Pull the medium-specific pieces out of the common code
Change-Id: I9cd1824a6bf535e285553fbe5f79f6d72919f048
diff --git a/motors/peripheral/adc.h b/motors/peripheral/adc.h
index 4aee769..f9ec22a 100644
--- a/motors/peripheral/adc.h
+++ b/motors/peripheral/adc.h
@@ -3,6 +3,8 @@
#include <stdint.h>
+#include "motors/util.h"
+
namespace frc971 {
namespace salsa {
@@ -12,9 +14,23 @@
uint16_t input_voltage;
};
-void AdcInit();
+struct SmallAdcReadings {
+ uint16_t currents[3];
+};
-MediumAdcReadings AdcReadMedium();
+struct SmallInitReadings {
+ uint16_t motor0_abs;
+ uint16_t motor1_abs;
+ uint16_t wheel_abs;
+};
+
+void AdcInitMedium();
+void AdcInitSmall();
+
+MediumAdcReadings AdcReadMedium(const DisableInterrupts &);
+SmallAdcReadings AdcReadSmall0(const DisableInterrupts &);
+SmallAdcReadings AdcReadSmall1(const DisableInterrupts &);
+SmallInitReadings AdcReadSmallInit(const DisableInterrupts &);
} // namespace salsa
} // namespace frc971