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+#ifndef rvb_sensor_h
+#define rvb_sensor_h
+// rvb_sensor.h
+// es - Input/Output general purpose board. {{{
+//
+// Copyright (C) 2006 Dufour Jérémy
+//
+// Robot APB Team/Efrei 2004.
+// Web: http://assos.efrei.fr/robot/
+// Email: robot AT efrei DOT fr
+//
+// 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 "common.h"
+#include "io.h"
+
+/** Manage all the RVB sensors.
+Connectors :
+ ENARVB7 PORTC7
+ ENARVB6 PORTC6
+ ENARVB5 PORTC5
+ ENARVB4 PORTC4
+ ENARVB3 PORTC3
+ ENARVB2 PORTC2
+ ENARVB1 PORTC1
+ ENANB1 PORTD6
+ ENANB2 PORTC0
+ OUTRVB PORTD7/PORTD4(IC1)
+ S0RVB PORTF6
+ S1RVB PORTF7
+*/
+
+/* Wonderful table of data */
+// XXX
+extern volatile uint16_t rvb_sensors_values [9][5];
+
+/** Disable all sensors. */
+extern inline void rvb_sensors_disable (void)
+{
+ /* High for disable */
+ PORTC = 0xff;
+ PORTD |= _BV(6);
+}
+
+/** Initialisation. */
+void rvb_sensors_init (void);
+
+/** Start updating RVBC values for sensors. */
+void rvb_sensors_start_update (void);
+
+// XXX
+extern uint8_t sensor_disable;
+void
+rvb_sensor_watch (uint8_t sensor_num, uint8_t color_num);
+
+#endif // rvb_sensor_h