X-Git-Url: http://git.droids-corp.org/?a=blobdiff_plain;f=projects%2Fmicrob2010%2Fcobboard%2Fspickle.h;h=bf5887c8cd208c6fff05fe391c15e2cb834d5f7d;hb=b56f8565015ec12af0e8df461f8dd52d07f59dd7;hp=c2ffcf0c5f2ce4bf9558b6049148ae98f7f0d2b8;hpb=1714f4ee916fca95ce24120ea6e698237913f947;p=aversive.git

diff --git a/projects/microb2010/cobboard/spickle.h b/projects/microb2010/cobboard/spickle.h
index c2ffcf0..bf5887c 100644
--- a/projects/microb2010/cobboard/spickle.h
+++ b/projects/microb2010/cobboard/spickle.h
@@ -1,6 +1,6 @@
-/*  
+/*
  *  Copyright Droids Corporation (2010)
- * 
+ *
  *  This program is free software; you can redistribute it and/or modify
  *  it under the terms of the GNU General Public License as published by
  *  the Free Software Foundation; either version 2 of the License, or
@@ -23,15 +23,20 @@
 #define _SPICKLE_H_
 
 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_scoefs(uint32_t k1, uint32_t k2);
+void spickle_set_wcoefs(uint32_t k1, uint32_t k2);
+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);
+
+uint8_t spickle_is_packed(void);
+uint8_t spickle_is_deployed(void);
+
+void spickle_deploy(uint8_t side);
+void spickle_mid(uint8_t side);
+void spickle_pack(uint8_t side);
+
 void spickle_init(void);
 
 #endif