servo.nc

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/*									tab:4
 *
 *
 * "Copyright (c) 2002 and The Regents of the University 
 * of California.  All rights reserved.
 *
 * Permission to use, copy, modify, and distribute this software and its
 * documentation for any purpose, without fee, and without written agreement is
 * hereby granted, provided that the above copyright notice, the following
 * two paragraphs and the author appear in all copies of this software.
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 * IN NO EVENT SHALL THE UNIVERSITY OF CALIFORNIA BE LIABLE TO ANY PARTY FOR
 * DIRECT, INDIRECT, SPECIAL, INCIDENTAL, OR CONSEQUENTIAL DAMAGES ARISING OUT
 * OF THE USE OF THIS SOFTWARE AND ITS DOCUMENTATION, EVEN IF THE UNIVERSITY OF
 * CALIFORNIA HAS BEEN ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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 * THE UNIVERSITY OF CALIFORNIA SPECIFICALLY DISCLAIMS ANY WARRANTIES,
 * INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY
 * AND FITNESS FOR A PARTICULAR PURPOSE.  THE SOFTWARE PROVIDED HEREUNDER IS
 * ON AN "AS IS" BASIS, AND THE UNIVERSITY OF CALIFORNIA HAS NO OBLIGATION TO
 * PROVIDE MAINTENANCE, SUPPORT, UPDATES, ENHANCEMENTS, OR MODIFICATIONS."
 *
 * Authors:		Sarah Bergbreiter
 * Date last modified:  8/12/02
 *
 *
 */

interface Servo {

  /**
   * Init. 
   *  @return Always returns SUCCESS.
   */
  command result_t init();

  /**
   * setTurn. 
   * @param turn: The acceptable range is from 0-60 with
   *    straight = 30
   *    full left = 0
   *    full right = 0
   *  @return Always returns SUCCESS.
   */
  command result_t setTurn(uint8_t turn);

  /**
   * debug event
   * The debug event may be used to get local data from the component
   * implementing the Servo interface and sending it to a higher-level
   * component.
   * @param data: current debug data being sent up a component
   *  @return Always returns SUCCESS.
   */
  event result_t debug(uint16_t data);
}