ARES / RoboClaw

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Dependents:   RoboClaw TestMyPathFind Robot2016_2-0_STATIC Stressed ... more

Files at this revision

API Documentation at this revision

Revision 5:ad00b3431ff5, committed 2016-02-06

Comitter:
sype
Date:
Sat Feb 06 10:11:15 2016 +0000
Parent:
4:e64524a61cfe
Child:
6:ece8a8cdf4b0
Commit message:
Command;

Changed in this revision

RoboClaw.cpp Show annotated file Show diff for this revision Revisions of this file
RoboClaw.h Show annotated file Show diff for this revision Revisions of this file 
--- a/RoboClaw.cpp	Fri Dec 04 11:18:01 2015 +0000
+++ b/RoboClaw.cpp	Sat Feb 06 10:11:15 2016 +0000
@@ -217,6 +217,10 @@
     write_n(10,address,M2SPEEDACCEL,SetDWORDval(accel),SetDWORDval(speed));
 }
 
+void RoboClaw::SpeedAccelM1M2(uint8_t address, int32_t accel1, int32_t speed1, int32_t accel2, int32_t speed2){
+    write_n(12,address,M2SPEEDACCEL,SetDWORDval(accel1),SetDWORDval(speed1),SetDWORDval(accel2),SetDWORDval(speed2));
+}
+
 void RoboClaw::SpeedDistanceM1(uint8_t address, int32_t speed, uint32_t distance, uint8_t buffer){
     write_n(11,address,M1SPEEDDIST,SetDWORDval(speed),SetDWORDval(distance),buffer);
 }

--- a/RoboClaw.h	Fri Dec 04 11:18:01 2015 +0000
+++ b/RoboClaw.h	Sat Feb 06 10:11:15 2016 +0000
@@ -75,6 +75,7 @@
     void SpeedM2(uint8_t address, int32_t speed);
     void SpeedAccelM1(uint8_t address, int32_t accel, int32_t speed);
     void SpeedAccelM2(uint8_t address, int32_t accel, int32_t speed);
+    void SpeedAccelM1M2(uint8_t address, int32_t accel1, int32_t speed1, int32_t accel2, int32_t speed2);
     void SpeedDistanceM1(uint8_t address, int32_t speed, uint32_t distance, uint8_t buffer);
     void SpeedDistanceM2(uint8_t address, int32_t speed, uint32_t distance, uint8_t buffer);
     void SpeedAccelDistanceM1(uint8_t address, int32_t accel, int32_t speed, uint32_t distance, uint8_t buffer);