu@reset
+    \edef\c@taburow@save       {\the\c@taburow}%
+    \edef\tabu@naturalX@save   {\the\tabu@naturalX}%
+    \let\tabu@naturalXmin@save  \tabu@naturalXmin
+    \let\tabu@naturalXmax@save  \tabu@naturalXmax
+    \let\tabu@mkarstrut@save    \tabu@mkarstrut
+    \edef\tabu@clarstrut{%
+        \extrarowheight \the\dimexpr \ht\@arstrutbox-\ht\strutbox \relax
+        \extrarowdepth \the\dimexpr \dp\@arstrutbox-\dp\strutbox \relax
+        \let\noexpand\@arraystretch \@ne \noexpand\tabu@rearstrut}%
+}% \tabu@setcleanup
+\def\tabu@cleanup {\begingroup
+    \globaldefs\@ne         \tabu@everyrowtrue
+    \let\tabu@arc@G         \tabu@arc@Gsave
+    \let\CT@arc@            \tabu@arc@G
+    \let\tabu@drsc@G        \tabu@drsc@Gsave
+    \let\CT@drsc@           \tabu@drsc@G
+    \let\tabu@ls@G          \tabu@ls@Gsave
+    \let\tabu@ls@           \tabu@ls@G
+    \let\tabu@rc@G          \tabu@rc@Gsave
+    \let\tabu@rc@           \tabu@rc@G
+    \let\CT@do@color        \relax
+    \let\tabu@evr@G         \tabu@evr@Gsave
+    \let\tabu@celllalign    \tabu@celllalign@save
+    \let\tabu@cellralign    \tabu@cellralign@save
+    \let\tabu@cellleft      \tabu@cellleft@save
+    \let\tabu@cellright     \tabu@cellright@save
+    \let\tabu@@celllalign   \tabu@@celllalign@save
+    \let\tabu@@cellralign   \tabu@@cellralign@save
+    \let\tabu@@cellleft     \tabu@@cellleft@save
+    \let\tabu@@cellright    \tabu@@cellright@save
+    \let\tabu@rowfontreset  \tabu@rowfontreset@save
+    \let\tabu@@rowfontreset \tabu@@rowfontreset@save
+    \tabu@naturalX         =\tabu@naturalX@save
+    \let\tabu@naturalXmax   \tabu@naturalXmax@save
+    \let\tabu@naturalXmin   \tabu@naturalXmin@save
+    \let\tabu@mkarstrut     \tabu@mkarstrut@save
+    \c@taburow             =\c@taburow@save
+    \ifcase \tabu@nested    \tabu@alloc \m@ne\fi
+    \endgroup               % <end of \globaldefs>
+    \ifcase \tabu@nested
+        \the\tabu@footnotes \global\tabu@footnotes{}%
+        \tabu@afterendpar   \tabu@elapsedtime
+    \fi
+    \tabu@clarstrut
+    \everyrow\expandafter   {\tabu@evr@G}%
+}% \tabu@cleanup
+\let\tabu@afterendpar \relax
+\def\tabu@setreset {%
+    \edef\tabu@savedparams {%         \relax for \tabu@message@save
+        \ifmmode \col@sep \the\arraycolsep
+        \else    \col@sep \the\tabcolsep \fi    \relax
+        \arrayrulewidth   \the\arrayrulewidth   \relax
+        \doublerulesep    \the\doublerulesep    \relax
+        \extratabsurround \the\extratabsurround \relax
+        \extrarowheight   \the\extrarowheight   \relax
+        \extrarowdepth    \the\extrarowdepth    \relax
+        \abovetabulinesep \the\abovetabulinesep \relax
+        \belowtabulinesep \the\belowtabulinesep \relax
+        \def\noexpand\arraystretch{\arraystretch}%
+        \ifdefined\minrowclearance \minrowclearance\the\minrowclearance\relax\fi}%
+    \begingroup
+        \@temptokena\expandafter{\tabu@savedparams}% => only for \savetabu / \usetabu
+        \ifx \tabu@arc@L\relax  \else \tabu@setsave \tabu@arc@L \fi
+        \ifx \tabu@drsc@L\relax \else \tabu@setsave \tabu@drsc@L \fi
+        \tabu@setsave \tabu@ls@L      \tabu@setsave \tabu@evr@L
+        \expandafter \endgroup \expandafter
+            \def\expandafter\tabu@saved@ \expandafter{\the\@temptokena
+                \let\tabu@arc@G  \tabu@arc@L
+                \let\tabu@drsc@G \tabu@drsc@L
+                \let\tabu@ls@G   \tabu@ls@L
+                \let\tabu@rc@G   \tabu@rc@L
+                \let\tabu@evr@G  \tabu@evr@L}%
+    \def\tabu@reset{\tabu@savedparams
+        \tabu@everyrowtrue  \c@taburow \z@
+        \let\CT@arc@        \tabu@arc@L
+        \let\CT@drsc@       \tabu@drsc@L
+        \let\tabu@ls@       \tabu@ls@L
+        \let\tabu@rc@       \tabu@rc@L
+        \global\tabu@alloc  \tabu@alloc@save
+        \everyrow\expandafter{\tabu@evr@L}}%
+}% \tabu@reset
+\def\tabu@setsave #1{\expandafter\tabu@sets@ve #1\@nil{#1}}
+\long\def\tabu@sets@ve #1\@nil #2{\@temptokena\expandafter{\the\@temptokena \def#2{#1}}}
+%% The Rewriting Process -------------------------------------------
+\def\tabu@newcolumntype #1{%
+    \expandafter\tabu@new@columntype
+        \csname NC@find@\string#1\expandafter\endcsname
+        \csname NC@rewrite@\string#1\endcsname
+        {#1}%
+}% \tabu@newcolumntype
+\def\tabu@new@columntype #1#2#3{%
+    \def#1##1#3{\NC@{##1}}%
+    \let#2\relax \newcommand*#2%
+}% \tabu@new@columntype
+\def\tabu@privatecolumntype #1{%
+    \expandafter\tabu@private@columntype
+        \csname NC@find@\string#1\expandafter\endcsname
+        \csname NC@rewrite@\string#1\expandafter\endcsname
+        \csname tabu@NC@find@\string#1\expandafter\endcsname
+        \csname tabu@NC@rewrite@\string#1\endcsname
+        {#1}%
+}% \tabu@privatecolumntype
+\def\tabu@private@columntype#1#2#3#4{%
+    \g@addto@macro\tabu@privatecolumns{\let#1#3\let#2#4}%
+    \tabu@new@columntype#3#4%
+}% \tabu@private@columntype
+\let\tabu@privatecolumns \@empty
+\newcommand*\tabucolumn [1]{\expandafter \def \expandafter
+    \tabu@highprioritycolumns\expandafter{\tabu@highprioritycolumns
+                                          \NC@do #1}}%
+\let\tabu@highprioritycolumns \@empty
+%% The  |  ``column'' : rewriting process --------------------------
+\tabu@privatecolumntype |{\tabu@rewritevline}
+\newcommand*\tabu@rewritevline[1][]{\tabu@vlinearg{#1}%
+                \expandafter \NC@find \tabu@rewritten}
+\def\tabu@lines #1{%
+    \ifx|#1\else \tabu@privatecolumntype #1{\tabu@rewritevline}\fi
+    \NC@list\expandafter{\the\NC@list \NC@do #1}%
+}% \tabu@lines@
+\def\tabu@vlinearg #1{%
+    \ifx\\#1\\\def\tabu@thestyle {\tabu@ls@}%
+    \else\tabu@getline {#1}%
+    \fi
+    \def\tabu@rewritten ##1{\def\tabu@rewritten{!{##1\tabu@thevline}}%
+    }\expandafter\tabu@rewritten\expandafter{\tabu@thestyle}%
+    \expandafter \tabu@keepls \tabu@thestyle \@nil
+}% \tabu@vlinearg
+\def\tabu@keepls #1\@nil{%
+    \ifcat $\@cdr #1\@nil $%
+    \ifx \relax#1\else
+    \ifx \tabu@ls@#1\else
+        \let#1\relax
+        \xdef\tabu@mkpreambuffer{\tabu@mkpreambuffer
+                \tabu@savels\noexpand#1}\fi\fi\fi
+}% \tabu@keepls
+\def\tabu@thevline {\begingroup
+    \ifdefined\tabu@leaders
+        \setbox\@tempboxa=\vtop to\dimexpr
+                      \ht\@arstrutbox+\dp\@arstrutbox{{\tabu@thevleaders}}%
+        \ht\@tempboxa=\ht\@arstrutbox \dp\@tempboxa=\dp\@arstrutbox
+        \box\@tempboxa
+    \else
+                \tabu@thevrule
+    \fi             \endgroup
+}% \tabu@thevline
+\def\tabu@savels #1{%
+    \expandafter\let\csname\string#1\endcsname #1%
+    \expandafter\def\expandafter\tabu@reset\expandafter{\tabu@reset
+                                                    \tabu@resetls#1}}%
+\def\tabu@resetls #1{\expandafter\let\expandafter#1\csname\string#1\endcsname}%
+%% \multicolumn inside tabu environment -----------------------------
+\tabu@newcolumntype \tabu@rewritemulticolumn{%
+    \aftergroup \tabu@endrewritemulticolumn % after \@mkpream group
+    \NC@list{\NC@do *}\tabu@textbar \tabu@lines
+    \tabu@savedecl
+    \tabu@privatecolumns
+    \NC@list\expandafter{\the\expandafter\NC@list \tabu@NC@list}%
+    \let\tabu@savels \relax
+    \NC@find
+}% \tabu@rewritemulticolumn
+\def\tabu@endrewritemulticolumn{\gdef\tabu@mkpreambuffer{}\endgroup}
+\def\tabu@multicolumn{\tabu@ifenvir \tabu@multic@lumn \tabu@multicolumnORI}
+\long\def\tabu@multic@lumn #1#2#3{\multispan{#1}\begingroup
+    \tabu@everyrowtrue
+    \NC@list{\NC@do \tabu@rewritemulticolumn}%
+    \expandafter\@gobbletwo % gobbles \multispan{#1}
+         \tabu@multicolumnORI{#1}{\tabu@rewritemulticolumn #2}%
+                {\iftabuscantokens \tabu@rescan \else \expandafter\@firstofone \fi
+                {#3}}%
+}% \tabu@multic@lumn
+%% The X column(s): rewriting process -----------------------------
+\tabu@privatecolumntype X[1][]{\begingroup \tabu@siunitx{\endgroup \tabu@rewriteX {#1}}}
+\def\tabu@nosiunitx #1{#1{}{}\expandafter \NC@find \tabu@rewritten }
+\def\tabu@siunitx   #1{\@ifnextchar \bgroup
+                     {\tabu@rewriteX@Ss{#1}}
+                      {\tabu@nosiunitx{#1}}}
+\def\tabu@rewriteX@Ss #1#2{\@temptokena{}%
+    \@defaultunits \let\tabu@temp =#2\relax\@nnil
+    \ifodd 1\ifx S\tabu@temp \else \ifx s\tabu@temp \else 0 \fi\fi
+        \def\NC@find{\def\NC@find >####1####2<####3\relax{#1 {####1}{####3}%
+            }\expandafter\NC@find \the\@temptokena \relax
+        }\expandafter\NC@rewrite@S \@gobble #2\relax
+    \else \tabu@siunitxerror
+    \fi
+    \expandafter \NC@find \tabu@rewritten
+}% \tabu@rewriteX@Ss
+\def\tabu@siunitxerror {\PackageError{tabu}{Not a S nor s column !
