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-rw-r--r--digital/io/src/asserv.h27
1 files changed, 27 insertions, 0 deletions
diff --git a/digital/io/src/asserv.h b/digital/io/src/asserv.h
index c1fdae74..07950244 100644
--- a/digital/io/src/asserv.h
+++ b/digital/io/src/asserv.h
@@ -113,6 +113,15 @@ asserv_status_e
asserv_arm_cmd_status (void);
/**
+ * Is last elevator class command has successfully ended?
+ * This function is used to know the status of the last elevator command. It
+ * looks at the status register.
+ * @return the status of the last move class command.
+ */
+asserv_status_e
+asserv_elevator_cmd_status (void);
+
+/**
* Structure for storing a position for the bot.
*/
typedef struct asserv_position_t
@@ -140,6 +149,13 @@ uint16_t
asserv_get_arm_position (void);
/**
+ * Get the elevator position.
+ * @return the position of the elevator (in steps).
+ */
+uint16_t
+asserv_get_elevator_position (void);
+
+/**
* Are we moving forward/backward?
* @return
* - 0 we are not moving;
@@ -230,6 +246,17 @@ void
asserv_move_arm (int16_t offset, uint8_t speed);
/**
+ * Move the elevator.
+ * Elevator class command.
+ * This function take the number of steps you want to move to. This is an
+ * absolute position.
+ * @param position desired goal position (in step).
+ * @param speed speed of the movement.
+ */
+void
+asserv_move_elevator_absolute (uint16_t position, uint8_t speed);
+
+/**
* Set current X position.
* Other class command.
* @param x X position.