Improved version and compatible to latest BlueDisplay

src/ADCUtils.hpp

@@ -607,6 +607,8 @@ uint16_t getVoltageMillivoltWith_1_1VoltReference(uint8_t aADCChannelForVoltageM
 
 /*
  * Return true if sVCCVoltageMillivolt is > 4.3 V and < 4.95 V
+ * This does not really work for the UNO board, because it has no series Diode in the USB VCC
+ * and therefore a very low voltage drop.
  */
 bool isVCCUSBPowered() {
     readVCCVoltageMillivolt();

src/AutonomousDrive.hpp

@@ -288,7 +288,7 @@ void driveCollisonAvoidingOneStep() {
 
 #if !defined(ENABLE_USER_PROVIDED_COLLISION_DETECTION)
             if (sCurrentPage == PAGE_AUTOMATIC_CONTROL) {
-                char tStringBuffer[6];
+                char tStringBuffer[11];
                 sprintf_P(tStringBuffer, PSTR("%2d%s"), sCentimetersDrivenPerScan, "cm/scan");
                 BlueDisplay1.drawText(TEXT_SIZE_11_WIDTH, BUTTON_HEIGHT_4_LINE_4 - TEXT_SIZE_11_HEIGHT - TEXT_SIZE_11_DECEND,
                         tStringBuffer, TEXT_SIZE_11, COLOR16_BLACK, COLOR16_WHITE);

src/AutonomousDrivePage.hpp

@@ -31,15 +31,15 @@ BDButton TouchButtonStepMode;
 const char sStepModeButtonStringContinuousStepToTurn[] PROGMEM = "Continuous\n->\nStep to turn";
 const char sStepModeButtonStringStepToTurnSingleStep[] PROGMEM = "Step to turn\n->\nSingle step";
 const char sStepModeButtonStringSingleStepContinuous[] PROGMEM = "Single step\n->\nContinuous";
-const char *const sStepModeButtonCaptionStringArray[] PROGMEM = { sStepModeButtonStringContinuousStepToTurn,
+const char *const sStepModeButtonTextStringArray[] PROGMEM = { sStepModeButtonStringContinuousStepToTurn,
         sStepModeButtonStringStepToTurnSingleStep, sStepModeButtonStringSingleStepContinuous };
 
 #if defined(ENABLE_DISTANCE_FEEDBACK_MODE)
 BDButton TouchButtonDistanceFeedbackMode;
 const char sDistanceFeedbackModeNoTone[] PROGMEM = "No tone";
 const char sDistanceFeedbackModePentatonic[] PROGMEM = "Pentatonic";
 const char sDistanceFeedbackModeContinuous[] PROGMEM = "Continuous";
-const char *const sDistanceFeedbackModeButtonCaptionStringArray[] PROGMEM = { sDistanceFeedbackModeNoTone,
+const char *const sDistanceFeedbackModeButtonTextStringArray[] PROGMEM = { sDistanceFeedbackModeNoTone,
         sDistanceFeedbackModePentatonic, sDistanceFeedbackModeContinuous };
 #endif
 
@@ -57,13 +57,13 @@ const char sDistanceSourceModeButtonStringMaxUS[] PROGMEM = "Max->US";
 #  if defined(CAR_HAS_IR_DISTANCE_SENSOR)
 const char sDistanceSourceModeButtonStringUSIr[] PROGMEM = "US->IR";
 const char sDistanceSourceModeButtonStringIrMin[] PROGMEM = "IR->Min";
-const char *const sDistanceSourceModeButtonCaptionStringArray[] PROGMEM = { sDistanceSourceModeButtonStringMinMax,
+const char *const sDistanceSourceModeButtonTextStringArray[] PROGMEM = { sDistanceSourceModeButtonStringMinMax,
         sDistanceSourceModeButtonStringMaxUS, sDistanceSourceModeButtonStringUSIr, sDistanceSourceModeButtonStringIrMin };
 # else
 const char sDistanceSourceModeButtonStringUSTof[] PROGMEM = "US->ToF";
 const char sDistanceSourceModeButtonStringTofMin[] PROGMEM = "ToF->Min";
 
