RobotKit/RKRollCommand.h

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//
//  RKRollCommand.h
//  RobotKit
//
//  Created by Brian Smith on 6/15/11.
//  Copyright 2011 Orbotix Inc. All rights reserved.
//

#import <Foundation/Foundation.h>
#import <RobotKit/RKDeviceCommand.h>

@interface RKRollCommand : RKDeviceCommand {
    @private
    float heading;
    float velocity;
    BOOL  stop;
}

@property (nonatomic, readonly) float heading;
@property (nonatomic, readonly) float velocity;
@property (nonatomic, assign) BOOL stop;

+ (void)sendCommandWithHeading:(float)heading velocity:(float)velocity;
+ (void)sendCommandWithHeading:(float)heading velocity:(float)velocity stopped:(BOOL)state;
+ (void)sendStop;
+ (void)resendCurrent;

+ (void)setStickyVelocity:(float)velocity;
+ (void)unsetStickyVelocity;
+ (BOOL)isVelocityStuck;
+ (float)currentHeading;
+ (float)currentVelocity;
+ (BOOL)isCurrentlyStopped;

- (id)initWithHeading:(float)heading velocity:(float)velocity;

@end