/**
* @file actuator.h
- * @purpose Declarations for actuator control
+ * @brief Declarations for actuator control
*/
#ifndef _ACTUATOR_H
// Might be OK in C++ but not easy in C
/** Number of actuators **/
-#define NUMACTUATORS 2
+#define NUMACTUATORS 3
/** List of actuator ids (should be of size NUMACTUATORS) **/
typedef enum
{
ACTUATOR_TEST0,
- ACTUATOR_TEST1
+ ACTUATOR_TEST1,
+ ACTUATOR_TEST2
} ActuatorId;
/** Human readable names for the Actuators **/
extern void Actuator_Init(); // One off initialisation of *all* Actuators
-
-extern void Actuator_StartAll(const char * experiment_name); // Start all Actuators
-extern void Actuator_StopAll(); // Stop all Actuators
-
-extern void Actuator_Start(Actuator * a, const char * experiment_name); // Start a Actuator
-extern void Actuator_Stop(Actuator * a); // Stop an Actuator
-
+extern void Actuator_SetModeAll(ControlModes mode, void *arg);
+extern void Actuator_SetMode(Actuator * a, ControlModes mode, void *arg);
extern void * Actuator_Loop(void * args); // Main loop for a thread that handles an Actuator
extern void Actuator_SetValue(Actuator * a, double value); // Set an actuator by value