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-rw-r--r--digital/ai/src/twi_master/mimot.c6
-rw-r--r--digital/ai/src/twi_master/mimot.h4
2 files changed, 10 insertions, 0 deletions
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);