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+#ifndef sharp_h
+#define sharp_h
+// sharp.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 reading sharp sensors. */
+
+#include "common.h"
+
+/** Sharps positions
+ * ADC1 -> Rear ball
+ * ADC2 -> Front
+ * ADC3 -> Front
+ */
+
+/** Number of sharps. */
+#define SHARP_NUMBER 3
+
+/** Something in front of the sharp */
+#define SHARP_OBSTACLE 1
+/** Nothing in front of the sharp */
+#define SHARP_CLEAR 0
+
+/** Array of sharp values. */
+extern uint16_t sharp_values[SHARP_NUMBER];
+
+/** Init this module. */
+void sharp_init (void);
+
+/** Read data from sharp sensors.
+ * - sharp_num : the sharp number you want to update.
+ */
+void sharp_update_values (uint8_t sharp_num);
+
+/** Analyse a sharp value.
+ * - sharp_num : the sharp number you want to analyse.
+ * - return : SHARP_CLEAR if nothing in front, SHARP_OBSTACLE otherwise.
+ */
+int8_t sharp_analyse_values (uint8_t sharp_num);
+
+/** Configure sharp threshold.
+ * - sharp_num : the sharp number you want to configure threshold.
+ * - high : high threshold.
+ * - low : low threshold.
+ * Note, high > low !
+ */
+void sharp_config_threshold (uint8_t sharp_num, uint16_t high, uint16_t low);
+
+#endif // sharp_h