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+#ifndef servo_motor_h
+#define servo_motor_h
+// servo_motor.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.
+//
+// }}}
+
+/** Module for controlling the servo motor for the totems. */
+
+#include "common.h"
+
+/** All the states used to comunicate with this module. */
+#define SRVM_LEFT_POS_IN 95
+#define SRVM_LEFT_POS_OUT 130
+#define SRVM_RIGHT_POS_IN 78
+#define SRVM_RIGHT_POS_OUT 45
+#define SRVM_TRASH_POS_OPEN 68 /* 44 */
+#define SRVM_TRASH_POS_CLOSE 100 /* 64 */
+
+/** Init the servo motor system. */
+void servo_motor_init (void);
+
+/** Ask the servo motor to go to a position.
+ * - servo_mask: mask for sensor ;
+ * - servo_pos : desired position.
+ */
+void servo_motor_set_pos (uint8_t servo_mask, uint8_t servo_pos);
+
+/** What is your current position my dear servo motor ?
+ * - servo_num : sensor number (not a mask) ;
+ * - return : desired position.
+ */
+uint8_t servo_motor_get_pos (uint8_t servo_num);
+
+/** Open the trash. */
+void servo_motor_open_trash (void);
+
+/** Close the trash. */
+void servo_motor_close_trash (void);
+
+#endif // servo_motor_h