+        \MessageBreak X column can only embed siunitx S or s columns}\@ehd
+}% \tabu@siunitxerror
+\def\tabu@rewriteX #1#2#3{\tabu@Xarg {#1}{#2}{#3}%
+    \iftabu@measuring
+    \else \tabu@measuringtrue % first X column found in the preamble
+        \let\@halignto \relax   \let\tabu@halignto \relax
+        \iftabu@spread \tabu@spreadtarget \tabu@target \tabu@target \z@
+        \else          \tabu@spreadtarget \z@ \fi
+        \ifdim \tabu@target=\z@
+                \setlength\tabu@target \tabu@thetarget
+                \tabu@message{\tabu@message@defaulttarget}%
+        \else   \tabu@message{\tabu@message@target}\fi
+    \fi
+}% \tabu@rewriteX
+\def\tabu@rewriteXrestore #1#2#3{\let\@halignto \relax
+                                \def\tabu@rewritten{l}}
+\def\tabu@Xarg #1#2#3{%
+   \advance\tabu@Xcol \@ne      \let\tabu@Xlcr  \@empty
+   \let\tabu@Xdisp    \@empty   \let\tabu@Xmath \@empty
+    \ifx\\#1\\%    <shortcut when no option>
+         \def\tabu@rewritten{p}\tabucolX \p@        % <default coef = 1>
+    \else
+         \let\tabu@rewritten \@empty   \let\tabu@temp \@empty  \tabucolX \z@
+         \tabu@Xparse {}#1\relax
+    \fi
+    \tabu@Xrewritten{#2}{#3}%
+}% \tabu@Xarg
+\def\tabu@Xparse #1{\futurelet\@let@token \tabu@Xtest}
+\expandafter\def\expandafter\tabu@Xparsespace\space{\tabu@Xparse{}}
+\def\tabu@Xtest{%
+   \ifcase \ifx \relax\@let@token \z@ \else
+           \if ,\@let@token \m@ne\else
+           \if p\@let@token 1\else
+           \if m\@let@token 2\else
+           \if b\@let@token 3\else
+           \if l\@let@token 4\else
+           \if c\@let@token 5\else
+           \if r\@let@token 6\else
+           \if j\@let@token 7\else
+           \if L\@let@token 8\else
+           \if C\@let@token 9\else
+           \if R\@let@token 10\else
+           \if J\@let@token 11\else
+           \ifx \@sptoken\@let@token 12\else
+           \if .\@let@token 13\else
+           \if -\@let@token 13\else
+           \ifcat $\@let@token 14\else
+           15\fi\fi\fi\fi\fi\fi\fi\fi\fi\fi\fi\fi\fi\fi\fi\fi\fi\relax
+   \or \tabu@Xtype {p}%
+   \or \tabu@Xtype {m}%
+   \or \tabu@Xtype {b}%
+   \or \tabu@Xalign \raggedright\relax
+   \or \tabu@Xalign \centering\relax
+   \or \tabu@Xalign \raggedleft\relax
+   \or \tabu@Xalign \tabu@justify\relax
+   \or \tabu@Xalign \RaggedRight\raggedright
+   \or \tabu@Xalign \Centering\centering
+   \or \tabu@Xalign \RaggedLeft\raggedleft
+   \or \tabu@Xalign \justifying\tabu@justify
+   \or \expandafter \tabu@Xparsespace
+   \or \expandafter \tabu@Xcoef
+   \or \expandafter \tabu@Xm@th
+   \or \tabu@Xcoef{}%
+   \else\expandafter \tabu@Xparse
+   \fi
+}% \tabu@Xtest
+\def\tabu@Xalign #1#2{%
+    \ifx \tabu@Xlcr\@empty \else \PackageWarning{tabu}
+       {Duplicate horizontal alignment specification}\fi
+    \ifdefined#1\def\tabu@Xlcr{#1}\let#1\relax
+    \else       \def\tabu@Xlcr{#2}\let#2\relax\fi
+    \expandafter\tabu@Xparse
+}% \tabu@Xalign
+\def\tabu@Xtype #1{%
+    \ifx \tabu@rewritten\@empty \else \PackageWarning{tabu}
+            {Duplicate vertical alignment specification}\fi
+    \def\tabu@rewritten{#1}\expandafter\tabu@Xparse
+}% \tabu@Xtype
+\def\tabu@Xcoef#1{\edef\tabu@temp{\tabu@temp#1}%
+    \afterassignment\tabu@Xc@ef \tabu@cnt\number\if-#10\fi
+}% \tabu@Xcoef
+\def\tabu@Xc@ef{\advance\tabucolX \tabu@temp\the\tabu@cnt\p@
+    \tabu@Xparse{}%
+}% \tabu@Xc@ef
+\def\tabu@Xm@th #1{\futurelet \@let@token \tabu@Xd@sp}
+\def\tabu@Xd@sp{\let\tabu@Xmath=$%
+    \ifx $\@let@token \def\tabu@Xdisp{\displaystyle}%
+            \expandafter\tabu@Xparse
+    \else   \expandafter\tabu@Xparse\expandafter{\expandafter}%
+    \fi
+}% \tabu@Xd@sp
+\def\tabu@Xrewritten {%
+   \ifx  \tabu@rewritten\@empty \def\tabu@rewritten{p}\fi
+   \ifdim \tabucolX<\z@         \tabu@negcoeftrue
+   \else\ifdim \tabucolX=\z@    \tabucolX \p@
+   \fi\fi
+   \edef\tabu@temp{{\the\tabu@Xcol}{\tabu@strippt\tabucolX}}%
+   \edef\tabu@Xcoefs{\tabu@Xcoefs    \tabu@      \tabu@temp}%
+   \edef\tabu@rewritten ##1##2{\def\noexpand\tabu@rewritten{%
+        >{\tabu@Xlcr \ifx$\tabu@Xmath$\tabu@Xdisp\fi ##1}%
+                    \tabu@rewritten {\tabu@hsize \tabu@temp}%
+        <{##2\ifx$\tabu@Xmath$\fi}}%
+   }\tabu@rewritten
+}% \tabu@Xrewritten
+\def\tabu@hsize #1#2{%
+    \ifdim #2\p@<\z@
+        \ifdim \tabucolX=\maxdimen \tabu@wd{#1}\else
+        \ifdim \tabu@wd{#1}<-#2\tabucolX \tabu@wd{#1}\else -#2\tabucolX\fi
+        \fi
+   \else #2\tabucolX
+   \fi
+}% \tabu@hsize
+%% \usetabu  and  \preamble: rewriting process ---------------------
+\tabu@privatecolumntype \usetabu [1]{%
+    \ifx\\#1\\\tabu@saveerr{}\else
+        \@ifundefined{tabu@saved@\string#1}
+            {\tabu@saveerr{#1}}
+            {\let\tabu@rewriteX \tabu@rewriteXrestore
+             \csname tabu@saved@\string#1\expandafter\endcsname\expandafter\@ne}%
+    \fi
+}% \NC@rewrite@\usetabu
+\tabu@privatecolumntype \preamble [1]{%
+    \ifx\\#1\\\tabu@saveerr{}\else
+        \@ifundefined{tabu@saved@\string#1}
+            {\tabu@saveerr{#1}}
+            {\csname tabu@saved@\string#1\expandafter\endcsname\expandafter\z@}%
+    \fi
+}% \NC@rewrite@\preamble
+%% Controlling the rewriting process -------------------------------
+\tabu@newcolumntype \tabu@rewritefirst{%
+    \iftabu@long    \aftergroup \tabu@longpream  % <the whole implementation is here !>
+    \else           \aftergroup \tabu@pream
+    \fi
+    \let\tabu@          \relax      \let\tabu@hsize     \relax
+    \let\tabu@Xcoefs    \@empty     \let\tabu@savels    \relax
+    \tabu@Xcol          \z@         \tabu@cnt           \tw@
+    \gdef\tabu@mkpreambuffer{\tabu@{}}\tabu@measuringfalse
+    \global\setbox\@arstrutbox \box\@arstrutbox
+    \NC@list{\NC@do *}\tabu@textbar \tabu@lines
+    \NC@list\expandafter{\the\NC@list \NC@do X}%
+    \iftabu@siunitx     % <siunitx S and s columns>
+            \NC@list\expandafter{\the\NC@list \NC@do S\NC@do s}\fi
+    \NC@list\expandafter{\the\expandafter\NC@list \tabu@highprioritycolumns}%
+    \expandafter\def\expandafter\tabu@NC@list\expandafter{%
+                    \the\expandafter\NC@list \tabu@NC@list}%    % * | X S <original>
+    \NC@list\expandafter{\expandafter \NC@do \expandafter\usetabu
+                         \expandafter \NC@do \expandafter\preamble
+                         \the\NC@list \NC@do \tabu@rewritemiddle
+                                      \NC@do \tabu@rewritelast}%
+    \tabu@savedecl
+    \tabu@privatecolumns
+    \edef\tabu@prev{\the\@temptokena}\NC@find \tabu@rewritemiddle
+}% NC@rewrite@\tabu@rewritefirst
+\tabu@newcolumntype \tabu@rewritemiddle{%
+    \edef\tabu@temp{\the\@temptokena}\NC@find \tabu@rewritelast
+}% \NC@rewrite@\tabu@rewritemiddle
+\tabu@newcolumntype \tabu@rewritelast{%
+    \ifx \tabu@temp\tabu@prev   \advance\tabu@cnt \m@ne
+            \NC@list\expandafter{\tabu@NC@list \NC@do \tabu@rewritemiddle
+                                               \NC@do \tabu@rewritelast}%
+    \else \let\tabu@prev\tabu@temp
+    \fi
+    \ifcase \tabu@cnt   \expandafter\tabu@endrewrite
+    \else               \expandafter\NC@find \expandafter\tabu@rewritemiddle
+    \fi
+}% \NC@rewrite@\tabu@rewritelast
+%% Choosing the strategy --------------------------------------------
+\def\tabu@endrewrite {%
+    \let\tabu@temp \NC@find
+    \ifx \@arrayright\relax \let\@arrayright \@empty  \fi
+    \count@=%
+        \ifx \@finalstrut\tabu@finalstrut \z@ % outer in mode 0 print
+             \iftabu@measuring
+                \xdef\tabu@mkpreambuffer{\tabu@mkpreambuffer
+                    \tabu@target        \csname tabu@\the\tabu@nested.T\endcsname
+                    \tabucolX           \csname tabu@\the\tabu@nested.X\endcsname
+                    \edef\@halignto {\ifx\@arrayright\@empty to\tabu@target\fi}}%
+             \fi
+        \else\iftabu@measuring        4       % X columns
+                \xdef\tabu@mkpreambuffer{\tabu@{\tabu@mkpreambuffer
+                    \tabu@target        \the\tabu@target
+                    \tabu@spreadtarget  \the\tabu@spreadtarget}%
+                    \def\noexpand\tabu@Xcoefs{\tabu@Xcoefs}%
+                    \edef\tabu@halignto{\ifx \@arrayright\@empty to\tabu@target\fi}}%
+                 \let\tabu@Xcoefs \relax
+             \else\ifcase\tabu@nested \thr@@  % outer, no X
+                                      \global\let\tabu@afterendpar \relax
+                  \else               \@ne    % inner, no X, outer in mode 1 or 2
+                  \fi
+                  \ifdefined\tabu@usetabu
+                  \else \ifdim\tabu@target=\z@
+                  \else \let\tabu@temp \tabu@extracolsep
+                  \fi\fi
+             \fi
+        \fi
+    \xdef\tabu@mkpreambuffer{\count@ \the\count@ \tabu@mkpreambuffer}%
+    \tabu@temp
+}% \tabu@endrewrite
+\def\tabu@extracolsep{\@defaultunits    \expandafter\let
+    \expandafter\tabu@temp \expandafter=\the\@temptokena \relax\@nnil
+    \ifx \tabu@temp\@sptoken
+        \expandafter\tabu@gobblespace \expandafter\tabu@extracolsep
+    \else
+        \edef\tabu@temp{\noexpand\NC@find
+            \if |\noexpand\tabu@temp        @%
+            \else\if !\noexpand\tabu@temp   @%
+            \else                           !%
+            \fi\fi
+            {\noexpand\extracolsep\noexpand\@flushglue}}%
+    \fi
+    \tabu@temp
+}% \tabu@extrac@lsep
+%% Implementing the strategy ----------------------------------------
+\long\def\tabu@pream #1\@preamble {%
+    \let\tabu@ \tabu@@  \tabu@mkpreambuffer     \tabu@aftergroupcleanup
+    \NC@list\expandafter {\tabu@NC@list}%    in case of nesting...
+    \ifdefined\tabu@usetabu \tabu@usetabu \tabu@target \z@ \fi
+    \let\tabu@savedpreamble \@preamble
+    \global\let\tabu@elapsedtime \relax
+    \tabu@thebody ={#1\tabu@aftergroupcleanup}%
+    \tabu@thebody =\expandafter{\the\expandafter\tabu@thebody
+                                                \@preamble}%
+    \edef\tabuthepreamble {\the\tabu@thebody}% ( no @ allowed for \scantokens )
+    \tabu@select
+}% \tabu@pream
+\long\def\tabu@longpream #1\LT@bchunk #2\LT@bchunk{%
+    \let\tabu@ \tabu@@  \tabu@mkpreambuffer     \tabu@aftergroupcleanup
+    \NC@list\expandafter {\tabu@NC@list}%    in case of nesting...
+    \let\tabu@savedpreamble \@preamble
+    \global\let\tabu@elapsedtime \relax
+    \tabu@thebody ={#1\LT@bchunk #2\tabu@aftergroupcleanup \LT@bchunk}%
+    \edef\tabuthepreamble {\the\tabu@thebody}% ( no @ allowed for \scantokens )
+    \tabu@select
+}% \tabu@longpream
+\def\tabu@select {%
+    \ifnum\tabu@nested>\z@ \tabuscantokensfalse \fi
+    \ifnum \count@=\@ne \iftabu@measuring \count@=\tw@ \fi\fi
+    \ifcase \count@
+        \global\let\tabu@elapsedtime \relax
+        \tabu@seteverycr
+        \expandafter \tabuthepreamble       % vertical adjustment (inherited from outer)
+    \or      % exit in vertical measure + struts per cell because no X and outer in mode 3
+        \tabu@evr{\tabu@verticalinit}\tabu@celllalign@def{\tabu@verticalmeasure}%
+        \def\tabu@cellralign{\tabu@verticalspacing}%
+        \tabu@seteverycr
+        \expandafter \tabuthepreamble
+    \or                            % exit without measure because no X and outer in mode 4
+        \tabu@evr{}\tabu@celllalign@def{}\let\tabu@cellralign \@empty
+        \tabu@seteverycr
+        \expandafter \tabuthepreamble
+    \else                                   % needs trials
+        \tabu@evr{}\tabu@celllalign@def{}\let\tabu@cellralign \@empty
+        \tabu@savecounters
+        \expandafter \tabu@setstrategy
+    \fi
+}% \tabu@select
+\def\tabu@@ {\gdef\tabu@mkpreambuffer}
+%% Protections to set up before trials ------------------------------
+\def\tabu@setstrategy {\begingroup  % <trials group>
+    \tabu@trialh@@k    \tabu@cnt    \z@  % number of trials
+    \hbadness          \@M          \let\hbadness          \@tempcnta
+    \hfuzz             \maxdimen    \let\hfuzz             \@tempdima
+    \let\write         \tabu@nowrite\let\GenericError      \tabu@GenericError
+    \let\savetabu      \@gobble     \let\tabudefaulttarget \linewidth
+    \let\@footnotetext \@gobble     \let\@xfootnote        \tabu@xfootnote
+    \let\color         \tabu@nocolor\let\rowcolor          \tabu@norowcolor
+    \let\tabu@aftergroupcleanup \relax % only after the last trial
+    \tabu@mkpreambuffer
+    \ifnum \count@>\thr@@ \let\@halignto \@empty  \tabucolX@init
+                          \def\tabu@lasttry{\m@ne\p@}\fi
+    \begingroup \iffalse{\fi \ifnum0=`}\fi
+        \toks@{}\def\tabu@stack{b}\iftabuscantokens \endlinechar=10 \obeyspaces \fi %
+                                  \tabu@collectbody \tabu@strategy %
+}% \tabu@setstrategy
+\def\tabu@savecounters{%
+    \def\@elt ##1{\csname c@##1\endcsname\the\csname c@##1\endcsname}%
+    \edef\tabu@clckpt {\begingroup \globaldefs=\@ne \cl@@ckpt \endgroup}\let\@elt \relax
+}% \tabu@savecounters
+\def\tabucolX@init {%  \tabucolX <= \tabu@target / (sum coefs > 0)
+    \dimen@ \z@ \tabu@Xsum \z@ \tabucolX \z@ \let\tabu@ \tabu@Xinit \tabu@Xcoefs
+    \ifdim \dimen@>\z@
+        \@tempdima \dimexpr \tabu@target *\p@/\dimen@ + \tabu@hfuzz\relax
+        \ifdim \tabucolX<\@tempdima \tabucolX \@tempdima \fi
+    \fi
+}% \tabucolX@init
+\def\tabu@Xinit #1#2{\tabu@Xcol #1 \advance \tabu@Xsum
+    \ifdim #2\p@>\z@ #2\p@  \advance\dimen@ #2\p@
+    \else           -#2\p@  \tabu@negcoeftrue
+                            \@tempdima \dimexpr \tabu@target*\p@/\dimexpr-#2\p@\relax \relax
+                            \ifdim \tabucolX<\@tempdima \tabucolX \@tempdima \fi
+                            \tabu@wddef{#1}{0pt}%
+    \fi
+}% \tabu@Xinit
+%% Collecting the environment body ----------------------------------
+\long\def\tabu@collectbody #1#2\end #3{%
+    \edef\tabu@stack{\tabu@pushbegins #2\begin\end\expandafter\@gobble\tabu@stack}%
+    \ifx \tabu@stack\@empty
+        \toks@\expandafter{\expandafter\tabu@thebody\expandafter{\the\toks@ #2}%
+                \def\tabu@end@envir{\end{#3}}%
+                \iftabuscantokens
+                    \iftabu@long \def\tabu@endenvir {\end{#3}\tabu@gobbleX}%
+                    \else        \def\tabu@endenvir {\let\endarray \@empty
+                                                     \end{#3}\tabu@gobbleX}%
+                    \fi
+                \else           \def\tabu@endenvir  {\end{#3}}\fi}%
+        \let\tabu@collectbody \tabu@endofcollect
+    \else\def\tabu@temp{#3}%
+        \ifx \tabu@temp\@empty \toks@\expandafter{\the\toks@ #2\end }%
+        \else \ifx\tabu@temp\tabu@@spxiii \toks@\expandafter{\the\toks@ #2\end #3}%
+        \else \ifx\tabu@temp\tabu@X \toks@\expandafter{\the\toks@ #2\end #3}%
+        \else \toks@\expandafter{\the\toks@ #2\end{#3}}%
+        \fi\fi\fi
+    \fi
+    \tabu@collectbody{#1}%
+}% \tabu@collectbody
+\long\def\tabu@pushbegins#1\begin#2{\ifx\end#2\else b\expandafter\tabu@pushbegins\fi}%
+\def\tabu@endofcollect #1{\ifnum0=`{}\fi
+                          \expandafter\endgroup \the\toks@  #1%
+}% \tabu@endofcollect
+%% The trials: switching between strategies -------------------------
+\def\tabu@strategy {\relax  % stops \count@ assignment !
