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Diffstat (limited to 'digital/ai/src/twi_master/mimot.h')
-rw-r--r--digital/ai/src/twi_master/mimot.h30
1 files changed, 30 insertions, 0 deletions
diff --git a/digital/ai/src/twi_master/mimot.h b/digital/ai/src/twi_master/mimot.h
index 60811c10..c9de7090 100644
--- a/digital/ai/src/twi_master/mimot.h
+++ b/digital/ai/src/twi_master/mimot.h
@@ -56,6 +56,10 @@ mimot_motor0_cmd_status (void);
asserv_status_e
mimot_motor1_cmd_status (void);
+/** Return input port state. */
+uint8_t
+mimot_get_input (void);
+
/** Get motor0 position in steps. */
uint16_t
mimot_get_motor0_position (void);
@@ -68,6 +72,14 @@ mimot_get_motor1_position (void);
void
mimot_reset (void);
+/** Set motor0 position in steps. */
+void
+mimot_set_motor0_position (uint16_t position);
+
+/** Set motor1 position in steps. */
+void
+mimot_set_motor1_position (uint16_t position);
+
/** Move motor0 to absolute position in steps. */
void
mimot_move_motor0_absolute (uint16_t position, uint8_t speed);
@@ -84,6 +96,16 @@ mimot_motor0_zero_position (int8_t speed);
void
mimot_motor1_zero_position (int8_t speed);
+/** Find zero position. */
+void
+mimot_motor0_find_zero (int8_t speed, uint8_t use_switch,
+ uint16_t reset_position);
+
+/** Find zero position. */
+void
+mimot_motor1_find_zero (int8_t speed, uint8_t use_switch,
+ uint16_t reset_position);
+
/** Clamp motor0. */
void
mimot_motor0_clamp (int8_t speed, int16_t pwm);
@@ -92,4 +114,12 @@ mimot_motor0_clamp (int8_t speed, int16_t pwm);
void
mimot_motor1_clamp (int8_t speed, int16_t pwm);
+/** Free motor0. */
+void
+mimot_motor0_free (void);
+
+/** Free motor1. */
+void
+mimot_motor1_free (void);
+
#endif /* mimot_h */