current limit on shovel

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

diff --git a/projects/microb2010/cobboard/shovel.h b/projects/microb2010/cobboard/shovel.h
index 7ba8445..fa0e2a2 100644 (file)
--- a/projects/microb2010/cobboard/shovel.h
+++ b/projects/microb2010/cobboard/shovel.h
@@ -22,25 +22,18 @@
 #ifndef _SHOVEL_H_
 #define _SHOVEL_H_
 
-#define SHOVEL_DOWN 100
-#define SHOVEL_MID  6000
-#define SHOVEL_UP   10000
-
 void shovel_init(void);
 
-static inline void shovel_down(void)
-{
-       cs_set_consign(&cobboard.shovel.cs, SHOVEL_DOWN);
-}
+void shovel_set_current_limit_coefs(int32_t k1, int32_t k2);
+uint8_t shovel_get_current_limit_coefs(int32_t *k1, int32_t *k2);
+void shovel_current_limit_enable(uint8_t enable);
+void shovel_set(void *mot, int32_t cmd);
 
-static inline void shovel_mid(void)
-{
-       cs_set_consign(&cobboard.shovel.cs, SHOVEL_MID);
-}
+void shovel_down(void);
+void shovel_mid(void);
+void shovel_up(void);
 
-static inline void shovel_up(void)
-{
-       cs_set_consign(&cobboard.shovel.cs, SHOVEL_UP);
-}
+uint8_t shovel_is_up(void);
+uint8_t shovel_is_down(void);
 
 #endif /* _SHOVEL_H_ */