#ifndef BTDRIVE_H_

#define BTDRIVE_H_

#include <iostream.h>

#include "math.h"

#include "WPILib.h"

#include "AxisCamera.h"

#include "TrackAPI.h"

#include "VisionAPI.h"

#include "ControlBoard.h"

#include "BTRobot.h"

class BTDrive : public RobotDrive

{

public:

BTDrive(ControlBoard*);

float targetLeftSpeed;

float targetRightSpeed;

bool DoDrive(int, bool);

private:

ControlBoard* myControlBoard;

static const int ALTERNATE_MODE = 3;

float currentLeftSpeed;

float currentRightSpeed;

float deltaLeftSpeed;

float deltaRightSpeed;

float actualLeftSpeed;

float actualRightSpeed;

double next_time;

};

#endif