+    \ifcase\count@          % case 0 = print with vertical adjustment (outer is finished)
+        \expandafter \tabu@endoftrials
+    \or                     % case 1 = exit in vertical measure (outer in mode 3)
+        \expandafter\xdef\csname tabu@\the\tabu@nested.T\endcsname{\the\tabu@target}%
+        \expandafter\xdef\csname tabu@\the\tabu@nested.X\endcsname{\the\tabucolX}%
+        \expandafter \tabu@endoftrials
+    \or                     % case 2 = exit with a rule replacing the table (outer in mode 4)
+        \expandafter \tabu@quickend
+    \or                     % case 3 = outer is in mode 3 because of no X
+        \begingroup
+            \tabu@evr{\tabu@verticalinit}\tabu@celllalign@def{\tabu@verticalmeasure}%
+            \def\tabu@cellralign{\tabu@verticalspacing}%
+            \expandafter \tabu@measuring
+    \else                   % case 4 = horizontal measure
+        \begingroup
+            \global\let\tabu@elapsedtime \tabu@message@etime
+            \long\def\multicolumn##1##2##3{\multispan{##1}}%
+            \let\tabu@startpboxORI \@startpbox
+            \iftabu@spread
+                    \def\tabu@naturalXmax {\z@}%
+                    \let\tabu@naturalXmin \tabu@naturalXmax
+                    \tabu@evr{\global\tabu@naturalX \z@}%
+                    \let\@startpbox \tabu@startpboxmeasure
+            \else\iftabu@negcoef
+                    \let\@startpbox \tabu@startpboxmeasure
+            \else   \let\@startpbox \tabu@startpboxquick
+            \fi\fi
+            \expandafter \tabu@measuring
+    \fi
+}% \tabu@strategy
+\def\tabu@measuring{\expandafter \tabu@trial \expandafter
+                                                \count@ \the\count@ \tabu@endtrial
+}% \tabu@measuring
+\def\tabu@trial{\iftabu@long \tabu@longtrial \else \tabu@shorttrial \fi}
+\def\tabu@shorttrial {\setbox\tabu@box \hbox\bgroup \tabu@seteverycr
+    \ifx \tabu@savecounters\relax \else
+                \let\tabu@savecounters \relax \tabu@clckpt \fi
+    $\iftabuscantokens \tabu@rescan \else \expandafter\@secondoftwo \fi
+       \expandafter{\expandafter \tabuthepreamble
+                         \the\tabu@thebody
+                         \csname tabu@adl@endtrial\endcsname
+                         \endarray}$\egroup             % got \tabu@box
+}% \tabu@shorttrial
+\def\tabu@longtrial {\setbox\tabu@box \hbox\bgroup \tabu@seteverycr
+    \ifx \tabu@savecounters\relax \else
+                \let\tabu@savecounters \relax \tabu@clckpt \fi
+    \iftabuscantokens \tabu@rescan \else \expandafter\@secondoftwo \fi
+       \expandafter{\expandafter \tabuthepreamble
+                         \the\tabu@thebody
+                         \tabuendlongtrial}\egroup      % got \tabu@box
+}% \tabu@longtrial
+\def\tabuendlongtrial{% no @ allowed for \scantokens
+    \LT@echunk  \global\setbox\@ne \hbox{\unhbox\@ne}\kern\wd\@ne
+                \LT@get@widths
+}% \tabuendlongtrial
+\def\tabu@adl@endtrial{% <arydshln in nested trials - problem for global column counters!>
+    \crcr \noalign{\global\adl@ncol \tabu@nbcols}}% anything global is crap, junky and fails !
+\def\tabu@seteverycr {\tabu@reset
+    \everycr \expandafter{\the\everycr  \tabu@everycr}%
+    \let\everycr \tabu@noeverycr                      % <for ialign>
+}% \tabu@seteverycr
+\def\tabu@noeverycr{{\aftergroup\tabu@restoreeverycr \afterassignment}\toks@}
+\def\tabu@restoreeverycr {\let\everycr \tabu@@everycr}
+\def\tabu@everycr {\iftabu@everyrow \noalign{\tabu@everyrow}\fi}
+\def\tabu@endoftrials {%
+    \iftabuscantokens   \expandafter\@firstoftwo
+    \else               \expandafter\@secondoftwo
+    \fi
+        {\expandafter \tabu@closetrialsgroup \expandafter
+         \tabu@rescan \expandafter{%
+                    \expandafter\tabuthepreamble
+                        \the\expandafter\tabu@thebody
+                                    \iftabu@long \else \endarray \fi}}
+        {\expandafter\tabu@closetrialsgroup \expandafter
+                    \tabuthepreamble
+                        \the\tabu@thebody}%
+                                        \tabu@endenvir      % Finish !
+}% \tabu@endoftrials
+\def\tabu@closetrialsgroup {%
+    \toks@\expandafter{\tabu@endenvir}%
+    \edef\tabu@bufferX{\endgroup
+        \tabucolX       \the\tabucolX
+        \tabu@target    \the\tabu@target
+        \tabu@cnt       \the\tabu@cnt
+        \def\noexpand\tabu@endenvir{\the\toks@}%
+        %Quid de \@halignto = \tabu@halignto ??
+    }% \tabu@bufferX
+    \tabu@bufferX
+    \ifcase\tabu@nested % print out (outer in mode 0)
+        \global\tabu@cnt \tabu@cnt
+        \tabu@evr{\tabu@verticaldynamicadjustment}%
+        \tabu@celllalign@def{\everypar{}}\let\tabu@cellralign \@empty
+        \let\@finalstrut \tabu@finalstrut
+    \else               % vertical measure of nested tabu
+        \tabu@evr{\tabu@verticalinit}%
+        \tabu@celllalign@def{\tabu@verticalmeasure}%
+        \def\tabu@cellralign{\tabu@verticalspacing}%
+    \fi
+    \tabu@clckpt \let\@halignto \tabu@halignto
+    \let\@halignto \@empty
+    \tabu@seteverycr
+    \ifdim \tabustrutrule>\z@ \ifnum\tabu@nested=\z@
+        \setbox\@arstrutbox \box\voidb@x % force \@arstrutbox to be rebuilt (visible struts)
+    \fi\fi
+}% \tabu@closetrialsgroup
+\def\tabu@quickend {\expandafter \endgroup \expandafter
+                        \tabu@target \the\tabu@target \tabu@quickrule
+                        \let\endarray \relax \tabu@endenvir
+}% \tabu@quickend
+\def\tabu@endtrial {\relax      % stops \count@ assignment !
+    \ifcase \count@ \tabu@err   % case 0 = impossible here
+    \or             \tabu@err   % case 1 = impossible here
+    \or             \tabu@err   % case 2 = impossible here
+    \or                         % case 3 = outer goes into mode 0
+        \def\tabu@bufferX{\endgroup}\count@ \z@
+    \else                       % case 4 = outer goes into mode 3
+        \iftabu@spread  \tabu@spreadarith % inner into mode 1 (outer in mode 3)
+        \else           \tabu@arith       %              or 2 (outer in mode 4)
+        \fi
+        \count@=%
+            \ifcase\tabu@nested     \thr@@  % outer goes into mode 3
+            \else\iftabu@measuring  \tw@    % outer is in mode 4
+            \else                   \@ne    % outer is in mode 3
+            \fi\fi
+        \edef\tabu@bufferX{\endgroup
+                           \tabucolX        \the\tabucolX
+                           \tabu@target     \the\tabu@target}%
+    \fi
+    \expandafter \tabu@bufferX \expandafter
+                                    \count@ \the\count@  \tabu@strategy
+}% \tabu@endtrial
+\def\tabu@err{\errmessage{(tabu) Internal impossible error! (\count@=\the\count@)}}
+%% The algorithms: compute the widths / stop or go on ---------------
+\def\tabu@arithnegcoef {%
+    \@tempdima \z@ \dimen@ \z@ \let\tabu@ \tabu@arith@negcoef \tabu@Xcoefs
+}% \tabu@arithnegcoef
+\def\tabu@arith@negcoef #1#2{%
+    \ifdim #2\p@>\z@    \advance\dimen@     #2\p@       % saturated by definition
+                        \advance\@tempdima  #2\tabucolX
+    \else
+        \ifdim -#2\tabucolX <\tabu@wd{#1}% c_i X < natural width <= \tabu@target-> saturated
+                        \advance\dimen@     -#2\p@
+                        \advance\@tempdima  -#2\tabucolX
+        \else
+                        \advance\@tempdima \tabu@wd{#1}% natural width <= c_i X => neutralised
+                        \ifdim \tabu@wd{#1}<\tabu@target \else % neutralised
+                        \advance\dimen@     -#2\p@ % saturated (natural width = tabu@target)
+                        \fi
+        \fi
+    \fi
+}% \tabu@arith@negcoef
+\def\tabu@givespace #1#2{% here \tabu@DELTA < \z@
+    \ifdim \@tempdima=\z@
+        \tabu@wddef{#1}{\the\dimexpr -\tabu@DELTA*\p@/\tabu@Xsum}%
+    \else
+        \tabu@wddef{#1}{\the\dimexpr \tabu@hsize{#1}{#2}
+                    *(\p@ -\tabu@DELTA*\p@/\@tempdima)/\p@\relax}%
+    \fi
+}% \tabu@givespace
+\def\tabu@arith {\advance\tabu@cnt \@ne
+    \ifnum \tabu@cnt=\@ne \tabu@message{\tabu@titles}\fi
+    \tabu@arithnegcoef
+    \@tempdimb \dimexpr \wd\tabu@box -\@tempdima \relax % <incompressible material>
+    \tabu@DELTA = \dimexpr \wd\tabu@box - \tabu@target \relax
+    \tabu@message{\tabu@message@arith}%
+    \ifdim \tabu@DELTA <\tabu@hfuzz
+        \ifdim \tabu@DELTA<\z@          % wd (tabu)<\tabu@target ?
+            \let\tabu@ \tabu@givespace \tabu@Xcoefs
+            \advance\@tempdima \@tempdimb \advance\@tempdima -\tabu@DELTA % for message
+        \else   % already converged: nothing to do but nearly impossible...
