#pragma once

#include <stdbool.h>
#include <fixquat.h>
#include <fixvector2d.h>

// Rotation per 10ms
void control_get_rotation(qf16 *rotation);

// Meters per second, x = east, y = north
void control_get_ground_velocity(v2d *velocity);

// Set the target velocity
void control_set_target(v2d *velocity);

// Set manual/automatic motor control
void control_set_manual(bool manual);

void control_start();
void control_stop();

volatile extern unsigned control_updates;
volatile extern unsigned control_start_time;