convert the turn_context structure to motion_context (or another name you agree makes sense). Allocate a single instance of this structure at the beginning of the program and use it for turns as well as straight motion. You should only require a single instance of this structure for the life of the entire application.
convert the turn_context structure to motion_context (or another name you agree makes sense). Allocate a single instance of this structure at the beginning of the program and use it for turns as well as straight motion. You should only require a single instance of this structure for the life of the entire application.