-const char * const sDistanceSourceModeButtonCaptionStringArray[] PROGMEM = { sDistanceSourceModeButtonStringMinMax, sDistanceSourceModeButtonStringMaxUS,
+const char * const sDistanceSourceModeButtonTextStringArray[] PROGMEM = { sDistanceSourceModeButtonStringMinMax, sDistanceSourceModeButtonStringMaxUS,
         sDistanceSourceModeButtonStringUSTof, sDistanceSourceModeButtonStringTofMin};
 #  endif
 #endif
@@ -75,8 +75,8 @@ BDButton TouchButtonStartStopBuiltInAutonomousDrive;
 BDButton TouchButtonFollower;
 
 #if defined(ENABLE_DISTANCE_FEEDBACK_MODE)
-void setDistanceFeedbackModeButtonCaption() {
-    TouchButtonDistanceFeedbackMode.setCaptionFromStringArrayPGM(sDistanceFeedbackModeButtonCaptionStringArray, sDistanceFeedbackMode, true);
+void setDistanceFeedbackModeButtonText() {
+    TouchButtonDistanceFeedbackMode.setTextFromStringArrayPGM(sDistanceFeedbackModeButtonTextStringArray, sDistanceFeedbackMode, true);
 }
 
 #pragma GCC diagnostic ignored "-Wunused-parameter"
@@ -86,12 +86,12 @@ void doNextDistanceFeedbackMode(BDButton *aTheTouchedButton, int16_t aValue) {
         sDistanceFeedbackMode = DISTANCE_FEEDBACK_NO_TONE;
         noTone(BUZZER_PIN);
     }
-    setDistanceFeedbackModeButtonCaption();
+    setDistanceFeedbackModeButtonText();
 }
 #endif
 
-void setStepModeButtonCaption() {
-    TouchButtonStepMode.setCaptionFromStringArray((const __FlashStringHelper* const*) sStepModeButtonCaptionStringArray, sStepMode, (sCurrentPage == PAGE_AUTOMATIC_CONTROL));
+void setStepModeButtonText() {
+    TouchButtonStepMode.setTextFromStringArray((const __FlashStringHelper* const*) sStepModeButtonTextStringArray, sStepMode, (sCurrentPage == PAGE_AUTOMATIC_CONTROL));
 }
 
 /*
@@ -105,7 +105,7 @@ void setStepMode(uint8_t aStepMode) {
         sDoStep = true;
     }
     sStepMode = aStepMode;
-    setStepModeButtonCaption();
+    setStepModeButtonText();
 }
 
 #pragma GCC diagnostic ignored "-Wunused-parameter"
@@ -132,16 +132,16 @@ void doStep(BDButton *aTheTouchedButton, int16_t aValue) {
 }
 
 #if defined(CAR_HAS_IR_DISTANCE_SENSOR) || defined(CAR_HAS_TOF_DISTANCE_SENSOR)
-void setScanModeButtonCaption() {
-    TouchButtonScanMode.setCaptionFromStringArray(sDistanceSourceModeButtonCaptionStringArray, sDistanceSourceMode);
+void setScanModeButtonText() {
+    TouchButtonScanMode.setTextFromStringArray(sDistanceSourceModeButtonTextStringArray, sDistanceSourceMode);
 }
 
 void doDistanceSourceMode(BDButton *aTheTouchedButton, int16_t aValue) {
     sDistanceSourceMode++;
     if (sDistanceSourceMode > DISTANCE_LAST_SOURCE_MODE) {
         sDistanceSourceMode = DISTANCE_SOURCE_MODE_MINIMUM;
     }
-    setScanModeButtonCaption();
+    setScanModeButtonText();
     TouchButtonScanMode.drawButton();
 }
 
@@ -203,7 +203,7 @@ void initAutonomousDrivePage(void) {
 
     TouchButtonScanSpeed.init(0, BUTTON_HEIGHT_6_LINE_4, BUTTON_WIDTH_3_5, BUTTON_HEIGHT_8, COLOR16_BLACK, F("Scan slow"), TEXT_SIZE_14,
             FLAG_BUTTON_DO_BEEP_ON_TOUCH | FLAG_BUTTON_TYPE_TOGGLE_RED_GREEN, false, &doChangeScanSpeed);
-    TouchButtonScanSpeed.setCaptionForValueTrue("Scan fast");
+    TouchButtonScanSpeed.setTextForValueTrue("Scan fast");
 
