-/*
+/*
* 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
#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