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+#ifndef clamp_h
+#define clamp_h
+/* clamp.h */
+/* robospierre - Eurobot 2011 AI. {{{
+ *
+ * Copyright (C) 2011 Nicolas Schodet
+ *
+ * APBTeam:
+ * Web: http://apbteam.org/
+ * Email: team AT apbteam DOT org
+ *
+ * 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.
+ *
+ * }}} */
+
+enum {
+ /** Slot positions. */
+ CLAMP_SLOT_FRONT_BOTTOM,
+ CLAMP_SLOT_FRONT_MIDDLE,
+ CLAMP_SLOT_FRONT_TOP,
+ CLAMP_SLOT_BACK_BOTTOM,
+ CLAMP_SLOT_BACK_MIDDLE,
+ CLAMP_SLOT_BACK_TOP,
+ CLAMP_SLOT_SIDE,
+ /** Leave the front bay, ready to enter side tunnel. */
+ CLAMP_BAY_FRONT_LEAVE,
+ /** Leave the back bay, ready to enter side tunnel. */
+ CLAMP_BAY_BACK_LEAVE,
+ /* Enter the side bay. Position on the side, above wheels. */
+ CLAMP_BAY_SIDE_ENTER_LEAVE,
+};
+
+/** Is slot in front bay? */
+#define CLAMP_IS_SLOT_IN_FRONT_BAY(slot) \
+ ((slot) <= CLAMP_SLOT_FRONT_TOP)
+
+/** Is slot in back bay? */
+#define CLAMP_IS_SLOT_IN_BACK_BAY(slot) \
+ ((slot) >= CLAMP_SLOT_BACK_BOTTOM && (slot) <= CLAMP_SLOT_BACK_TOP)
+
+/** Move clamp to given position. */
+void
+clamp_move (uint8_t pos);
+
+#endif /* clamp_h */