Jonathan Cacace / RoboClaw

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Files at this revision

API Documentation at this revision

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

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	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;