+        \fi
+        \tabucolX \maxdimen
+        \tabu@measuringfalse
+    \else                               % need for narrower X columns
+        \tabucolX =\dimexpr (\@tempdima -\tabu@DELTA) *\p@/\tabu@Xsum \relax
+        \tabu@measuringtrue
+        \@whilesw \iftabu@measuring\fi {%
+            \advance\tabu@cnt \@ne
+            \tabu@arithnegcoef
+            \tabu@DELTA =\dimexpr \@tempdima+\@tempdimb -\tabu@target \relax % always < 0 here
+            \tabu@message{\tabu@header
+                \tabu@msgalign \tabucolX { }{ }{ }{ }{ }\@@
+                \tabu@msgalign \@tempdima+\@tempdimb { }{ }{ }{ }{ }\@@
+                \tabu@msgalign \tabu@target { }{ }{ }{ }{ }\@@
+                \tabu@msgalign@PT \dimen@ { }{}{}{}{}{}{}\@@
+                \ifdim -\tabu@DELTA<\tabu@hfuzz \tabu@spaces target ok\else
+                \tabu@msgalign \dimexpr -\tabu@DELTA *\p@/\dimen@ {}{}{}{}{}\@@
+                \fi}%
+            \ifdim -\tabu@DELTA<\tabu@hfuzz
+                \advance\@tempdima \@tempdimb % for message
+                \tabu@measuringfalse
+            \else
+                \advance\tabucolX \dimexpr -\tabu@DELTA *\p@/\dimen@ \relax
+            \fi
+        }%
+    \fi
+    \tabu@message{\tabu@message@reached}%
+    \edef\tabu@bufferX{\endgroup \tabu@cnt    \the\tabu@cnt
+                                 \tabucolX    \the\tabucolX
+                                 \tabu@target \the\tabu@target}%
+}% \tabu@arith
+\def\tabu@spreadarith {%
+    \dimen@ \z@ \@tempdima \tabu@naturalXmax \let\tabu@ \tabu@spread@arith \tabu@Xcoefs
+    \edef\tabu@naturalXmin {\the\dimexpr\tabu@naturalXmin*\dimen@/\p@}%
+    \@tempdimc =\dimexpr \wd\tabu@box -\tabu@naturalXmax+\tabu@naturalXmin \relax
+    \iftabu@measuring
+        \tabu@target =\dimexpr \@tempdimc+\tabu@spreadtarget \relax
+        \edef\tabu@bufferX{\endgroup \tabucolX \the\tabucolX \tabu@target\the\tabu@target}%
+    \else
+        \tabu@message{\tabu@message@spreadarith}%
+        \ifdim \dimexpr \@tempdimc+\tabu@spreadtarget >\tabu@target
+            \tabu@message{(tabu) spread
+                \ifdim \@tempdimc>\tabu@target useless here: default target used%
+                \else too large: reduced to fit default target\fi.}%
+        \else
+            \tabu@target =\dimexpr \@tempdimc+\tabu@spreadtarget \relax
+            \tabu@message{(tabu) spread: New target set to \the\tabu@target^^J}%
+        \fi
+        \begingroup \let\tabu@wddef \@gobbletwo
+            \@tempdimb \@tempdima
+            \tabucolX@init
+            \tabu@arithnegcoef
+            \wd\tabu@box =\dimexpr \wd\tabu@box +\@tempdima-\@tempdimb \relax
+        \expandafter\endgroup \expandafter\tabucolX \the\tabucolX
+        \tabu@arith
+    \fi
+}% \tabu@spreadarith
+\def\tabu@spread@arith #1#2{%
+    \ifdim #2\p@>\z@ \advance\dimen@ #2\p@
+    \else            \advance\@tempdima \tabu@wd{#1}\relax
+    \fi
+}% \tabu@spread@arith
+%% Reporting in the .log file ---------------------------------------
+\def\tabu@message@defaulttarget{%
+    \ifnum\tabu@nested=\z@^^J(tabu) Default target:
+    \ifx\tabudefaulttarget\linewidth    \string\linewidth
+        \ifdim \tabu@thetarget=\linewidth \else
+            -\the\dimexpr\linewidth-\tabu@thetarget\fi  =
+    \else\ifx\tabudefaulttarget\linegoal\string\linegoal=
+    \fi\fi
+    \else (tabu) Default target (nested): \fi
+    \the\tabu@target \on@line
+    \ifnum\tabu@nested=\z@ , page \the\c@page\fi}
+\def\tabu@message@target {^^J(tabu) Target specified:
+   \the\tabu@target \on@line, page \the\c@page}
+\def\tabu@message@arith {\tabu@header
+    \tabu@msgalign \tabucolX { }{ }{ }{ }{ }\@@
+    \tabu@msgalign \wd\tabu@box { }{ }{ }{ }{ }\@@
+    \tabu@msgalign \tabu@target { }{ }{ }{ }{ }\@@
+    \tabu@msgalign@PT \dimen@ { }{}{}{}{}{}{}\@@
+    \ifdim \tabu@DELTA<\tabu@hfuzz giving space\else
+    \tabu@msgalign \dimexpr (\@tempdima-\tabu@DELTA) *\p@/\tabu@Xsum -\tabucolX {}{}{}{}{}\@@
+    \fi
+}% \tabu@message@arith
+\def\tabu@message@spreadarith {\tabu@spreadheader
+   \tabu@msgalign \tabu@spreadtarget { }{ }{ }{ }{}\@@
+   \tabu@msgalign \wd\tabu@box { }{ }{ }{ }{}\@@
+   \tabu@msgalign -\tabu@naturalXmax { }{}{}{}{}\@@
+   \tabu@msgalign \tabu@naturalXmin { }{ }{ }{ }{}\@@
+   \tabu@msgalign \ifdim \dimexpr\@tempdimc>\tabu@target \tabu@target
+                  \else  \@tempdimc+\tabu@spreadtarget \fi
+                  {}{}{}{}{}\@@}
+\def\tabu@message@negcoef #1#2{
+    \tabu@spaces\tabu@spaces\space * #1. X[\rem@pt#2]:
+    \space width = \tabu@wd {#1}
+        \expandafter\string\csname tabu@\the\tabu@nested.W\number#1\endcsname
+    \ifdim -\tabu@pt#2\tabucolX<\tabu@target
+    < \number-\rem@pt#2 X
+    = \the\dimexpr -\tabu@pt#2\tabucolX \relax
+    \else
+    <= \the\tabu@target\space < \number-\rem@pt#2 X\fi}
+\def\tabu@message@reached{\tabu@header
+     ******* Reached Target:
+            hfuzz = \tabu@hfuzz\on@line\space *******}
+\def\tabu@message@etime{\edef\tabu@stoptime{\the\pdfelapsedtime}%
+    \tabu@message{(tabu)\tabu@spaces Time elapsed during measure:
+    \the\numexpr(\tabu@stoptime-\tabu@starttime-32767)/65536\relax sec
+    \the\numexpr\numexpr(\tabu@stoptime-\tabu@starttime)
+    -\numexpr(\tabu@stoptime-\tabu@starttime-32767)/65536\relax*65536\relax
+    *1000/65536\relax ms \tabu@spaces(\the\tabu@cnt\space
+                                        cycle\ifnum\tabu@cnt>\@ne s\fi)^^J^^J}}
+\def\tabu@message@verticalsp {%
+    \ifdim \@tempdima>\tabu@ht
+        \ifdim \@tempdimb>\tabu@dp
+        \expandafter\expandafter\expandafter\string\tabu@ht =
+            \tabu@msgalign \@tempdima { }{ }{ }{ }{ }\@@
+        \expandafter\expandafter\expandafter\string\tabu@dp =
+            \tabu@msgalign \@tempdimb { }{ }{ }{ }{ }\@@^^J%
+        \else
+        \expandafter\expandafter\expandafter\string\tabu@ht =
+            \tabu@msgalign \@tempdima { }{ }{ }{ }{ }\@@^^J%
+        \fi
+    \else\ifdim \@tempdimb>\tabu@dp
+        \tabu@spaces\tabu@spaces\tabu@spaces
+        \expandafter\expandafter\expandafter\string\tabu@dp =
+            \tabu@msgalign \@tempdimb { }{ }{ }{ }{ }\@@^^J\fi
+    \fi
+}% \tabu@message@verticalsp
+\edef\tabu@spaces{\@spaces}
+\def\tabu@strippt{\expandafter\tabu@pt\the}
+{\@makeother\P \@makeother\T\lowercase{\gdef\tabu@pt #1PT{#1}}}
+\def\tabu@msgalign{\expandafter\tabu@msg@align\the\dimexpr}
+\def\tabu@msgalign@PT{\expandafter\tabu@msg@align\romannumeral-`\0\tabu@strippt}
+\def\do #1{%
+    \def\tabu@msg@align##1.##2##3##4##5##6##7##8##9\@@{%
+    \ifnum##1<10 #1 #1\else
+    \ifnum##1<100 #1 \else
+    \ifnum##1<\@m #1\fi\fi\fi
+    ##1.##2##3##4##5##6##7##8#1}%
+    \def\tabu@header{(tabu) \ifnum\tabu@cnt<10 #1\fi\the\tabu@cnt) }%
+    \def\tabu@titles{\ifnum \tabu@nested=\z@
+      (tabu) Try#1 #1 tabu X #1 #1 #1tabu Width #1 #1 Target
+                  #1 #1 #1 Coefs #1 #1 #1 Update^^J\fi}%
+    \def\tabu@spreadheader{%
+      (tabu) Try#1 #1 Spread #1 #1 tabu Width #1 #1 #1 Nat. X #1 #1 #1 #1Nat. Min.
+                                                      #1 New Target^^J%
+      (tabu) sprd}
+    \def\tabu@message@save {\begingroup
+        \def\x ####1{\tabu@msg@align ####1{ }{ }{ }{ }{}\@@}
+        \def\z ####1{\expandafter\x\expandafter{\romannumeral-`\0\tabu@strippt
+                                                     \dimexpr####1\p@{ }{ }}}%
+        \let\color \relax \def\tabu@rulesstyle ####1####2{\detokenize{####1}}%
+        \let\CT@arc@ \relax \let\@preamble \@gobble
+        \let\tabu@savedpream  \@firstofone
+        \let\tabu@savedparams \@firstofone
+        \def\tabu@target ####1\relax   {(tabu) target #1 #1 #1 #1 #1 = \x{####1}^^J}%
+        \def\tabucolX ####1\relax      {(tabu) X columns width#1 = \x{####1}^^J}%
+        \def\tabu@nbcols ####1\relax   {(tabu) Number of columns: \z{####1}^^J}%
+        \def\tabu@aligndefault    ####1{(tabu) Default alignment: #1 #1 ####1^^J}%
+        \def\col@sep ####1\relax       {(tabu) column sep #1 #1 #1 = \x{####1}^^J}%
+        \def\arrayrulewidth ####1\relax{(tabu) arrayrulewidth #1 = \x{####1}}%
+        \def\doublerulesep ####1\relax { doublerulesep = \x{####1}^^J}%
+        \def\extratabsurround####1\relax{(tabu) extratabsurround = \x{####1}^^J}%
+        \def\extrarowheight ####1\relax{(tabu) extrarowheight #1 = \x{####1}}%
+        \def\extrarowdepth ####1\relax {extrarowdepth = \x{####1}^^J}%
+        \def\abovetabulinesep####1\relax{(tabu) abovetabulinesep=\x{####1} }%
+        \def\belowtabulinesep####1\relax{ belowtabulinesep=\x{####1}^^J}%
+        \def\arraystretch         ####1{(tabu) arraystretch #1 #1 = \z{####1}^^J}%
+        \def\minrowclearance####1\relax{(tabu) minrowclearance #1 = \x{####1}^^J}%
+        \def\tabu@arc@L           ####1{(tabu) taburulecolor #1 #1 = ####1^^J}%
+        \def\tabu@drsc@L          ####1{(tabu) tabudoublerulecolor=  ####1^^J}%
+        \def\tabu@evr@L           ####1{(tabu) everyrow #1 #1 #1 #1 = \detokenize{####1}^^J}%
+        \def\tabu@ls@L            ####1{(tabu) line style = \detokenize{####1}^^J}%
+        \def\NC@find ####1\@nil{(tabu) tabu preamble#1 #1 = \detokenize{####1}^^J}%
+        \def\tabu@wddef####1####2{(tabu) Natural width ####1 = \x{####2}^^J}%
+        \let\edef \@gobbletwo \let\def \@empty \let\let \@gobbletwo
+        \tabu@message{%
+         (tabu) \string\savetabu{\tabu@temp}: \on@line^^J%
+         \tabu@usetabu \@nil^^J}%
+        \endgroup}
+}\do{ }
+%% Measuring the natural width (varwidth) - store the results -------
+\def\tabu@startpboxmeasure #1{\bgroup   % entering \vtop
+    \edef\tabu@temp{\expandafter\@secondoftwo \ifx\tabu@hsize #1\else\relax\fi}%
+    \ifodd 1\ifx \tabu@temp\@empty 0 \else      % starts with \tabu@hsize ?
+            \iftabu@spread           \else      % if spread -> measure
+            \ifdim \tabu@temp\p@>\z@ 0 \fi\fi\fi% if coef>0 -> do not measure
+        \let\@startpbox \tabu@startpboxORI      % restore immediately (nesting)
+        \tabu@measuringtrue                     % for the quick option...
+        \tabu@Xcol =\expandafter\@firstoftwo\ifx\tabu@hsize #1\fi
+        \ifdim \tabu@temp\p@>\z@ \ifdim \tabu@temp\tabucolX<\tabu@target
+                                        \tabu@target=\tabu@temp\tabucolX \fi\fi
+        \setbox\tabu@box  \hbox \bgroup
+            \begin{varwidth}\tabu@target
+                \let\FV@ListProcessLine \tabu@FV@ListProcessLine  % \hbox to natural width...
+                \narrowragged \arraybackslash \parfillskip \@flushglue
+                \ifdefined\pdfadjustspacing \pdfadjustspacing\z@ \fi
+                \bgroup \aftergroup\tabu@endpboxmeasure
+                \ifdefined \cellspacetoplimit \tabu@cellspacepatch \fi
+    \else \expandafter\@gobble
+                            \tabu@startpboxquick{#1}% \@gobble \bgroup
+    \fi
+}% \tabu@startpboxmeasure
+\def\tabu@cellspacepatch{\def\bcolumn##1\@nil{}\let\ecolumn\@empty
+                                          \bgroup\color@begingroup}
+\def\tabu@endpboxmeasure {%
+    \@finalstrut \@arstrutbox
+                    \end{varwidth}\egroup    % <got my \tabu@box>
+    \ifdim \tabu@temp\p@ <\z@   % neg coef
+        \ifdim \tabu@wd\tabu@Xcol <\wd\tabu@box
+            \tabu@wddef\tabu@Xcol {\the\wd\tabu@box}%
+            \tabu@debug{\tabu@message@endpboxmeasure}%
+        \fi
+    \else                       % spread coef>0
+        \global\advance \tabu@naturalX \wd\tabu@box
+        \@tempdima =\dimexpr \wd\tabu@box *\p@/\dimexpr \tabu@temp\p@\relax \relax
+        \ifdim \tabu@naturalXmax <\tabu@naturalX
+            \xdef\tabu@naturalXmax {\the\tabu@naturalX}\fi
+        \ifdim \tabu@naturalXmin <\@tempdima
+            \xdef\tabu@naturalXmin {\the\@tempdima}\fi
+    \fi
+   \box\tabu@box \egroup % end of \vtop (measure) restore \tabu@target
+}% \tabu@endpboxmeasure
+\def\tabu@wddef #1{\expandafter\xdef
+                   \csname tabu@\the\tabu@nested.W\number#1\endcsname}
+\def\tabu@wd    #1{\csname tabu@\the\tabu@nested.W\number#1\endcsname}
+\def\tabu@message@endpboxmeasure{\tabu@spaces\tabu@spaces<-> % <-> save natural wd
+    \the\tabu@Xcol. X[\tabu@temp]:
+    target = \the\tabucolX \space
+    \expandafter\expandafter\expandafter\string\tabu@wd\tabu@Xcol
+    =\tabu@wd\tabu@Xcol
+}% \tabu@message@endpboxmeasure
+\def\tabu@startpboxquick {\bgroup
+    \let\@startpbox \tabu@startpboxORI  % restore immediately
+    \let\tabu \tabu@quick               % \begin is expanded before...
