external_motorboard.h
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	/*
	* Copyright (C) 2017 EPFL-LSRO (Laboratoire de Systemes Robotiques).
	*
	* Licensed under the Apache License, Version 2.0 (the "License");
	* you may not use this file except in compliance with the License.
	* You may obtain a copy of the License at
	*
	* http://www.apache.org/licenses/LICENSE-2.0
	*
	* Unless required by applicable law or agreed to in writing, software
	* distributed under the License is distributed on an "AS IS" BASIS,
	* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
	* See the License for the specific language governing permissions and
	* limitations under the License.
	*/

	#ifndef __EXTERNAL_MOTORBOARD_H
	#define __EXTERNAL_MOTORBOARD_H

	#include "../main.h"

	/** @defgroup ExtMotorboard Driver / External motorboard
	* @brief Driver for an external motorboard.
	*
	* This driver controls an external motorboard, controlled through a serial
	* link. This allows driving larger motors.
	*
	* Call emot_Init() first in the initialization code. Then, call
	* emot_SetTorque() to set the motor torque, and emot_GetPosition() to get the
	* motor shaft position.
	*
	* @addtogroup ExtMotorboard
	* @{
	*/

	void emot_Init(void);
	void emot_SetTorque(float32_t torque);
	float32_t emot_GetPosition(void);

	/**
	* @}
	*/

	#endif