 			this->left.Kd = Kd;
 		}
 
-                inline int GetAbsolutLeftTicks()
-                {
-                        return encAbsoluteTicksleft;
-                }
-                inline int GetAbsolutRightTicks()
-                {
-                        return encAbsoluteTicksright;
-                }
 
 		inline int32_t GetCurrentSpeedMotorRight()
 		{

			{
				I_part = outputMin;
			}
			// TODO: czy ogranczenie na warto�� "naca�kowan�"?
			f32_t D_part = Kd * (f32_t)(currentSpeed - previousSpeed);

			int32_t output = (int32_t)(P_part + I_part + D_part);

		0	\
		)

		int32_t previousSpeed;
		f32_t I_part;

	#define AVG_ENCODER_BUFFER_SIZE 8

		int32_t avgEncoderValue(int32_t newValue)