+    \expandafter\@gobble \@startpbox    % gobbles \bgroup
+}% \tabu@startpboxquick
+\def\tabu@quick {\begingroup \iffalse{\fi \ifnum0=`}\fi
+    \toks@{}\def\tabu@stack{b}\tabu@collectbody \tabu@endquick
+}% \tabu@quick
+\def\tabu@endquick {%
+    \ifodd 1\ifx\tabu@end@envir\tabu@endtabu  \else
+            \ifx\tabu@end@envir\tabu@endtabus \else 0\fi\fi\relax
+            \endgroup
+    \else   \let\endtabu \relax
+            \tabu@end@envir
+    \fi
+}% \tabu@quick
+\def\tabu@endtabu   {\end{tabu}}
+\def\tabu@endtabus  {\end{tabu*}}
+%% Measuring the heights and depths - store the results -------------
+\def\tabu@verticalmeasure{\everypar{}%
+    \ifnum \currentgrouptype>12         % 14=semi-simple, 15=math shift group
+        \setbox\tabu@box =\hbox\bgroup
+            \let\tabu@verticalspacing \tabu@verticalsp@lcr
+            \d@llarbegin                % after \hbox ...
+    \else
+        \edef\tabu@temp{\ifnum\currentgrouptype=5\vtop
+                        \else\ifnum\currentgrouptype=12\vcenter
+                        \else\vbox\fi\fi}%
+        \setbox\tabu@box \hbox\bgroup$\tabu@temp \bgroup
+            \let\tabu@verticalspacing \tabu@verticalsp@pmb
+    \fi
+}% \tabu@verticalmeasure
+\def\tabu@verticalsp@lcr{%
+    \d@llarend \egroup       % <got my \tabu@box>
+    \@tempdima \dimexpr \ht\tabu@box+\abovetabulinesep
+    \@tempdimb \dimexpr \dp\tabu@box+\belowtabulinesep \relax
+        \ifdim\tabustrutrule>\z@ \tabu@debug{\tabu@message@verticalsp}\fi
+    \ifdim \tabu@ht<\@tempdima    \tabu@htdef{\the\@tempdima}\fi
+    \ifdim \tabu@dp<\@tempdimb    \tabu@dpdef{\the\@tempdimb}\fi
+    \noindent\vrule height\@tempdima depth\@tempdimb
+}% \tabu@verticalsp@lcr
+\def\tabu@verticalsp@pmb{% inserts struts as needed
+    \par \expandafter\egroup
+            \expandafter$\expandafter
+                    \egroup \expandafter
+                            \@tempdimc \the\prevdepth
+    \@tempdima \dimexpr \ht\tabu@box+\abovetabulinesep
+    \@tempdimb \dimexpr \dp\tabu@box+\belowtabulinesep \relax
+        \ifdim\tabustrutrule>\z@ \tabu@debug{\tabu@message@verticalsp}\fi
+    \ifdim \tabu@ht<\@tempdima    \tabu@htdef{\the\@tempdima}\fi
+    \ifdim \tabu@dp<\@tempdimb    \tabu@dpdef{\the\@tempdimb}\fi
+    \let\@finalstrut \@gobble
+    \hrule height\@tempdima depth\@tempdimb width\hsize
+%%    \box\tabu@box
+}% \tabu@verticalsp@pmb
+
+\def\tabu@verticalinit{%
+    \ifnum \c@taburow=\z@ \tabu@rearstrut \fi       % after \tabu@reset !
+    \advance\c@taburow \@ne
+    \tabu@htdef{\the\ht\@arstrutbox}\tabu@dpdef{\the\dp\@arstrutbox}%
+    \advance\c@taburow \m@ne
+}% \tabu@verticalinit
+\def\tabu@htdef {\expandafter\xdef \csname tabu@\the\tabu@nested.H\the\c@taburow\endcsname}
+\def\tabu@ht                      {\csname tabu@\the\tabu@nested.H\the\c@taburow\endcsname}
+\def\tabu@dpdef {\expandafter\xdef \csname tabu@\the\tabu@nested.D\the\c@taburow\endcsname}
+\def\tabu@dp                      {\csname tabu@\the\tabu@nested.D\the\c@taburow\endcsname}
+\def\tabu@verticaldynamicadjustment {%
+    \advance\c@taburow \@ne
+        \extrarowheight \dimexpr\tabu@ht - \ht\strutbox
+        \extrarowdepth  \dimexpr\tabu@dp - \dp\strutbox
+        \let\arraystretch \@empty
+    \advance\c@taburow \m@ne
+}% \tabu@verticaldynamicadjustment
+\def\tabuphantomline{\crcr \noalign{%
+    {\globaldefs \@ne
+        \setbox\@arstrutbox     \box\voidb@x
+        \let\tabu@@celllalign   \tabu@celllalign
+        \let\tabu@@cellralign   \tabu@cellralign
+        \let\tabu@@cellleft     \tabu@cellleft
+        \let\tabu@@cellright    \tabu@cellright
+        \let\tabu@@thevline     \tabu@thevline
+        \let\tabu@celllalign    \@empty
+        \let\tabu@cellralign    \@empty
+        \let\tabu@cellright     \@empty
+        \let\tabu@cellleft      \@empty
+        \let\tabu@thevline      \relax}%
+    \edef\tabu@temp{\tabu@multispan \tabu@nbcols{\noindent &}}%
+    \toks@\expandafter{\tabu@temp \noindent\tabu@everyrowfalse \cr
+        \noalign{\tabu@rearstrut
+            {\globaldefs\@ne
+                \let\tabu@celllalign \tabu@@celllalign
+                \let\tabu@cellralign \tabu@@cellralign
+                \let\tabu@cellleft   \tabu@@cellleft
+                \let\tabu@cellright  \tabu@@cellright
+                \let\tabu@thevline   \tabu@@thevline}}}%
+    \expandafter}\the\toks@
+}% \tabuphantomline
+%% \firsthline and \lasthline corrections ---------------------------
+\def\tabu@firstline {\tabu@hlineAZ  \tabu@firsthlinecorrection     {}}
+\def\tabu@firsthline{\tabu@hlineAZ  \tabu@firsthlinecorrection \hline}
+\def\tabu@lastline  {\tabu@hlineAZ  \tabu@lasthlinecorrection      {}}
+\def\tabu@lasthline {\tabu@hlineAZ  \tabu@lasthlinecorrection  \hline}
+\def\tabu@hline {% replaces \hline if no colortbl (see \AtBeginDocument)
+    \noalign{\ifnum0=`}\fi
+    {\CT@arc@\hrule height\arrayrulewidth}%
+    \futurelet \tabu@temp \tabu@xhline
+}% \tabu@hline
+\def\tabu@xhline{%
+    \ifx \tabu@temp \hline
+        {\ifx \CT@drsc@\relax \vskip
+         \else\ifx \CT@drsc@\@empty \vskip
+         \else \CT@drsc@\hrule height
+         \fi\fi
+         \doublerulesep}%
+    \fi
+    \ifnum0=`{\fi}%
+}% \tabu@xhline
+\def\tabu@hlineAZ #1#2{\noalign{\ifnum0=`}\fi \dimen@ \z@ \count@ \z@
+    \toks@{}\def\tabu@hlinecorrection{#1}\def\tabu@temp{#2}%
+    \tabu@hlineAZsurround
+}% \tabu@hlineAZ
+\newcommand*\tabu@hlineAZsurround[1][\extratabsurround]{%
+    \extratabsurround #1\let\tabucline \tabucline@scan
+    \let\hline     \tabu@hlinescan \let\firsthline \hline
+    \let\cline     \tabu@clinescan \let\lasthline  \hline
+    \expandafter \futurelet \expandafter \tabu@temp
+                \expandafter \tabu@nexthlineAZ \tabu@temp
+}% \tabu@hlineAZsurround
+\def\tabu@hlinescan   {\tabu@thick \arrayrulewidth \tabu@xhlineAZ \hline}
+\def\tabu@clinescan #1{\tabu@thick \arrayrulewidth \tabu@xhlineAZ {\cline{#1}}}
+\def\tabucline@scan{\@testopt \tabucline@sc@n {}}
+\def\tabucline@sc@n #1[#2]{\tabu@xhlineAZ {\tabucline[{#1}]{#2}}}
+\def\tabu@nexthlineAZ{%
+    \ifx \tabu@temp\hline \else
+    \ifx \tabu@temp\cline \else
+    \ifx \tabu@temp\tabucline \else
+         \tabu@hlinecorrection
+    \fi\fi\fi
+}% \tabu@nexthlineAZ
+\def\tabu@xhlineAZ #1{%
+    \toks@\expandafter{\the\toks@ #1}%
+    \@tempdimc \tabu@thick                  % The last line width
+    \ifcase\count@ \@tempdimb \tabu@thick   % The first line width
+    \else \advance\dimen@ \dimexpr \tabu@thick+\doublerulesep \relax
+    \fi
+    \advance\count@ \@ne    \futurelet \tabu@temp \tabu@nexthlineAZ
+}% \tabu@xhlineAZ
+\def\tabu@firsthlinecorrection{% \count@ = number of \hline -1
+    \@tempdima \dimexpr \ht\@arstrutbox+\dimen@
+    \edef\firsthline{%      <local in \noalign>
+        \omit \hbox to\z@{\hss{\noexpand\tabu@DBG{yellow}\vrule
+                    height \the\dimexpr\@tempdima+\extratabsurround
+                    depth  \dp\@arstrutbox
+                    width  \tabustrutrule}\hss}\cr
+        \noalign{\vskip -\the\dimexpr   \@tempdima+\@tempdimb
+                                        +\dp\@arstrutbox \relax}%
+        \the\toks@
+   }\ifnum0=`{\fi
+            \expandafter}\firsthline % we are then !
+}% \tabu@firsthlinecorrection
+\def\tabu@lasthlinecorrection{%
+    \@tempdima \dimexpr  \dp\@arstrutbox+\dimen@+\@tempdimb+\@tempdimc
+    \edef\lasthline{%   <local in \noalign>
+        \the\toks@
+        \noalign{\vskip -\the\dimexpr\dimen@+\@tempdimb+\dp\@arstrutbox}%
+        \omit \hbox to\z@{\hss{\noexpand\tabu@DBG{yellow}\vrule
+                    depth \the\dimexpr \dp\@arstrutbox+\@tempdimb+\dimen@
+                                       +\extratabsurround-\@tempdimc
+                    height \z@
+                    width \tabustrutrule}\hss}\cr
+    }\ifnum0=`{\fi
+            \expandafter}\lasthline % we are then !
