text: #include "Arduino.h"
  #include <Motors2.h>
  #include <Servo.h>
  //#include <Encoder.h>
  #include "PID_RBE.h"
  #include "UltrasonicSensor.h"
  #include "IMU.h"
  
  
  class DualDCMotor {
    public:
      DualDCMotor();
      void setup();
      double calcLeftVel();
      double calcRightVel();
      void driveAlongWall();
      void turnRight();
      void turnLeft();
      void driveStraight();
      void setMotorSpeed(int rightSide, int velocity);
    
      void stopMotors();
  
      int leftEncTicks = 0;
      int rightEncTicks = 0;
  
    private:
      PID_RBE pidDrive;
      PID_RBE pidTurn;
      // Initialize MaxBotix Ultrasonic Sensor
      const int MaxBotixPin = A0;
  
      // Initialize UltrasonicSensor*2
      UltrasonicSensor leftULS;
      UltrasonicSensor rightULS;
  
      // Initialize IMU
      IMU imu;
  
      // Initialize DC Motor control pins
      const int leftMotorFor = 3;
      const int leftMotorRev = 6;
      const int rightMotorFor = 5;
      const int rightMotorRev = 4;
      const int leftEncPin = 2;
      const int rightEncPin = 19;
  
      // Initialize Popolu Line Sensor
      const int lineSensorPin = 15; 
  
      double setDis = 6;
      double curTime = 0;
      double prevTime = 0;
      double timeInterval = 0;
      double movement = 0;
      double ticksToDeg = 0.09; //0.2206;
      double Vel = 0;
      double prevPos;
      long lastTime = 0;
      double ticksToPassWall = 2800;
  
      int PWM = 255;
      int prevPWM = 0;
      int sideError = 0;
  };
  
  