_ABILITY_TYPE {
    bool        SetForce;     // False
    bool        SetPosition;  // True
    bool        GetForce;     // True
    bool        GetPosition;  // True
    _POS_TYPE   PosMax;       // 255
    _POS_TYPE   PosMin;       // 0
    bool        PosSigned     // False
    _FORCE_TYPE ForceMax      // 255
    _FORCE_TYPE ForceMin      // 0
    bool        ForceSigned   // False
}


servo {

    /* ------------------- POSITION ---------------------*/

    _POS_TYPE        Position         ( void               );
                     Position         ( _POS_TYPE Position );

    _POS_TYPE        PosOffset        ( void               );
                     PosOffset        ( _POS_TYPE Offset   );

    _POS_TYPE        PosLimH          ( void               );
                     PosLimH          ( _POS_TYPE Limit    );

    _POS_TYPE        PosLimL          ( void               );
                     PosLimL          ( _POS_TYPE Limit    );

    _POS_TYPE        PosScale         ( void               );
                     PosScale         ( _POS_TYPE Scale    );

    /* -------------------- FORCE -----------------------*/      

    _FORCE_TYPE      Force            ( void               );
                     Force            ( _FORCE_TYPE Force  );

    _FORCE_TYPE      ForceOffset      ( void               );
                     ForceOffset      ( _FORCE_TYPE Offset );

    _FORCE_TYPE      ForceLimH        ( void               );      
                     ForceLimH        ( _FORCE_TYPE Limit  );

    _FORCE_TYPE      ForceLimL        ( void               );      
                     ForceLimL        ( _FORCE_TYPE Limit  );            

    _FORCE_TYPE      ForceScale       ( void               );
                     ForceScale       ( _FORCE_TYPE Scale  );

    /* ------------------- MISC -------------------------*/

                     Synchronization  ( void               );
    _SYNC_TYPE       Synchronization  ( _SYNC_TYPE Sync    );      

    _ABILITY_TYPE    Capabilities     ( void               );

}