+}% \tabu@lasthlinecorrection
+\def\tabu@LT@@hline{%
+    \ifx\LT@next\hline
+        \global\let\LT@next \@gobble
+        \ifx \CT@drsc@\relax
+            \gdef\CT@LT@sep{%
+                \noalign{\penalty-\@medpenalty\vskip\doublerulesep}}%
+        \else
+            \gdef\CT@LT@sep{%
+                \multispan\LT@cols{%
+                \CT@drsc@\leaders\hrule\@height\doublerulesep\hfill}\cr}%
+        \fi
+    \else
+        \global\let\LT@next\empty
+        \gdef\CT@LT@sep{%
+            \noalign{\penalty-\@lowpenalty\vskip-\arrayrulewidth}}%
+    \fi
+    \ifnum0=`{\fi}%
+    \multispan\LT@cols
+        {\CT@arc@\leaders\hrule\@height\arrayrulewidth\hfill}\cr
+    \CT@LT@sep
+    \multispan\LT@cols
+        {\CT@arc@\leaders\hrule\@height\arrayrulewidth\hfill}\cr
+    \noalign{\penalty\@M}%
+    \LT@next
+}% \tabu@LT@@hline
+%% Horizontal lines : \tabucline ------------------------------------
+\let\tabu@start \@tempcnta
+\let\tabu@stop  \@tempcntb
+\newcommand*\tabucline{\noalign{\ifnum0=`}\fi \tabu@cline}
+\newcommand*\tabu@cline[2][]{\tabu@startstop{#2}%
+   \ifnum \tabu@stop<\z@   \toks@{}%
+   \else \tabu@clinearg{#1}\tabu@thestyle
+        \edef\tabucline{\toks@{%
+            \ifnum \tabu@start>\z@ \omit
+                  \tabu@multispan\tabu@start {\span\omit}&\fi
+            \omit \tabu@multispan\tabu@stop {\span\omit}%
+                                        \tabu@thehline\cr
+        }}\tabucline
+        \tabu@tracinglines{(tabu:tabucline) Style: #1^^J\the\toks@^^J^^J}%
+    \fi
+    \futurelet \tabu@temp \tabu@xcline
+}% \tabu@cline
+\def\tabu@clinearg #1{%
+    \ifx\\#1\\\let\tabu@thestyle \tabu@ls@
+    \else \@defaultunits \expandafter\let\expandafter\@tempa
+                                    \romannumeral-`\0#1\relax \@nnil
+        \ifx \hbox\@tempa           \tabu@clinebox{#1}%
+        \else\ifx \box\@tempa       \tabu@clinebox{#1}%
+        \else\ifx \vbox\@tempa      \tabu@clinebox{#1}%
+        \else\ifx \vtop\@tempa      \tabu@clinebox{#1}%
+        \else\ifx \copy\@tempa      \tabu@clinebox{#1}%
+        \else\ifx \leaders\@tempa   \tabu@clineleads{#1}%
+        \else\ifx \cleaders\@tempa  \tabu@clineleads{#1}%
+        \else\ifx \xleaders\@tempa  \tabu@clineleads{#1}%
+        \else\tabu@getline {#1}%
+        \fi\fi\fi\fi\fi\fi\fi\fi
+    \fi
+}% \tabu@clinearg
+\def\tabu@clinebox #1{\tabu@clineleads{\xleaders#1\hss}}
+\def\tabu@clineleads #1{%
+    \let\tabu@thestyle \relax \let\tabu@leaders \@undefined
+    \gdef\tabu@thehrule{#1}}
+\def\tabu@thehline{\begingroup
+    \ifdefined\tabu@leaders
+            \noexpand\tabu@thehleaders
+    \else   \noexpand\tabu@thehrule
+    \fi            \endgroup
+}% \tabu@thehline
+\def\tabu@xcline{%
+    \ifx \tabu@temp\tabucline
+        \toks@\expandafter{\the\toks@ \noalign
+        {\ifx\CT@drsc@\relax \vskip
+         \else \CT@drsc@\hrule height
+         \fi
+         \doublerulesep}}%
+    \fi
+    \tabu@docline
+}% \tabu@xcline
+\def\tabu@docline {\ifnum0=`{\fi \expandafter}\the\toks@}
+\def\tabu@docline@evr {\xdef\tabu@doclineafter{\the\toks@}%
+              \ifnum0=`{\fi}\aftergroup\tabu@doclineafter}
+\def\tabu@multispan #1#2{%
+    \ifnum\numexpr#1>\@ne #2\expandafter\tabu@multispan
+    \else                   \expandafter\@gobbletwo
+    \fi  {#1-1}{#2}%
+}% \tabu@multispan
+\def\tabu@startstop #1{\tabu@start@stop #1\relax 1-\tabu@nbcols \@nnil}
+\def\tabu@start@stop #1-#2\@nnil{%
+   \@defaultunits   \tabu@start\number 0#1\relax    \@nnil
+   \@defaultunits   \tabu@stop \number 0#2\relax    \@nnil
+   \tabu@stop   \ifnum \tabu@start>\tabu@nbcols     \m@ne
+                \else\ifnum \tabu@stop=\z@          \tabu@nbcols
+                \else\ifnum \tabu@stop>\tabu@nbcols \tabu@nbcols
+                \else                               \tabu@stop
+                \fi\fi\fi
+   \advance\tabu@start \m@ne
+   \ifnum \tabu@start>\z@ \advance\tabu@stop -\tabu@start \fi
+}% \tabu@start@stop
+%% Numbers: siunitx S columns  (and \tabudecimal) -------------------
+\def\tabu@tabudecimal #1{%
+    \def\tabu@decimal{#1}\@temptokena{}%
+    \let\tabu@getdecimal@ \tabu@getdecimal@ignorespaces
+    \tabu@scandecimal
+}% \tabu@tabudecimal
+\def\tabu@scandecimal{\futurelet \tabu@temp \tabu@getdecimal@}
+\def\tabu@skipdecimal#1{#1\tabu@scandecimal}
+\def\tabu@getdecimal@ignorespaces{%
+    \ifcase 0\ifx\tabu@temp\ignorespaces\else
+             \ifx\tabu@temp\@sptoken1\else
+             2\fi\fi\relax
+            \let\tabu@getdecimal@ \tabu@getdecimal
+            \expandafter\tabu@skipdecimal
+    \or     \expandafter\tabu@gobblespace\expandafter\tabu@scandecimal
+    \else   \expandafter\tabu@skipdecimal
+    \fi
+}% \tabu@getdecimal@ignorespaces
+\def\tabu@get@decimal#1{\@temptokena\expandafter{\the\@temptokena #1}%
+                        \tabu@scandecimal}
+\def\do#1{%
+    \def\tabu@get@decimalspace#1{%
+        \@temptokena\expandafter{\the\@temptokena #1}\tabu@scandecimal}%
+}\do{ }
+\let\tabu@@tabudecimal \tabu@tabudecimal
+\def\tabu@getdecimal{%
+   \ifcase    0\ifx 0\tabu@temp\else
+               \ifx 1\tabu@temp\else
+               \ifx 2\tabu@temp\else
+               \ifx 3\tabu@temp\else
+               \ifx 4\tabu@temp\else
+               \ifx 5\tabu@temp\else
+               \ifx 6\tabu@temp\else
+               \ifx 7\tabu@temp\else
+               \ifx 8\tabu@temp\else
+               \ifx 9\tabu@temp\else
+               \ifx .\tabu@temp\else
+               \ifx ,\tabu@temp\else
+               \ifx -\tabu@temp\else
+               \ifx +\tabu@temp\else
+               \ifx e\tabu@temp\else
+               \ifx E\tabu@temp\else
+               \ifx\tabu@cellleft\tabu@temp1\else
+               \ifx\ignorespaces\tabu@temp1\else
+               \ifx\@sptoken\tabu@temp2\else
+            3\fi\fi\fi\fi\fi\fi\fi\fi\fi\fi\fi\fi\fi\fi\fi\fi\fi\fi\fi\relax
+       \expandafter\tabu@get@decimal
+   \or \expandafter\tabu@skipdecimal
+   \or \expandafter\tabu@get@decimalspace
+   \else\expandafter\tabu@printdecimal
+   \fi
+}% \tabu@getdecimal
+\def\tabu@printdecimal{%
+    \edef\tabu@temp{\the\@temptokena}%
+    \ifx\tabu@temp\@empty\else
+    \ifx\tabu@temp\space\else
+        \expandafter\tabu@decimal\expandafter{\the\@temptokena}%
+    \fi\fi
+}% \tabu@printdecimal
+%% Verbatim inside X columns ----------------------------------------
+\def\tabu@verbatim{%
+    \let\verb \tabu@verb
+    \let\FV@DefineCheckEnd \tabu@FV@DefineCheckEnd
+}% \tabu@verbatim
+\let\tabu@ltx@verb \verb
+\def\tabu@verb{\@ifstar {\tabu@ltx@verb*} \tabu@ltx@verb}
+\def\tabu@fancyvrb {%
+    \def\tabu@FV@DefineCheckEnd ##1{%
+        \def\tabu@FV@DefineCheckEnd{%
+            ##1% <original definition (if fancyvrb is loaded)>
+            \let\FV@CheckEnd     \tabu@FV@CheckEnd
+            \let\FV@@CheckEnd    \tabu@FV@@CheckEnd
+            \let\FV@@@CheckEnd   \tabu@FV@@@CheckEnd
+            \edef\FV@EndScanning{%
+            \def\noexpand\next{\noexpand\end{\FV@EnvironName}}%
+                \global\let\noexpand\FV@EnvironName\relax
+                \noexpand\next}%
+            \xdef\FV@EnvironName{\detokenize\expandafter{\FV@EnvironName}}}%
+    }\expandafter\tabu@FV@DefineCheckEnd\expandafter{\FV@DefineCheckEnd}
+}% \tabu@fancyvrb
+\def\tabu@FV@CheckEnd  #1{\expandafter\FV@@CheckEnd \detokenize{#1\end{}}\@nil}
+\edef\tabu@FV@@@CheckEnd {\detokenize{\end{}}}
+\begingroup
+\catcode`\[1      \catcode`\]2
+\@makeother\{     \@makeother\}
+   \edef\x[\endgroup
+      \def\noexpand\tabu@FV@@CheckEnd ##1\detokenize[\end{]##2\detokenize[}]##3%
+   ]\x               \@nil{\def\@tempa{#2}\def\@tempb{#3}}
+\def\tabu@FV@ListProcessLine #1{%
+  \hbox {%to \hsize{%
+    \kern\leftmargin
+    \hbox {%to \linewidth{%
+      \FV@LeftListNumber
+      \FV@LeftListFrame
+      \FancyVerbFormatLine{#1}\hss
+%% DG/SR modification begin - Jan. 28, 1998 (for numbers=right add-on)
+%%      \FV@RightListFrame}%
+      \FV@RightListFrame
+      \FV@RightListNumber}%
+%% DG/SR modification end
+    \hss}}
+%% \savetabu --------------------------------------------------------
+\newcommand*\savetabu[1]{\noalign{%
+    \tabu@sanitizearg{#1}\tabu@temp
+    \ifx \tabu@temp\@empty  \tabu@savewarn{}{The tabu will not be saved}\else
+        \@ifundefined{tabu@saved@\tabu@temp}{}{\tabu@savewarn{#1}{Overwriting}}%
+        \ifdefined\tabu@restored \expandafter\let
+            \csname tabu@saved@\tabu@temp \endcsname \tabu@restored
+        \else {\tabu@save}%
+        \fi
+    \fi}%
+}% \savetabu
+\def\tabu@save {%
+    \toks0\expandafter{\tabu@saved@}%
+    \iftabu@negcoef
+        \let\tabu@wddef \relax \let\tabu@ \tabu@savewd \edef\tabu@savewd{\tabu@Xcoefs}%
+        \toks0\expandafter{\the\toks\expandafter0\tabu@savewd}\fi
+    \toks1\expandafter{\tabu@savedpream}%
+    \toks2\expandafter{\tabu@savedpreamble}%
+    \let\@preamble \relax
+    \let\tabu@savedpream \relax \let\tabu@savedparams \relax
+    \edef\tabu@preamble{%
+        \def\noexpand\tabu@aligndefault{\tabu@align}%
+        \def\tabu@savedparams {\noexpand\the\toks0}%
+        \def\tabu@savedpream  {\noexpand\the\toks1}}%
+    \edef\tabu@usetabu{%
+        \def\@preamble {\noexpand\the\toks2}%
+        \tabu@target \the\tabu@target \relax
+        \tabucolX    \the\tabucolX    \relax
+        \tabu@nbcols \the\tabu@nbcols \relax
+        \def\noexpand\tabu@aligndefault{\tabu@align}%
+        \def\tabu@savedparams {\noexpand\the\toks0}%
+        \def\tabu@savedpream  {\noexpand\the\toks1}}%
+    \let\tabu@aligndefault \relax \let\@sharp \relax
+    \edef\@tempa{\noexpand\tabu@s@ved
+                          {\tabu@usetabu}
+                         {\tabu@preamble}
+                            {\the\toks1}}\@tempa
+    \tabu@message@save
+}% \tabu@save
+\long\def\tabu@s@ved #1#2#3{%
+    \def\tabu@usetabu{#1}% <for \tabu@message@save>
+    \expandafter\gdef\csname tabu@saved@\tabu@temp\endcsname ##1{%
+        \ifodd ##1%     \usetabu
+            \tabu@measuringfalse \tabu@spreadfalse  % Just in case...
