File content as of revision 0:525558a26464:

// functions for controlling the motors

void motorInit(){
    
    }


void motorControl(){
    if(motorEnable == HIGH){  // only run motors if switch is enabled
    // get encoder positions
        // check if motor's are within rotational boundarys
    // calculate  encoder speeds
    // translate to x/y speed
    // compute new PID parameters using setpoint speeds and x/y speeds
    // write new values to motor's
        
    }else{
        // write 0 to motors
    }
}

void servoControl(){
    // use potMeter Value to set servo angle
    // (optionaly calculate xy position to keep balloon in position)
        // calculate z position using angle
        // calculate x y translation of endpoint
        // find new x and y speed.
    
    }
    
void pumpControl(){
    if (pumpButton == HIGH){
        // write pumpPin High
        }else{
        // write pumpPin Low    
        }
    }