 		{
 			return this->left.steerValue;
 		}
+		inline int32_t GetDesiredSpeedValueMotorRight()
+		{
+			return this->right.desiredSpeed;
+		}
+		inline int32_t GetDesiredSpeedValueMotorLeft()
+		{
+			return this->left.desiredSpeed;
+		}
 
 		inline int32_t GetKp()
 		{

	motors.SetDesiredSpeed(newMotorRightSpeed, newMotorLeftSpeed);
}

ros::Publisher fromenc("fromenc", &sendMsg);
ros::Subscriber<labbot::msgToLabbot> toLabbot("toLabbot", &receivedMessagesCallback);

void setup()

		0	\
		)

		int32_t previousSpeed;
		f32_t I_part;

	#define AVG_ENCODER_BUFFER_SIZE 8

		int32_t avgEncoderValue(int32_t newValue)