+            \gdef\tabu@usetabu {%
+                \ifdim \tabu@target>\z@ \tabu@warn@usetabu \fi
+                \global\let\tabu@usetabu \@undefined
+                \def\@halignto {to\tabu@target}%
+                #1%
+                \ifx \tabu@align\tabu@aligndefault@text
+                \ifnum \tabu@nested=\z@
+                       \let\tabu@align \tabu@aligndefault \fi\fi}%
+        \else     %     \preamble
+            \gdef\tabu@preamble {%
+                \global\let\tabu@preamble \@undefined
+                #2%
+                \ifx \tabu@align\tabu@aligndefault@text
+                \ifnum \tabu@nested=\z@
+                       \let\tabu@align \tabu@aligndefault \fi\fi}%
+        \fi
+        #3}%
+}% \tabu@s@ved
+\def\tabu@aligndefault@text {\tabu@aligndefault}%
+\def\tabu@warn@usetabu {\PackageWarning{tabu}
+    {Specifying a target with \string\usetabu\space is useless
+    \MessageBreak The target cannot be changed!}}
+\def\tabu@savewd #1#2{\ifdim #2\p@<\z@ \tabu@wddef{#1}{\tabu@wd{#1}}\fi}
+\def\tabu@savewarn#1#2{\PackageInfo{tabu}
+    {User-name `#1' already used for \string\savetabu
+    \MessageBreak #2}}%
+\def\tabu@saveerr#1{\PackageError{tabu}
+    {User-name `#1' is unknown for \string\usetabu
+    \MessageBreak I cannot restore an unknown preamble!}\@ehd}
+%% \rowfont ---------------------------------------------------------
+\newskip \tabu@cellskip
+\def\tabu@rowfont{\ifdim \baselineskip=\z@\noalign\fi
+                    {\ifnum0=`}\fi    \tabu@row@font}
+\newcommand*\tabu@row@font[2][]{%
+    \ifnum7=\currentgrouptype
+        \global\let\tabu@@cellleft    \tabu@cellleft
+        \global\let\tabu@@cellright   \tabu@cellright
+        \global\let\tabu@@celllalign  \tabu@celllalign
+        \global\let\tabu@@cellralign  \tabu@cellralign
+        \global\let\tabu@@rowfontreset\tabu@rowfontreset
+    \fi
+    \global\let\tabu@rowfontreset \tabu@rowfont@reset
+    \expandafter\gdef\expandafter\tabu@cellleft\expandafter{\tabu@cellleft #2}%
+    \ifcsname tabu@cell@#1\endcsname       % row alignment
+            \csname tabu@cell@#1\endcsname \fi
+    \ifnum0=`{\fi}% end of group / noalign group
+}% \rowfont
+\def\tabu@ifcolorleavevmode #1{\let\color \tabu@leavevmodecolor #1\let\color\tabu@color}%
+\def\tabu@rowfont@reset{%
+    \global\let\tabu@rowfontreset \tabu@@rowfontreset
+    \global\let\tabu@cellleft     \tabu@@cellleft
+    \global\let\tabu@cellright    \tabu@@cellright
+    \global\let\tabu@cellfont     \@empty
+    \global\let\tabu@celllalign   \tabu@@celllalign
+    \global\let\tabu@cellralign   \tabu@@cellralign
+}% \tabu@@rowfontreset
+\let\tabu@rowfontreset \@empty     % overwritten \AtBeginDocument if colortbl
+%% \tabu@prepnext@tok -----------------------------------------------
+\newif \iftabu@cellright
+\def\tabu@prepnext@tok{%
+    \ifnum \count@<\z@   % <first initialisation>
+            \@tempcnta  \@M   % <not initialized by array.sty>
+            \tabu@nbcols\z@
+            \let\tabu@fornoopORI \@fornoop
+            \tabu@cellrightfalse
+    \else
+        \ifcase \numexpr \count@-\@tempcnta \relax % (case 0): prev. token is left
+                \advance \tabu@nbcols \@ne
+                \iftabu@cellright % before-previous token is right and is finished
+                    \tabu@cellrightfalse % <only once>
+                    \tabu@righttok
+                \fi
+                \tabu@lefttok
+        \or                     % (case 1) previous token is right
+                \tabu@cellrighttrue \let\@fornoop \tabu@lastnoop
+        \else % special column: do not change the token
+                \iftabu@cellright    % before-previous token is right
+                    \tabu@cellrightfalse
+                    \tabu@righttok
+                \fi
+        \fi % \ifcase
+    \fi
+    \tabu@prepnext@tokORI
+}% \tabu@prepnext@tok
+\long\def\tabu@lastnoop#1\@@#2#3{\tabu@lastn@@p #2\@nextchar \in@\in@@}
+\def\tabu@lastn@@p #1\@nextchar #2#3\in@@{%
+    \ifx \in@#2\else
+        \let\@fornoop \tabu@fornoopORI
+        \xdef\tabu@mkpreambuffer{\tabu@nbcols\the\tabu@nbcols \tabu@mkpreambuffer}%
+        \toks0\expandafter{\expandafter\tabu@everyrowtrue \the\toks0}%
+        \expandafter\prepnext@tok
+    \fi
+}% \tabu@lastnoop
+\def\tabu@righttok{%
+    \advance \count@ \m@ne
+    \toks\count@\expandafter {\the\toks\count@ \tabu@cellright \tabu@cellralign}%
+    \advance \count@ \@ne
+}% \tabu@righttok
+\def\tabu@lefttok{\toks\count@\expandafter{\expandafter\tabu@celllalign
+                                    \the\toks\count@ \tabu@cellleft}% after because of $
+}% \tabu@lefttok
+%% Neutralisation of glues ------------------------------------------
+\let\tabu@cellleft   \@empty
+\let\tabu@cellright  \@empty
+\tabu@celllalign@def{\tabu@cellleft}%
+\let\tabu@cellralign \@empty
+\def\tabu@cell@align #1#2#3{%
+    \let\tabu@maybesiunitx \toks@ \tabu@celllalign
+    \global \expandafter \tabu@celllalign@def \expandafter {\the\toks@ #1}%
+    \toks@\expandafter{\tabu@cellralign #2}%
+    \xdef\tabu@cellralign{\the\toks@}%
+    \toks@\expandafter{\tabu@cellleft #3}%
+    \xdef\tabu@cellleft{\the\toks@}%
+}% \tabu@cell@align
+\def\tabu@cell@l{% force alignment to left
+   \tabu@cell@align
+      {\tabu@removehfil \raggedright \tabu@cellleft}% left
+      {\tabu@flush1\tabu@ignorehfil}%                 right
+      \raggedright
+}% \tabu@cell@l
+\def\tabu@cell@c{% force alignment to center
+   \tabu@cell@align
+      {\tabu@removehfil \centering \tabu@flush{.5}\tabu@cellleft}
+      {\tabu@flush{.5}\tabu@ignorehfil}
+      \centering
+}% \tabu@cell@c
+\def\tabu@cell@r{% force alignment to right
+   \tabu@cell@align
+      {\tabu@removehfil \raggedleft \tabu@flush1\tabu@cellleft}
+      \tabu@ignorehfil
+      \raggedleft
+}% \tabu@cell@r
+\def\tabu@cell@j{% force justification (for p, m, b columns)
+      \tabu@cell@align
+         {\tabu@justify\tabu@cellleft}
+         {}
+         \tabu@justify
+}% \tabu@cell@j
+\def\tabu@justify{%
+   \leftskip\z@skip \@rightskip\leftskip \rightskip\@rightskip
+   \parfillskip\@flushglue
+}% \tabu@justify
+%% ragged2e settings
+\def\tabu@cell@L{% force alignment to left (ragged2e)
+   \tabu@cell@align
+      {\tabu@removehfil \RaggedRight \tabu@cellleft}
+      {\tabu@flush 1\tabu@ignorehfil}
+      \RaggedRight
+}% \tabu@cell@L
+\def\tabu@cell@C{% force alignment to center (ragged2e)
+   \tabu@cell@align
+      {\tabu@removehfil \Centering \tabu@flush{.5}\tabu@cellleft}
+      {\tabu@flush{.5}\tabu@ignorehfil}
+      \Centering
+}% \tabu@cell@C
+\def\tabu@cell@R{% force alignment to right (ragged2e)
+   \tabu@cell@align
+      {\tabu@removehfil \RaggedLeft \tabu@flush 1\tabu@cellleft}
+      \tabu@ignorehfil
+      \RaggedLeft
+}% \tabu@cell@R
+\def\tabu@cell@J{% force justification (ragged2e)
+   \tabu@cell@align
+      {\justifying \tabu@cellleft}
+      {}
+      \justifying
+}% \tabu@cell@J
+\def\tabu@flush#1{%
+    \iftabu@colortbl      % colortbl uses \hfill rather than \hfil
+        \hskip \ifnum13<\currentgrouptype \stretch{#1}%
+        \else  \ifdim#1pt<\p@ \tabu@cellskip
+        \else  \stretch{#1}
+        \fi\fi \relax
+    \else                % array.sty
+        \ifnum 13<\currentgrouptype
+                \hfil \hskip1sp \relax  \fi
+    \fi
+}% \tabu@flush
+\let\tabu@hfil  \hfil
+\let\tabu@hfill \hfill
+\let\tabu@hskip \hskip
+\def\tabu@removehfil{%
+    \iftabu@colortbl
+        \unkern \tabu@cellskip =\lastskip
+        \ifnum\gluestretchorder\tabu@cellskip =\tw@ \hskip-\tabu@cellskip
+        \else \tabu@cellskip \z@skip
+        \fi
+    \else
+        \ifdim\lastskip=1sp\unskip\fi
+        \ifnum\gluestretchorder\lastskip =\@ne
+            \hfilneg % \hfilneg for array.sty but not for colortbl...
+        \fi
+    \fi
+}% \tabu@removehfil
+\def\tabu@ignorehfil{\aftergroup \tabu@nohfil}
+\def\tabu@nohfil{% \hfil -> do nothing + restore original \hfil
+   \def\hfil{\let\hfil \tabu@hfil}%   local to (alignment template) group
+}% \tabu@nohfil
+\def\tabu@colortblalignments {% if colortbl
+    \def\tabu@nohfil{%
+        \def\hfil  {\let\hfil \tabu@hfil}% local to (alignment template) group
+        \def\hfill {\let\hfill \tabu@hfill}% (colortbl uses \hfill) pfff...
+        \def\hskip ####1\relax{\let\hskip \tabu@hskip}}% local
+}% \tabu@colortblalignments
+%% Taking care of footnotes and hyperfootnotes ----------------------
+\long\def\tabu@footnotetext #1{%
+   \edef\@tempa{\the\tabu@footnotes
+      \noexpand\footnotetext [\the\csname c@\@mpfn\endcsname]}%
+   \global\tabu@footnotes\expandafter{\@tempa {#1}}}%
+\long\def\tabu@xfootnotetext [#1]#2{%
+   \global\tabu@footnotes\expandafter{\the\tabu@footnotes
+                               \footnotetext [{#1}]{#2}}}
+\let\tabu@xfootnote \@xfootnote
+\long\def\tabu@Hy@ftntext{\tabu@Hy@ftntxt {\the \c@footnote }}
+\long\def\tabu@Hy@xfootnote [#1]{%
+   \begingroup
+      \value\@mpfn #1\relax
+      \protected@xdef \@thefnmark  {\thempfn}%
+   \endgroup
+   \@footnotemark \tabu@Hy@ftntxt {#1}%
+}% \tabu@Hy@xfootnote
+\long\def\tabu@Hy@ftntxt #1#2{%
+    \edef\@tempa{%
+        \the\tabu@footnotes
+        \begingroup
+            \value\@mpfn #1\relax
+            \noexpand\protected@xdef\noexpand\@thefnmark {\noexpand\thempfn}%
+            \expandafter \noexpand \expandafter
+                \tabu@Hy@footnotetext \expandafter{\Hy@footnote@currentHref}%
+    }%
+    \global\tabu@footnotes\expandafter{\@tempa {#2}%
+                                         \endgroup}%
+}% \tabu@Hy@ftntxt
+\long\def\tabu@Hy@footnotetext #1#2{%
+    \H@@footnotetext{%
+        \ifHy@nesting
+            \hyper@@anchor {#1}{#2}%
+        \else
+            \Hy@raisedlink{%
+                \hyper@@anchor {#1}{\relax}%
+            }%
+            \def\@currentHref {#1}%
+            \let\@currentlabelname \@empty
+            #2%
+        \fi
+    }%
+}% \tabu@Hy@footnotetext
+%% No need for \arraybackslash ! ------------------------------------
+\def\tabu@latextwoe {%
+\def\tabu@temp##1##2##3{{\toks@\expandafter{##2##3}\xdef##1{\the\toks@}}}
+\tabu@temp \tabu@centering   \centering   \arraybackslash
+\tabu@temp \tabu@raggedleft  \raggedleft  \arraybackslash
+\tabu@temp \tabu@raggedright \raggedright \arraybackslash
+}% \tabu@latextwoe
+\def\tabu@raggedtwoe {%
+\def\tabu@temp ##1##2##3{{\toks@\expandafter{##2##3}\xdef##1{\the\toks@}}}
+\tabu@temp \tabu@Centering   \Centering   \arraybackslash
+\tabu@temp \tabu@RaggedLeft  \RaggedLeft  \arraybackslash
+\tabu@temp \tabu@RaggedRight \RaggedRight \arraybackslash
+\tabu@temp \tabu@justifying  \justifying  \arraybackslash
+}% \tabu@raggedtwoe
+\def\tabu@normalcrbackslash{\let\\\@normalcr}
+\def\tabu@trivlist{\expandafter\def\expandafter\@trivlist\expandafter{%
+                       \expandafter\tabu@normalcrbackslash \@trivlist}}
+%% Utilities: \fbox  \fcolorbox  and \tabudecimal -------------------
+\def\tabu@fbox      {\leavevmode\afterassignment\tabu@beginfbox \setbox\@tempboxa\hbox}
+\def\tabu@beginfbox {\bgroup \kern\fboxsep
+                     \bgroup\aftergroup\tabu@endfbox}
+\def\tabu@endfbox   {\kern\fboxsep\egroup\egroup
+                     \@frameb@x\relax}
+\def\tabu@color@b@x #1#2{\leavevmode \bgroup
+    \def\tabu@docolor@b@x{#1{#2\color@block{\wd\z@}{\ht\z@}{\dp\z@}\box\z@}}%
+    \afterassignment\tabu@begincolor@b@x \setbox\z@ \hbox
+}% \tabu@color@b@x
+\def\tabu@begincolor@b@x {\kern\fboxsep \bgroup
+       \aftergroup\tabu@endcolor@b@x \set@color}
+\def\tabu@endcolor@b@x {\kern\fboxsep \egroup
+    \dimen@\ht\z@ \advance\dimen@ \fboxsep \ht\z@ \dimen@
+    \dimen@\dp\z@ \advance\dimen@ \fboxsep \dp\z@ \dimen@
+    \tabu@docolor@b@x \egroup
+}% \tabu@endcolor@b@x
+%% Corrections (arydshln, delarray, colortbl) -----------------------
+\def\tabu@fix@arrayright {%% \@arrayright is missing from \endarray
+    \iftabu@colortbl
+        \ifdefined\adl@array  % <colortbl + arydshln>
+        \def\tabu@endarray{%
+            \adl@endarray \egroup \adl@arrayrestore \CT@end \egroup %<original>
+            \@arrayright      % <FC>
+            \gdef\@preamble{}}% <FC>
+        \else                 % <colortbl / no arydshln>
+        \def\tabu@endarray{%
+            \crcr \egroup \egroup    %<original>
+            \@arrayright             % <FC>
+            \gdef\@preamble{}\CT@end}%
+        \fi
+    \else
+        \ifdefined\adl@array  % <arydshln / no colortbl>
+        \def\tabu@endarray{%
+            \adl@endarray \egroup \adl@arrayrestore \egroup %<original>
+            \@arrayright      % <FC>
+            \gdef\@preamble{}}% <FC>
+    \else                   % <no arydshln / no colotbl + \@arrayright missing>
+        \PackageWarning{tabu}
+        {\string\@arrayright\space is missing from the
+        \MessageBreak definition of \string\endarray.