 #if defined(ENABLE_PATH_INFO_PAGE)
     TouchButtonPathInfoPage.init(BUTTON_WIDTH_3_POS_3, 0, BUTTON_WIDTH_3, BUTTON_HEIGHT_6, COLOR16_RED, F("Show Path"), TEXT_SIZE_11,
@@ -217,7 +217,7 @@ void initAutonomousDrivePage(void) {
     BUTTON_WIDTH_3, TEXT_SIZE_22_HEIGHT, COLOR16_RED, F("Start User"), TEXT_SIZE_14,
             FLAG_BUTTON_DO_BEEP_ON_TOUCH | FLAG_BUTTON_TYPE_TOGGLE_RED_GREEN, (sDriveMode == MODE_COLLISION_AVOIDING_USER),
             &doStartStopTestUser);
-    TouchButtonStartStopUserAutonomousDrive.setCaptionForValueTrue(F("Stop User"));
+    TouchButtonStartStopUserAutonomousDrive.setTextForValueTrue(F("Stop User"));
 #endif
 
 #if defined(ENABLE_DISTANCE_FEEDBACK_MODE)
@@ -238,12 +238,12 @@ void initAutonomousDrivePage(void) {
     TouchButtonStartStopBuiltInAutonomousDrive.init(0, BUTTON_HEIGHT_4_LINE_4, BUTTON_WIDTH_3, BUTTON_HEIGHT_4, COLOR16_RED,
             F("Start\nBuiltin"), TEXT_SIZE_22, FLAG_BUTTON_DO_BEEP_ON_TOUCH | FLAG_BUTTON_TYPE_TOGGLE_RED_GREEN,
             (sDriveMode == MODE_COLLISION_AVOIDING_BUILTIN), &doStartStopAutomomousDrive);
-    TouchButtonStartStopBuiltInAutonomousDrive.setCaptionForValueTrue(F("Stop"));
+    TouchButtonStartStopBuiltInAutonomousDrive.setTextForValueTrue(F("Stop"));
 
     TouchButtonFollower.init(BUTTON_WIDTH_3_POS_2, BUTTON_HEIGHT_4_LINE_4, BUTTON_WIDTH_3, BUTTON_HEIGHT_4,
     COLOR16_RED, F("Start\nFollow"), TEXT_SIZE_22, FLAG_BUTTON_DO_BEEP_ON_TOUCH | FLAG_BUTTON_TYPE_TOGGLE_RED_GREEN,
             (sDriveMode == MODE_FOLLOWER), &doStartStopFollowerMode);
-    TouchButtonFollower.setCaptionForValueTrue(F("Stop\nFollow"));
+    TouchButtonFollower.setTextForValueTrue(F("Stop\nFollow"));
 }
 
 void drawAutonomousDrivePage(void) {
@@ -288,12 +288,12 @@ void startAutonomousDrivePage(void) {
     handleAutomomousDriveRadioButtons();
 
     // restore last step and scan mode
-    setStepModeButtonCaption();
+    setStepModeButtonText();
 #if defined(CAR_HAS_IR_DISTANCE_SENSOR) || defined(CAR_HAS_TOF_DISTANCE_SENSOR)
-    setScanModeButtonCaption();
+    setScanModeButtonText();
 #endif
 #if defined(ENABLE_DISTANCE_FEEDBACK_MODE)
-    setDistanceFeedbackModeButtonCaption();
+    setDistanceFeedbackModeButtonText();
 #endif
 #if defined(ENABLE_PATH_INFO_PAGE)
 #define SLIDER_SHIFTED_Y_POS    BUTTON_HEIGHT_6
@@ -309,9 +309,11 @@ void startAutonomousDrivePage(void) {
     SliderIROrTofDistance.setPosition(POS_X_DISTANCE_POSITION_SLIDER - (TEXT_SIZE_11_WIDTH + BUTTON_WIDTH_10), SLIDER_SHIFTED_Y_POS);
 #endif
     drawAutonomousDrivePage();
+#if defined(VIN_ATTENUATED_INPUT_PIN)
     if(!isPWMCalibrated) {
         calibrateDriveSpeedPWMAndPrint();
     }
+#endif
 }
 
