#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);
-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_ */