From d5ca3805ed0eb4829b491352a31165b9fd58b15e Mon Sep 17 00:00:00 2001 From: Nicolas Schodet Date: Fri, 3 Jun 2011 08:24:48 +0200 Subject: digital/io-hub: handle bumpers --- digital/ai/src/twi_master/mimot.c | 6 ++++++ digital/ai/src/twi_master/mimot.h | 4 ++++ 2 files changed, 10 insertions(+) (limited to 'digital/ai/src') diff --git a/digital/ai/src/twi_master/mimot.c b/digital/ai/src/twi_master/mimot.c index 6159e6c9..8df84538 100644 --- a/digital/ai/src/twi_master/mimot.c +++ b/digital/ai/src/twi_master/mimot.c @@ -97,6 +97,12 @@ mimot_motor1_cmd_status (void) return none; } +uint8_t +mimot_get_input (void) +{ + return mimot_status.input_port; +} + uint16_t mimot_get_motor0_position (void) { diff --git a/digital/ai/src/twi_master/mimot.h b/digital/ai/src/twi_master/mimot.h index c59c1608..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); -- cgit v1.2.3