 // currently not used

src/CarPWMMotorControl.h

@@ -141,14 +141,17 @@ class CarPWMMotorControl {
      * Functions for moving a fixed distance
      */
     // With signed distance
-    void startGoDistanceMillimeter(uint8_t aRequestedSpeedPWM, unsigned int aRequestedDistanceMillimeter,
-            uint8_t aRequestedDirection); // only setup values
-    void startGoDistanceMillimeter(unsigned int aRequestedDistanceMillimeter, uint8_t aRequestedDirection); // only setup values
     void startGoDistanceMillimeter(int aRequestedDistanceMillimeter); // only setup values, no movement -> use updateMotors()
-
+    void startGoDistanceMillimeter(unsigned int aRequestedDistanceMillimeter, uint8_t aRequestedDirection); // only setup values
+    void startGoDistanceMillimeter(uint8_t aRequestedSpeedPWM, unsigned int aRequestedDistanceMillimeter,
+    uint8_t aRequestedDirection)__attribute__ ((deprecated ("Renamed to startGoDistanceMillimeterWithSpeed()."))); // only setup values
     void goDistanceMillimeter(int aRequestedDistanceMillimeter, void (*aLoopCallback)(void) = NULL); // Blocking function, uses waitUntilStopped
+    void goDistanceMillimeterWithSpeed(uint8_t aRequestedSpeedPWM, int aRequestedDistanceMillimeter, void (*aLoopCallback)(void) = NULL); // Blocking function, uses waitUntilStopped
     void goDistanceMillimeter(unsigned int aRequestedDistanceMillimeter, uint8_t aRequestedDirection,
             void (*aLoopCallback)(void) = NULL); // Blocking function, uses waitUntilStopped
+    void startGoDistanceMillimeterWithSpeed(uint8_t aRequestedSpeedPWM, int aRequestedDistanceMillimeter); // only setup values
+    void startGoDistanceMillimeterWithSpeed(uint8_t aRequestedSpeedPWM, unsigned int aRequestedDistanceMillimeter,
+            uint8_t aRequestedDirection); // only setup values
 
     bool checkAndHandleDirectionChange(uint8_t aRequestedDirection); // used internally
 

src/CarPWMMotorControl.hpp

@@ -553,13 +553,17 @@ void CarPWMMotorControl::startRampUpAndWaitForDriveSpeedPWM(uint8_t aRequestedDi
 }
 
 void CarPWMMotorControl::startGoDistanceMillimeter(unsigned int aRequestedDistanceMillimeter, uint8_t aRequestedDirection) {
-    startGoDistanceMillimeter(rightCarMotor.DriveSpeedPWMFor2Volt, aRequestedDistanceMillimeter, aRequestedDirection);
+    startGoDistanceMillimeterWithSpeed(rightCarMotor.DriveSpeedPWMFor2Volt, aRequestedDistanceMillimeter, aRequestedDirection);
 }
 
+void CarPWMMotorControl::startGoDistanceMillimeter(uint8_t aRequestedSpeedPWM, unsigned int aRequestedDistanceMillimeter,
+        uint8_t aRequestedDirection) {
+    startGoDistanceMillimeterWithSpeed(aRequestedSpeedPWM, aRequestedDistanceMillimeter, aRequestedDirection);
+}
 /*
  * initialize motorInfo fields LastDirection and CompensatedSpeedPWM
  */
-void CarPWMMotorControl::startGoDistanceMillimeter(uint8_t aRequestedSpeedPWM, unsigned int aRequestedDistanceMillimeter,
+void CarPWMMotorControl::startGoDistanceMillimeterWithSpeed(uint8_t aRequestedSpeedPWM, unsigned int aRequestedDistanceMillimeter,
         uint8_t aRequestedDirection) {
 
 #if defined(USE_MPU6050_IMU)
@@ -572,26 +576,34 @@ void CarPWMMotorControl::startGoDistanceMillimeter(uint8_t aRequestedSpeedPWM, u
             setSpeedPWMWithRamp(aRequestedSpeedPWM, aRequestedDirection);
 #else
     checkAndHandleDirectionChange(aRequestedDirection);
-    rightCarMotor.startGoDistanceMillimeter(aRequestedSpeedPWM, aRequestedDistanceMillimeter, aRequestedDirection);
-    leftCarMotor.startGoDistanceMillimeter(aRequestedSpeedPWM, aRequestedDistanceMillimeter, aRequestedDirection);
+    rightCarMotor.startGoDistanceMillimeterWithSpeed(aRequestedSpeedPWM, aRequestedDistanceMillimeter, aRequestedDirection);
+    leftCarMotor.startGoDistanceMillimeterWithSpeed(aRequestedSpeedPWM, aRequestedDistanceMillimeter, aRequestedDirection);
 #endif
 }
 
