8 float speed; /* signed to denote direction, in Hz */
9 int drive; /* which gear it drives */
14 std::vector<Gear*> gears;
16 bool *visited; /* used for update_gear */
18 std::vector<Motor> motors;
20 void update_gear(int idx, float angle);
26 void add_gear(Gear *g); /* takes ownership */
27 void add_motor(int gearidx, float speed_hz);
31 void update(float dt);