#ifndef IR_HANDLE_H_
#define IR_HANDLE_H_

#include "includes.h"
#include "ir_sensor.h"
/**  AUTONOMOUS ALTITUDE CONTROL
*    Use proportional control to change
*    the blimp to a perticular height by varify 
*    vertical fan's speed with 
*	 proportional to current height change rate.  
*    It can update Fan_Vertical untill the error is less than the threshod
*/

/** AUTONOMOUS DERECTION CONTROL
* Change the speed and direction of the vans excluding the
  vertical fan when the  detected singal from front,back,left,right 
  is changed.
*/
void IR_FeedbackCTL(void);

#endif /*IR_HANDLE_H_*/