 void CarPWMMotorControl::goDistanceMillimeter(unsigned int aRequestedDistanceMillimeter, uint8_t aRequestedDirection,
         void (*aLoopCallback)(void)) {
-    startGoDistanceMillimeter(rightCarMotor.DriveSpeedPWMFor2Volt, aRequestedDistanceMillimeter, aRequestedDirection);
+    startGoDistanceMillimeterWithSpeed(rightCarMotor.DriveSpeedPWMFor2Volt, aRequestedDistanceMillimeter, aRequestedDirection);
     waitUntilStopped(aLoopCallback);
 }
 
 void CarPWMMotorControl::startGoDistanceMillimeter(int aRequestedDistanceMillimeter) {
     if (aRequestedDistanceMillimeter < 0) {
         aRequestedDistanceMillimeter = -aRequestedDistanceMillimeter;
-        startGoDistanceMillimeter(rightCarMotor.DriveSpeedPWMFor2Volt, aRequestedDistanceMillimeter, DIRECTION_BACKWARD);
+        startGoDistanceMillimeterWithSpeed(rightCarMotor.DriveSpeedPWMFor2Volt, aRequestedDistanceMillimeter, DIRECTION_BACKWARD);
     } else {
-        startGoDistanceMillimeter(rightCarMotor.DriveSpeedPWMFor2Volt, aRequestedDistanceMillimeter, DIRECTION_FORWARD);
+        startGoDistanceMillimeterWithSpeed(rightCarMotor.DriveSpeedPWMFor2Volt, aRequestedDistanceMillimeter, DIRECTION_FORWARD);
     }
 }
 
+void CarPWMMotorControl::startGoDistanceMillimeterWithSpeed(uint8_t aRequestedSpeedPWM, int aRequestedDistanceMillimeter) {
+    if (aRequestedDistanceMillimeter < 0) {
+        aRequestedDistanceMillimeter = -aRequestedDistanceMillimeter;
+        startGoDistanceMillimeterWithSpeed(aRequestedSpeedPWM, aRequestedDistanceMillimeter, DIRECTION_BACKWARD);
+    } else {
+        startGoDistanceMillimeterWithSpeed(aRequestedSpeedPWM, aRequestedDistanceMillimeter, DIRECTION_FORWARD);
+    }
+}
 /**
  * Wait until distance is reached
  * @param  aLoopCallback called until car has stopped to avoid blocking
@@ -601,6 +613,11 @@ void CarPWMMotorControl::goDistanceMillimeter(int aRequestedDistanceMillimeter,
     waitUntilStopped(aLoopCallback);
 }
 
+void CarPWMMotorControl::goDistanceMillimeterWithSpeed(uint8_t aRequestedSpeedPWM, int aRequestedDistanceMillimeter, void (*aLoopCallback)(void)) {
+    startGoDistanceMillimeterWithSpeed(aRequestedSpeedPWM, aRequestedDistanceMillimeter);
+    waitUntilStopped(aLoopCallback);
+}
+
 /*
  * Stop car (with ramp)
  */
@@ -797,8 +814,8 @@ void CarPWMMotorControl::startRotate(int aRotationDegrees, turn_direction_t aTur
             tLeftMotorIfPositiveTurn->setSpeedPWMAndDirection(tTurnSpeedPWMLeft, DIRECTION_BACKWARD);
         }
 #else
-    tRightMotorIfPositiveTurn->startGoDistanceMillimeter(tTurnSpeedPWMRight, tDistanceMillimeterRight, DIRECTION_FORWARD);
-    tLeftMotorIfPositiveTurn->startGoDistanceMillimeter(tTurnSpeedPWMLeft, tDistanceMillimeterLeft, DIRECTION_BACKWARD);
+    tRightMotorIfPositiveTurn->startGoDistanceMillimeterWithSpeed(tTurnSpeedPWMRight, tDistanceMillimeterRight, DIRECTION_FORWARD);
+    tLeftMotorIfPositiveTurn->startGoDistanceMillimeterWithSpeed(tTurnSpeedPWMLeft, tDistanceMillimeterLeft, DIRECTION_BACKWARD);
 #endif
 }
 
