microb 2010

[aversive.git] / projects / microb2010 / tests / test_board2008 / action.h

diff --git a/projects/microb2010/tests/test_board2008/action.h b/projects/microb2010/tests/test_board2008/action.h
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+/*  
+ *  Copyright Droids Corporation, Microb Technology, Eirbot (2005)
+ * 
+ *  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
+ *  (at your option) any later version.
+ *
+ *  This program is distributed in the hope that it will be useful,
+ *  but WITHOUT ANY WARRANTY; without even the implied warranty of
+ *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ *  GNU General Public License for more details.
+ *
+ *  You should have received a copy of the GNU General Public License
+ *  along with this program; if not, write to the Free Software
+ *  Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
+ *
+ *  Revision : $Id: action.h,v 1.3 2008-03-31 22:22:52 zer0 Exp $
+ *
+ */
+
+#ifndef _ACTION_H_
+#define _ACTION_H_
+
+#define BRAKE_PORT PORTG
+//#define BRAKE_DDR DDRG
+#define BRAKE_PIN PING
+#define BRAKE_MASK 0x03
+
+//#define BRAKE_ON() do { BRAKE_PORT = BRAKE_PIN | BRAKE_MASK; } while(0)
+//#define BRAKE_OFF() do { BRAKE_PORT = BRAKE_PIN & (~BRAKE_MASK); } while(0)
+#define BRAKE_IS_ON ((BRAKE_PIN & BRAKE_MASK) == BRAKE_MASK)
+
+void action_init(void);
+void action_servo_set(uint8_t num, uint16_t us);
+
+#endif