X-Git-Url: http://git.droids-corp.org/?p=aversive.git;a=blobdiff_plain;f=projects%2Fmicrob2010%2Fcobboard%2Fshovel.h;h=3b01e77e0885b9581a87715efc770e1d2c2facc1;hp=1f2e53bc8b9cc7db16aebed14d1dfacd1e6b0fbf;hb=d9b4e922ce1253224adb937d65c8c2e7cd5cfe87;hpb=57b3e145f2ff46e1a7e7d522c85f3c56821dbf48

diff --git a/projects/microb2010/cobboard/shovel.h b/projects/microb2010/cobboard/shovel.h
index 1f2e53b..3b01e77 100644
--- a/projects/microb2010/cobboard/shovel.h
+++ b/projects/microb2010/cobboard/shovel.h
@@ -22,25 +22,19 @@
 #ifndef _SHOVEL_H_
 #define _SHOVEL_H_
 
-#define SHOVEL_DOWN 100
-#define SHOVEL_MID  4000
-#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);
+void shovel_kickstand(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_ */