/* --- Structure that holds the data shared between JLS and control level
   information */

typedef struct robot_JLS_struct {
  short setpt[6];
  short pos[6];
  short status;
  short index[6];
  short pot[6];
  short ninter;
  short TOL[6];
  short discrete;
  short readFlags;
  short cl_request;
  short cl_running;
} robot_JLS_type;



/* Semaphore structure allowing control-level to pass requests to the JLS */
enum {  JLS_NOREQ,         /* No request to the JLS process */
	JLS_READ_STATUS,   /* Request a read of the status word */
        JLS_READ_INDEX,    /* Request a read of the indexes */
        JLS_READ_POT,      /* Request a read of the potentiometers */
        JLS_WRITE_DES,     /* Request a write of the discrete outputs */
        JLS_WRITE_ENC,     /* Request a write of encoder preloads */
	JLS_STOP_REQ,      /* Request to stop the robot */
	JLS_POT_READ      /* Request to read the pot completed*/
};


#define CL_RUNNING      3
#define CL_READY        4