@@ -942,16 +959,16 @@ uint8_t CarPWMMotorControl::getTurnDistanceHalfDegree() {
 
 void CarPWMMotorControl::printCalibrationValues(Print *aSerial) {
     aSerial->println(F("Calibration values:"));
-    aSerial->print(F("mm/256 deg="));
     aSerial->print(RobotCar.MillimeterPer256Degree);
-    aSerial->print(F(" inPlace="));
-    aSerial->println(RobotCar.MillimeterPer256DegreeInPlace);
-    aSerial->print(F("2 volt PWM right="));
+    aSerial->print(F(" mm per 256 deg, "));
+    aSerial->print(RobotCar.MillimeterPer256DegreeInPlace);
+    aSerial->println(F(" mm for inPlace"));
+    aSerial->print(F("PWM for 2 volt: right="));
 #if defined(CAR_HAS_4_MECANUM_WHEELS)
     aSerial->println(RobotCar.rightCarMotor.DriveSpeedPWMFor2Volt);
 #else
     aSerial->print(RobotCar.rightCarMotor.DriveSpeedPWMFor2Volt);
-    aSerial->print(F(" left="));
+    aSerial->print(F(", left="));
     aSerial->println(RobotCar.leftCarMotor.DriveSpeedPWMFor2Volt);
 #endif
     aSerial->println();

src/Distance.hpp

@@ -33,12 +33,16 @@
 #include "HCSR04.hpp" // include sources
 #include "RobotCarConfigurations.h" // helps the pretty printer / Ctrl F
 
-#if defined(CAR_HAS_SERVO) && defined(USE_LIGHTWEIGHT_SERVO_LIBRARY)
-#define DISABLE_SERVO_TIMER_AUTO_INITIALIZE // saves 70 bytes program space
+#if defined(CAR_HAS_DISTANCE_SERVO)
+#  if defined(USE_LIGHTWEIGHT_SERVO_LIBRARY)
 #include "LightweightServo.hpp"
-#endif
+#    if defined(_LIGHTWEIGHT_SERVO_HPP)
+LightweightServo DistanceServo;    // The pan servo instance for distance sensor
+#    else // LightweightServo is not applicable for this CPU
+#undef USE_LIGHTWEIGHT_SERVO_LIBRARY
+#    endif
+#  endif // defined(USE_LIGHTWEIGHT_SERVO_LIBRARY)
 
-#if defined(CAR_HAS_DISTANCE_SERVO)
 #  if !defined(USE_LIGHTWEIGHT_SERVO_LIBRARY)
 Servo DistanceServo;    // The pan servo instance for distance sensor
 #  endif
@@ -87,7 +91,7 @@ ForwardDistancesInfoStruct sForwardDistancesInfo;
 void initDistance() {
     getDistanceModesFromPins();
 
-#if defined(CAR_HAS_DISTANCE_SERVO) && !defined(USE_LIGHTWEIGHT_SERVO_LIBRARY)
+#if defined(CAR_HAS_DISTANCE_SERVO)
     DistanceServo.attach(DISTANCE_SERVO_PIN);
 #endif
 
@@ -492,11 +496,8 @@ void DistanceServoWriteAndWaitForStop(uint8_t aTargetDegrees, bool doWaitForStop
     // The servo is top down and therefore inverted
     aTargetDegrees = 180 - aTargetDegrees;
 #endif
-#if defined(USE_LIGHTWEIGHT_SERVO_LIBRARY)
-    write10(aTargetDegrees);
-#else
     DistanceServo.write(aTargetDegrees);
-#endif
+
 
     /*
      * Delay until stopped

src/EncoderMotor.h

@@ -1,7 +1,6 @@
 /*
  * EncoderMotor.h
  *
- *  Created on: 12.05.2019
  *  Copyright (C) 2019-2020  Armin Joachimsmeyer
  *  [email protected]
  *
@@ -79,7 +78,9 @@ class EncoderMotor: public PWMDcMotor {
      */
     void startGoDistanceMillimeter(int aRequestedDistanceMillimeter); // Signed distance count
     void startGoDistanceMillimeter(unsigned int aRequestedDistanceMillimeter, uint8_t aRequestedDirection);
-    void startGoDistanceMillimeter(uint8_t aRequestedSpeedPWM, unsigned int aRequestedDistanceMillimeter, uint8_t aRequestedDirection);
+    void startGoDistanceMillimeter(uint8_t aRequestedSpeedPWM, unsigned int aRequestedDistanceMillimeter, uint8_t aRequestedDirection)__attribute__ ((deprecated ("Renamed to startGoDistanceMillimeterWithSpeed().")));
+    void startGoDistanceMillimeterWithSpeed(uint8_t aRequestedSpeedPWM, int aRequestedDistanceMillimeter); // Signed distance count
+    void startGoDistanceMillimeterWithSpeed(uint8_t aRequestedSpeedPWM, unsigned int aRequestedDistanceMillimeter, uint8_t aRequestedDirection);
     bool updateMotor();
 
     /*