/**
   * @brief Init I2C until success 
   */
  uint8_t begin(void);
  /**
   * @brief PID operation control
   * @param state To disable or enable PID
   */
  void PIDSwitch(PID state);
  /**
   * @brief Control the direction and speed of MaqueenPlus
   * @param motor Motor control selection
   * @param direction Motor rotation direction 
   * @param speed Motor speed(range:0~255)
   */
  void motorControl(POS motor, Dir direction, uint8_t speed);
  /**
   * @brief Get wheel speed
   * @param motor Select left or right motor
   * @return Return the speed of the selected motor 
   */
  uint8_t getSpeed(POS motor);
  /**
   * @brief Get rotation direction
   * @param motor Select left or right motor 
   * @return  0: stop 1: forward 2: backward
   */
  uint8_t getDirection(POS motor);
  /**
   * @brief  Get the number of revolutions
   * @param motor Select left or right motor
   * @return Return the revolutions
   */
  float getDistance(POS motor);
  /**
   * @brief Clear the number of revolutions
   * @param motor Select left or right motor
   */
  void clearDistance(POS motor);
  /**
   * @brief  Get line-tracking sensor status
   * @param senser Select line-tracking sensor 
   * @return Returns the status of line-tracking sensor
   */
  uint8_t getPatrol(Patrol senser);
  /**
   * @brief Get grayscale value of line-tracking sensor
   * @param senser Select line-tracking sensor 
   * @return  Return the grayscale value of line-tracking sensor
   */
  uint16_t getGrayscale(Patrol senser);
  /**
   * @brief Set the RGB led color
   * @param colour Select Color
   */
  void setRGB(POS light,Colour colour);
  /**
   * @brief Servo control
   * @param servo Select servo
   * @param angle Control servo angle(range:0°~180°)
   */
  void servoControl(Servo servo, uint8_t angle);
  /**
   * @brief Get ultrasonic distance
   * @param trig   TRIG Pin
   * @param echo   ECHO Pin
   * @return  Return ultrasonic distance information
   */
  uint8_t ultraSonic(Pin trig, Pin echo);
  /**
   * @brief Get infrared data
   * @return  Return infrared key information
   */
 uint8_t getIR(void);
  /**
   * @brief  Get version information
   * @return  Return version information
   */
  String getVersion(void);