better movements

[aversive.git] / projects / microb2010 / cobboard / spickle.h

diff --git a/projects/microb2010/cobboard/spickle.h b/projects/microb2010/cobboard/spickle.h
index c2ffcf0c5f2ce4bf9558b6049148ae98f7f0d2b8..81c74d8ccb48eb72e7444477c38d0535005ab487 100644 (file)
--- a/projects/microb2010/cobboard/spickle.h
+++ b/projects/microb2010/cobboard/spickle.h
@@ -24,14 +24,15 @@
 
 void spickle_set(void *dummy, int32_t cmd);
 void spickle_set_coefs(uint32_t k1, uint32_t k2);
-void spickle_set_delays(uint32_t delay_up, uint32_t delay_down);
-void spickle_set_pos(uint32_t pos_up, uint32_t pos_down);
+void spickle_set_pos(uint8_t side, int32_t pos_pack,
+                    int32_t pos_mid, int32_t pos_deployed);
+
 void spickle_dump_params(void);
-void spickle_left_manage(void);
-void spickle_up(void);
-void spickle_down(void);
-void spickle_stop(void);
-void spickle_auto(void);
+
+void spickle_deploy(uint8_t side);
+void spickle_mid(uint8_t side);
+void spickle_pack(uint8_t side);
+
 void spickle_init(void);
 
 #endif