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+#ifndef cs_h
+#define cs_h
+/* cs.h - Control system definition. */
+/* asserv - Position & speed motor control on AVR. {{{
+ *
+ * Copyright (C) 2011 Nicolas Schodet
+ *
+ * APBTeam:
+ * Web: http://apbteam.org/
+ * Email: team AT apbteam DOT org
+ *
+ * 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.
+ *
+ * }}} */
+#include "modules/motor/control_system/control_system.h"
+#include "modules/motor/encoder/encoder_corrector.h"
+
+extern encoder_t encoder_left, encoder_right, encoder_aux[AC_ASSERV_AUX_NB];
+extern encoder_corrector_t encoder_right_corrector;
+extern output_t output_left, output_right, output_aux[AC_ASSERV_AUX_NB];
+
+extern control_system_polar_t cs_main;
+extern control_system_single_t cs_aux[AC_ASSERV_AUX_NB];
+
+void
+cs_init (void);
+
+void
+cs_update_prepare (void);
+
+void
+cs_update (void);
+
+#endif /* cs_h */