re-added functions that where removed when merged

src/C++/Driver/src/KobukiDriver/CKobuki.cpp

@@ -755,3 +755,65 @@ void CKobuki::forward(int speedvalue) {
   uint32_t pocet;
   pocet = write(HCom, &message, 11);
 }
+
+/// @brief Makes the kobuki rotate
+/// @param degrees Rotation in degrees
+void CKobuki::Rotate(int degrees) {
+
+    // convert raidans to degrees
+    float radians = degrees * PI / 180.0;
+
+    // Calculate the rotation speed in radians per second
+    double radpersec = 1; 
+
+    // calculator rotation time and give absolute value
+    float rotation_time = std::abs(radians / radpersec);
+    
+    // Use original function to set the rotation speed in mm/s
+    setRotationSpeed(radians);
+
+    // Sleep for the calculated rotation time
+    std::this_thread::sleep_for(std::chrono::milliseconds(static_cast<int>(rotation_time * 1000)));
+
+    // Stop the robot after the rotation
+    setRotationSpeed(0);
+}
+
+
+void CKobuki::robotSafety() {
+    while (true) {
+
+        if (parser.data.BumperCenter || parser.data.BumperLeft || parser.data.BumperRight || 
+            parser.data.CliffLeft || parser.data.CliffCenter || parser.data.CliffRight) {
+            std::cout << "Safety condition triggered!" << std::endl; // Debug print
+            forward(-100); // reverse the robot
+
+        }
+
+    }
+}
+
+void CKobuki::sendNullMessage(){
+
+    unsigned char message[11] = {
+    0xaa,                // Start byte 1
+    0x55,                // Start byte 2
+    0x08,                // Payload length (the first 2 bytes dont count)
+    0x01,                // payload type (0x01 = control command)
+    0x04,                // Control byte or additional identifier
+    0x00,  // Lower byte of speed value
+    0x00,   // Upper byte of speed value
+    0x00,                // Placeholder for radius
+    0x00,                // Placeholder for radius
+    0x00                 // Placeholder for checksum
+};
+
+
+message[10] = message[2] ^ message[3] ^ message[4] ^ message[5] ^ message[6] ^
+              message[7] ^ message[8] ^ message[9];
+
+  // Send the message
+  uint32_t pocet;
+  pocet = write(HCom, &message, 11);
+}
+