X-Git-Url: http://git.droids-corp.org/?p=aversive.git;a=blobdiff_plain;f=projects%2Fmicrob2010%2Fcobboard%2Fshovel.h;h=0a61102716a7f800b85064aad69cd5ea17d1bfce;hp=241b06503c1db0f9bfbfc13ddd308bde2b20752e;hb=HEAD;hpb=fa8546ea39c7442ad3bf5a822a72a2b50a41045d

diff --git a/projects/microb2010/cobboard/shovel.h b/projects/microb2010/cobboard/shovel.h
index 241b065..0a61102 100644
--- a/projects/microb2010/cobboard/shovel.h
+++ b/projects/microb2010/cobboard/shovel.h
@@ -22,28 +22,21 @@
 #ifndef _SHOVEL_H_
 #define _SHOVEL_H_
 
-#define SHOVEL_DOWN 100
-#define SHOVEL_MID  4900
-#define SHOVEL_UP   10000
-
 void shovel_init(void);
 
-static inline void shovel_down(void)
-{
-	cs_set_consign(&cobboard.shovel.cs, SHOVEL_DOWN);
-}
-
-static inline void shovel_mid(void)
-{
-	cs_set_consign(&cobboard.shovel.cs, SHOVEL_MID);
-}
+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_up(void)
-{
-	cs_set_consign(&cobboard.shovel.cs, SHOVEL_UP);
-}
+void shovel_down(void);
+void shovel_mid(void);
+void shovel_up(void);
+void shovel_kickstand_up(void);
+void shovel_kickstand_down(void);
 
 uint8_t shovel_is_up(void);
 uint8_t shovel_is_down(void);
+uint8_t shovel_is_mid(void);
 
 #endif /* _SHOVEL_H_ */