Revision 1:f76058f9f548, committed 2015-11-24

Comitter:

sype

Date:

Tue Nov 24 15:01:49 2015 +0000

Parent:

0:af5cf35e1a25

Child:

2:a2c141d922b3

Commit message:

GotoThet

Changed in this revision

--- a/RoboClaw.cpp	Mon Nov 16 11:32:35 2015 +0000
+++ b/RoboClaw.cpp	Tue Nov 24 15:01:49 2015 +0000
@@ -242,10 +242,15 @@
     write_n(15,address,M2SPEEDACCELDIST,SetDWORDval(accel),SetDWORDval(speed),SetDWORDval(distance),buffer);
 }
 
-void RoboClaw::SpeedAccelDeccelPositionM1(unsigned char address, unsigned long accel, long speed, unsigned long deccel, unsigned long position, unsigned char flag){
-    return write_n(19,address,M1SPEEDACCELDECCELPOS,SetDWORDval(accel),SetDWORDval(speed),SetDWORDval(deccel),SetDWORDval(position),flag);
+void RoboClaw::SpeedAccelDeccelPositionM1(unsigned char address, unsigned long accel, long speed, unsigned long deccel, long position, unsigned char flag){
+    write_n(19,address,M1SPEEDACCELDECCELPOS,SetDWORDval(accel),SetDWORDval(speed),SetDWORDval(deccel),SetDWORDval(position),flag);
 }
 
-void RoboClaw::SpeedAccelDeccelPositionM2(unsigned char address, unsigned long accel, long speed, unsigned long deccel, unsigned long position, unsigned char flag){
-    return write_n(19,address,M2SPEEDACCELDECCELPOS,SetDWORDval(accel),SetDWORDval(speed),SetDWORDval(deccel),SetDWORDval(position),flag);
-}
\ No newline at end of file
+void RoboClaw::SpeedAccelDeccelPositionM2(unsigned char address, unsigned long accel, long speed, unsigned long deccel, long position, unsigned char flag){
+    write_n(19,address,M2SPEEDACCELDECCELPOS,SetDWORDval(accel),SetDWORDval(speed),SetDWORDval(deccel),SetDWORDval(position),flag);
+}
+
+void RoboClaw::SpeedAccelDeccelPositionM1M2(unsigned char address,unsigned long accel1,unsigned long speed1,unsigned long deccel1, long position1,unsigned long accel2,unsigned long speed2,unsigned long deccel2, long position2,unsigned char flag){
+    write_n(35,address,MIXEDSPEEDACCELDECCELPOS,SetDWORDval(accel1),SetDWORDval(speed1),SetDWORDval(deccel1),SetDWORDval(position1),SetDWORDval(accel2),SetDWORDval(speed2),SetDWORDval(deccel2),SetDWORDval(position2),flag);
+}
+

--- a/RoboClaw.h	Mon Nov 16 11:32:35 2015 +0000
+++ b/RoboClaw.h	Tue Nov 24 15:01:49 2015 +0000
@@ -37,8 +37,9 @@
     void SpeedDistanceM2(unsigned char address, long speed, unsigned long distance, unsigned char buffer);
     void SpeedAccelDistanceM1(unsigned char address, long accel, long speed, unsigned long distance, unsigned char buffer);
     void SpeedAccelDistanceM2(unsigned char address, long accel, long speed, unsigned long distance, unsigned char buffer);
-    void SpeedAccelDeccelPositionM1(unsigned char address, unsigned long accel, long speed, unsigned long deccel, unsigned long position, unsigned char flag);
-    void SpeedAccelDeccelPositionM2(unsigned char address, unsigned long accel, long speed, unsigned long deccel, unsigned long position, unsigned char flag);
+    void SpeedAccelDeccelPositionM1(unsigned char address, unsigned long accel, long speed, unsigned long deccel, long position, unsigned char flag);
+    void SpeedAccelDeccelPositionM2(unsigned char address, unsigned long accel, long speed, unsigned long deccel, long position, unsigned char flag);
+    void SpeedAccelDeccelPositionM1M2(unsigned char address,unsigned long accel1,unsigned long speed1,unsigned long deccel1, long position1,unsigned long accel2,unsigned long speed2,unsigned long deccel2, long position2,unsigned char flag);
     
 private:
     Serial _roboclaw;