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00011 #ifndef __khepera3__
00012 #define __khepera3__
00013
00014 #include "knet.h"
00015
00019 #define KNET_INT0 40
00020 #define IN 1
00021 #define OUT 0
00022
00023
00027 #define KH3_ERROR_SUCCESS 0
00028 #define KH3_ERROR_KBINIT -1
00029 #define KH3_ERROR_FRMSZ -2
00030 #define KH3_ERROR_SZFMT -3
00031 #define KH3_ERROR_FRMSND -4
00032
00036 #define K3_CMD_DELAY 300
00037
00038
00042
00043 extern int kh3_init( void );
00044
00045
00046 extern int kh3_getcommand( knet_dev_t * , unsigned char *);
00047 extern int kh3_sendcommand( knet_dev_t *, unsigned char *);
00048
00049
00050 extern int kh3_proximity_ir(char *, knet_dev_t *);
00051 extern int kh3_ambiant_ir(char *, knet_dev_t *);
00052 extern int kh3_battery_voltage(char *, unsigned char, knet_dev_t *);
00053 extern int kh3_reset_tstamp(char *, knet_dev_t *);
00054 extern int kh3_revision(char *, knet_dev_t *);
00055 extern int kh3_configure_os(char *, unsigned char, unsigned char, knet_dev_t *);
00056 extern int kh3_measure_us(char *, unsigned char, knet_dev_t *);
00057
00058
00059
00060 #endif