#define COMMAND_FIFO 3

#define START_TASK	1
#define STOP_TASK	2

#define BASE_ADDR       0x0300
/* --- Address offsets for functional groups of utilities. */
#define ENC_INDEX_BASE          0x0000
#define STATUS_REG              0x000C
#define ENC_COUNT_BASE          0x0010
#define ADC_VALUE               0x001C
#define ADC_START               0x001E
#define ENC_LOAD_BASE           0x0020
#define ADC_MUX_SELECT          0x002C
#define DISCRETE_REG            0x002E
#define DAC_BASE                0x0030

struct my_msg_struct {
	int command;
	int task;
	int period;
};

typedef struct robot_JLS_struct {
  short setpt[6];
  short pos[6];
  short status;
  short index[6];
  short AD_value;
  short gain[6];
  short target[6];
} robot_JLS_type;
