#ifndef PIBOT_JOYSTICK_H_
#define PIBOT_JOYSTICK_H_

#include "pstwo.h"  //for v1.6

class Joystick
{
public:
    Joystick();
    bool init();
    
    void test();
    bool check(short& liner_x, short liner_y, short& angular_z);
private:
    bool holonomic_check(short& liner_x, short liner_y, short& angular_z);
    bool nonholonomic_check(short& liner_x, short liner_y, short& angular_z);
private:
    int error;
};

#endif
