6 #include "ecrobot_interface.h"
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8 #define NXTe_I2C_ADDR 0x28 /* 0x50>>1 */
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9 #define MAX_NXTe_CH 4 /* max. number of NXTe channels for LSC */
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11 /* LATTEBOX LSC servo channel configuration */
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12 /* each bit (0 to 9 bits) represents enable/disable for each servo control */
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13 #define ALL_SERVO_ENABLE 0x03FF
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14 #define MIN_SERVO_CH 1
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15 #define MAX_SERVO_CH 10
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17 #define MAX_ANGLE 2000
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20 extern const U8 NXTe_CH[MAX_NXTe_CH];
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22 extern void init_NXTe(U8 port_id);
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23 extern void sync_NXTeServo(U8 port_id, U8 nxte_ch);
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24 extern void load_NXTeServo(U8 port_id, U8 nxte_ch, U16 servo_ch_bit);
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25 extern U16 read_NXTeMotion(U8 port_id, U8 nxte_ch);
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26 extern void set_NXTeDelay(U8 port_id, U8 nxte_ch, U8 servo_ch, U8 delay);
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27 extern void set_NXTeAngle(U8 port_id, U8 nxte_ch, U8 servo_ch, S16 angle);
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28 extern S16 get_NXTeAngle(U8 port_id, U8 nxte_ch, U8 servo_ch);
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