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

			int32_t currentEncoderLeftValue = this->encoderLeft->read();
			this->encoderLeft->write(0);
			*/
			int32_t currentEncoderRightValue = this->right.encoder.read();
                        encAbsoluteTicksright+=currentEncoderRightValue;
			this->right.encoder.write(0);
			int32_t currentEncoderLeftValue = this->left.encoder.read();
                        encAbsoluteTicksleft+=currentEncoderLeftValue;
			this->left.encoder.write(0);

			time1 = (micros() - timeStart);


		}
};

CLabbotMotors motors(2, 3, 0, 1);

// function copied from cmdMessenger 
// https://github.com/thijse/Arduino-Libraries/tree/master/CmdMessenger