+        \MessageBreak Compatibility with delarray.sty is broken.}%
+    \fi\fi
+}% \tabu@fix@arrayright
+\def\tabu@adl@xarraydashrule #1#2#3{%
+     \ifnum\@lastchclass=\adl@class@start\else
+     \ifnum\@lastchclass=\@ne\else
+     \ifnum\@lastchclass=5 \else % <FC> @-arg (class 5) and !-arg (class 1)
+             \adl@leftrulefalse \fi\fi           % must be treated the same
+     \fi
+     \ifadl@zwvrule\else \ifadl@inactive\else
+             \@addtopreamble{\vrule\@width\arrayrulewidth
+                     \@height\z@ \@depth\z@}\fi \fi
+     \ifadl@leftrule
+             \@addtopreamble{\adl@vlineL{\CT@arc@}{\adl@dashgapcolor}%
+                     {\number#1}#3}%
+     \else   \@addtopreamble{\adl@vlineR{\CT@arc@}{\adl@dashgapcolor}%
+                     {\number#2}#3}
+     \fi
+}% \tabu@adl@xarraydashrule
+\def\tabu@adl@act@endpbox {%
+    \unskip \ifhmode \nobreak \fi    \@finalstrut \@arstrutbox
+    \egroup \egroup
+    \adl@colhtdp \box\adl@box \hfil
+}% \tabu@adl@act@endpbox
+\def\tabu@adl@fix {%
+    \let\adl@xarraydashrule \tabu@adl@xarraydashrule % <fix> arydshln
+    \let\adl@act@endpbox    \tabu@adl@act@endpbox    % <fix> arydshln
+    \let\adl@act@@endpbox   \tabu@adl@act@endpbox    % <fix> arydshln
+    \let\@preamerror        \@preamerr               % <fix> arydshln
+}% \tabu@adl@fix
+%% Correction for longtable' \@startbox definition ------------------
+%%    => \everypar is ``missing'' : TeX should be in vertical mode
+\def\tabu@LT@startpbox #1{%
+    \bgroup
+        \let\@footnotetext\LT@p@ftntext
+        \setlength\hsize{#1}%
+        \@arrayparboxrestore
+        \everypar{%
+            \vrule \@height \ht\@arstrutbox \@width \z@
+            \everypar{}}%
+}% \tabu@LT@startpbox
+%% \tracingtabu  and  the package options ------------------
+\DeclareOption{delarray}{\AtEndOfPackage{\RequirePackage{delarray}}}
+\DeclareOption{linegoal}{%
+   \AtEndOfPackage{%
+      \RequirePackage{linegoal}[2010/12/07]%
+      \let\tabudefaulttarget \linegoal% \linegoal is \linewidth if not pdfTeX
+}}
+\DeclareOption{scantokens}{\tabuscantokenstrue}
+\DeclareOption{debugshow}{\AtEndOfPackage{\tracingtabu=\tw@}}
+\def\tracingtabu {\begingroup\@ifnextchar=%
+    {\afterassignment\tabu@tracing\count@}
+    {\afterassignment\tabu@tracing\count@1\relax}}
+\def\tabu@tracing{\expandafter\endgroup
+    \expandafter\tabu@tr@cing \the\count@ \relax
+}% \tabu@tracing
+\def\tabu@tr@cing #1\relax {%
+    \ifnum#1>\thr@@ \let\tabu@tracinglines\message
+    \else           \let\tabu@tracinglines\@gobble
+    \fi
+    \ifnum#1>\tw@   \let\tabu@DBG        \tabu@@DBG
+                    \def\tabu@mkarstrut {\tabu@DBG@arstrut}%
+                    \tabustrutrule      1.5\p@
+    \else           \let\tabu@DBG        \@gobble
+                    \def\tabu@mkarstrut {\tabu@arstrut}%
+                    \tabustrutrule      \z@
+    \fi
+    \ifnum#1>\@ne   \let\tabu@debug      \message
+    \else           \let\tabu@debug      \@gobble
+    \fi
+    \ifnum#1>\z@
+        \let\tabu@message             \message
+        \let\tabu@tracing@save        \tabu@message@save
+        \let\tabu@starttimer          \tabu@pdftimer
+    \else
+        \let\tabu@message             \@gobble
+        \let\tabu@tracing@save        \@gobble
+        \let\tabu@starttimer          \relax
+    \fi
+}% \tabu@tr@cing
+%% Setup \AtBeginDocument
+\AtBeginDocument{\tabu@AtBeginDocument}
+\def\tabu@AtBeginDocument{\let\tabu@AtBeginDocument \@undefined
+    \ifdefined\arrayrulecolor   \tabu@colortbltrue       % <colortbl>
+                                \tabu@colortblalignments % different glues are used
+    \else                       \tabu@colortblfalse \fi
+    \ifdefined\CT@arc@ \else \let\CT@arc@  \relax \fi
+    \ifdefined\CT@drsc@\else \let\CT@drsc@ \relax \fi
+    \let\tabu@arc@L \CT@arc@ \let\tabu@drsc@L \CT@drsc@
+    \ifodd 1\ifcsname siunitx_table_collect_begin:Nn\endcsname   % <siunitx: ok>
+            \expandafter\ifx
+                \csname siunitx_table_collect_begin:Nn\endcsname\relax 0\fi\fi\relax
+            \tabu@siunitxtrue
+    \else   \let\tabu@maybesiunitx   \@firstofone                % <not siunitx: setup>
+            \let\tabu@siunitx        \tabu@nosiunitx
+            \tabu@siunitxfalse
+    \fi
+    \ifdefined\adl@array        % <arydshln>
+    \else     \let\tabu@adl@fix \relax
+              \let\tabu@adl@endtrial \@empty \fi
+    \ifdefined\longtable        % <longtable>
+    \else     \let\longtabu \tabu@nolongtabu \fi
+    \ifdefined\cellspacetoplimit \tabu@warn@cellspace\fi
+    \csname\ifcsname ifHy@hyperfootnotes\endcsname % <hyperfootnotes>
+            ifHy@hyperfootnotes\else iffalse\fi\endcsname
+        \let\tabu@footnotetext \tabu@Hy@ftntext
+        \let\tabu@xfootnote    \tabu@Hy@xfootnote \fi
+    \ifdefined\FV@DefineCheckEnd% <fancyvrb>
+            \tabu@fancyvrb  \fi
+    \ifdefined\color            % <color / xcolor>
+        \let\tabu@color \color
+        \def\tabu@leavevmodecolor ##1{%
+            \def\tabu@leavevmodecolor {\leavevmode ##1}%
+        }\expandafter\tabu@leavevmodecolor\expandafter{\color}%
+    \else
+        \let\tabu@color           \tabu@nocolor
+        \let\tabu@leavevmodecolor \@firstofone \fi
+    \tabu@latextwoe
+    \ifdefined\@raggedtwoe@everyselectfont    % <ragged2e>
+        \tabu@raggedtwoe
+    \else
+        \let\tabu@cell@L \tabu@cell@l
+        \let\tabu@cell@R \tabu@cell@r
+        \let\tabu@cell@C \tabu@cell@c
+        \let\tabu@cell@J \tabu@cell@j   \fi
+    \expandafter\in@ \expandafter\@arrayright \expandafter{\endarray}%
+    \ifin@ \let\tabu@endarray \endarray
+    \else  \tabu@fix@arrayright \fi% <fix for colortbl & arydshln (delarray)>
+    \everyrow{}%
+}% \tabu@AtBeginDocument
+\def\tabu@warn@cellspace{%
+    \PackageWarning{tabu}{%
+                  Package cellspace has some limitations
+    \MessageBreak And redefines some macros of array.sty.
+    \MessageBreak Please use \string\tabulinesep\space to control
+    \MessageBreak vertical spacing of lines inside tabu environment}%
+}% \tabu@warn@cellspace
+%% tabu Package initialisation
+\tabuscantokensfalse
+\let\tabu@arc@G         \relax
+\let\tabu@drsc@G        \relax
+\let\tabu@evr@G         \@empty
+\let\tabu@rc@G          \@empty
+\def\tabu@ls@G          {\tabu@linestyle@}%
+\let\tabu@@rowfontreset \@empty % <init>
+\let\tabu@@celllalign   \@empty
+\let\tabu@@cellralign   \@empty
+\let\tabu@@cellleft     \@empty
+\let\tabu@@cellright    \@empty
+\def\tabu@naturalXmin   {\z@}
+\def\tabu@naturalXmax   {\z@}
+\let\tabu@rowfontreset  \@empty
+\def\tabulineon {4pt}\let\tabulineoff \tabulineon
+\tabu@everyrowtrue
+\ifdefined\pdfelapsedtime                   % <pdfTeX>
+        \def\tabu@pdftimer {\xdef\tabu@starttime{\the\pdfelapsedtime}}%
+\else   \let\tabu@pdftimer \relax \let\tabu@message@etime \relax
+\fi
+\tracingtabu=\z@
+\newtabulinestyle {=\maxdimen}% creates the 'factory' settings \tabu@linestyle@
+\tabulinestyle{}
+\taburowcolors{}
+\let\tabudefaulttarget  \linewidth
+\ProcessOptions*                % \ProcessOptions* is quicker !
+\endinput
+%%
+%% End of file `tabu.sty'.
diff --git a/src/dcaitirobot/embedded/src/communication/UARTCom.cpp b/src/dcaitirobot/embedded/src/communication/UARTCom.cpp
index ce61969..c29ac01 100644
--- a/src/dcaitirobot/embedded/src/communication/UARTCom.cpp
+++ b/src/dcaitirobot/embedded/src/communication/UARTCom.cpp
@@ -201,6 +201,7 @@ void handlePackage (uint8_t* d, int pl)
 	#ifdef DCAITI_DEBUG
 	showPackage(d, pl);
 	#endif
+	// this is the nonfunctional timestamp synchronization code from the previous project
 	/*
 	if (parseTimestamp(d) <= currentTimestamp) {
 		if (parseFrameType(d) == REQUEST && parseRequest(d) == RESET_TIMESTAMP) {
@@ -233,12 +234,22 @@ void handlePackage (uint8_t* d, int pl)
 	}
 }
 
+/**
+ * @brief initializes UART communication
+ * 
+ * @param d data package
+ */
 void UARTCom::init (uint8_t* d)
 {
 	Serial.begin(UART_BAUD_RATE);
 	clearPackage(d);
 }
 
+/**
+ * @brief reads incoming bytes from serial port
+ * 
+ * @param d data package
+ */
 void UARTCom::read (uint8_t* d)
 {
 	uint8_t byteRead = 0;
@@ -284,6 +295,14 @@ void UARTCom::read (uint8_t* d)
 	}
 }
 
+/**
+ * @brief sends data package
+ * 
+ * @param ft frametype
+ * @param pll payload length
+ * @param cp component
+ * @param pl payload
+ */
 void UARTCom::send (U_FrameType ft, uint8_t pll, U_Component cp, uint8_t* pl)
 {
 	uint8_t toSend[PACKAGE_LENGTH_NO_P + pll];
diff --git a/src/dcaitirobot/embedded/src/communication/UCommands.cpp b/src/dcaitirobot/embedded/src/communication/UCommands.cpp
index 87f9761..664c174 100644
--- a/src/dcaitirobot/embedded/src/communication/UCommands.cpp
+++ b/src/dcaitirobot/embedded/src/communication/UCommands.cpp
@@ -5,6 +5,13 @@
 extern MotorWheel wheelLeft;
 extern MotorWheel wheelRight;
 
+
+/**
+ * @brief handles incoming requests for motor speed
+ * 
+ * @param d	payload
+ * @param c component
+ */
 void UCommands::setSetpoint (uint8_t* d, U_Component c)
 {
 	float speed1 = Utils::bytesToFloat(d[COMMAND_POS + 1],
@@ -36,6 +43,12 @@ void UCommands::setSetpoint (uint8_t* d, U_Component c)
 	}
 }
 
+/**
+ * @brief handles incoming requests for PID parameters
+ * 
+ * @param d	payload
+ * @param c component
+ */
 void UCommands::setPIDParameter (uint8_t* d, U_Component c)
 {
 	float P = Utils::bytesToFloat(d[COMMAND_POS + 1],
diff --git a/src/dcaitirobot/embedded/src/communication/UValue.cpp b/src/dcaitirobot/embedded/src/communication/UValue.cpp
index dbbc4bd..2d9fd90 100644
--- a/src/dcaitirobot/embedded/src/communication/UValue.cpp
+++ b/src/dcaitirobot/embedded/src/communication/UValue.cpp
@@ -4,6 +4,12 @@
 #include "communication/UValue.hpp"
 #include "constants.h"
 
+/**
+ * @brief sends the current speed of both motors
+ * 
+ * @param cp component
+ * @param value speed of motor
+ */
 void UValue::sendEncoderValue (U_Component cp, float value)
 {
 	union {
@@ -19,6 +25,14 @@ void UValue::sendEncoderValue (U_Component cp, float value)
 	UARTCom::send(VALUE, 4, cp, switched_b);
 }
 
+/**
+ * @brief sends the current speed of both motors
+ * 
+ * @param speed_right  speed of right motor
+ * @param speed_left speed of left motor
+ * @param pos_right current integrated position of right rotor
+ * @param pos_left current integrated position of left rotor
+ */
 void UValue::sendBothEncoderValues (float speed_right, float speed_left, float pos_right, float pos_left)
 {
 	union {
diff --git a/src/dcaitirobot/embedded/src/main.cpp b/src/dcaitirobot/embedded/src/main.cpp
index 814d0c3..1972978 100644
--- a/src/dcaitirobot/embedded/src/main.cpp
+++ b/src/dcaitirobot/embedded/src/main.cpp
@@ -20,15 +20,21 @@ MotorWheel wheelRight(10, 11, 6, 7, &irq2, REDUCTION_RATIO, 300); // Motor PWM:P
 
 void setup(void)
 {
+	// configure board for highest PWM frequency available
 	TCCR1B = TCCR1B & 0xf8 | 0x01; // Pin9,Pin10 PWM 31250Hz, Silent PWM
+
+	// initialize PID for both wheels
 	wheelLeft.PIDEnable(0.26,0.02,0.02,10);// Enable PID
 	wheelRight.PIDEnable(0.26,0.02,0.02,10);// Enable PID
 
+	// initialize UART communication
 	UARTCom::init(UARTCom::data);
 	controlTimer = millis();
 	uartTransmitTimer = millis();
-
 	delay(100);
+
+	// send reset timestamp request
+	// this is currently not used but could be used to synchronize the timestamp in messages
 	uint8_t pl[1];
 	pl[0] = REQUEST_RESET_TIMESTAMP;
 	UARTCom::send(REQUEST, 1, DEFAULT_COMPONENT, pl);
@@ -36,7 +42,10 @@ void setup(void)
 
 void loop(void)
 {
+	// regulate boh wheels
 	wheelLeft.PIDRegulate();
 	wheelRight.PIDRegulate();
+
+	// look if any bytes can be received
 	UARTCom::read(UARTCom::data);
 }
\ No newline at end of file
diff --git a/src/dcaitirobot/embedded/src/misc/Utils.cpp b/src/dcaitirobot/embedded/src/misc/Utils.cpp
index 85f21ab..0262e3d 100644
--- a/src/dcaitirobot/embedded/src/misc/Utils.cpp
+++ b/src/dcaitirobot/embedded/src/misc/Utils.cpp
@@ -1,5 +1,15 @@
 #include "misc/Utils.hpp"
 
+
+/**
+ * @brief converts a float to a byte array
+ * 
+ * @param b0 
+ * @param b1 
+ * @param b2 
+ * @param b3 
+ * @return float 
+ */
 float Utils::bytesToFloat (uint8_t b0, uint8_t b1, uint8_t b2, uint8_t b3)
 {
 	union {
@@ -13,6 +23,15 @@ float Utils::bytesToFloat (uint8_t b0, uint8_t b1, uint8_t b2, uint8_t b3)
 	return u.f;
 }
 
+/**
+ * @brief converts a byte array to a float
+ * 
+ * @param b0 
+ * @param b1 
+ * @param b2 
+ * @param b3 
+ * @return uint32_t 
+ */
 uint32_t Utils::bytesToInt (uint8_t b0, uint8_t b1, uint8_t b2, uint8_t b3)
 {
 	union {