/****************************************************************************
 Header file for Servos Module
 ****************************************************************************/
#ifndef Servos_H
#define Servos_H

//public defines
#define TURRET_AIM  -8//how to cock turret for aiming, degrees

#define Shooter_Reset 3400//tunable constants for servo positions.
#define Shooter_Ready   2000
#define Shooter_Fire  1500

#define Gate_Reset 3600
#define Gate_Release 900

//public functions
/****************************************************************************
 Function
 ServosInit

 Description
 Initialization for servos --  output compare timers and interrupts
 ****************************************************************************/
void ServosInit(void);

/****************************************************************************
 Function
 SetTurretServo

 Parameters
 signed char Angle (in degrees, left is +)

 Description
 Sets angle of turret servo, bounded by MIN and MAX
 ****************************************************************************/
void SetTurretServo (signed char Angle);

/****************************************************************************
 Function
 SetShooterServo / SetGateServo

 Parameters
 unsigned int ...Position - pusle width, in 0.67us's

 Description
 sets Servo position based on provided pulse width
 ****************************************************************************/
void SetShooterServo (unsigned int ShooterPosition);
void SetGateServo (unsigned int GatePosition);

#endif