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+#ifndef barillet_h
+#define barillet_h
+
+// barillet/ .h
+// es - Input/Output general purpose board. {{{
+//
+// Copyright (C) 2006 Lembert Thomas
+//
+// 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 "servo_motor.h"
+
+/* fonction d'initialisation */
+void barillet_init(void);
+
+/** Initialise la position zero du barillet. */
+void barillet_init_zero (void);
+
+/* fonction appelee pour lancer le barillet */
+void barillet_debut_lancement (void);
+/* fonction appelee juste apres */
+void barillet_lancement (void);
+
+/* changement de vitesse turbine */
+void vitesse_turbine(uint8_t num_turb, uint16_t vitesse);
+
+/* changement de sens */
+void sens( uint8_t sens_rotat );
+
+/* fonction main de la gestion du barillet */
+void sequenceur_barillet(void);
+
+/* fonction pour setter une rotation */
+void rotation(uint8_t pos_fin);
+
+/* fonction pour setter une extraction */
+void extraction(void);
+
+/* fonction pour setter un depot de balle */
+void depot_balle(void);
+
+/* Dodo. */
+void barillet_sleep (void);
+
+/*******************************************
+ * A UTILISER EN CAS D'ULTIME NECESSITE *
+ * FONCTION NON SECURISE POUR ETRE UTILISE *
+ * A LA FIN D4UN MATCH POUR LE VIDANGER *
+ * *****************************************/
+/* fonction pour vider le barillet */
+void vidange_barillet(void);
+
+#endif
+