Diff: AX12.cpp

Revision:

1:fce3323d874f

Parent:

0:c03cffe402df

--- a/AX12.cpp	Wed Feb 03 14:01:53 2016 +0000
+++ b/AX12.cpp	Fri Nov 25 17:38:14 2016 +0000
@@ -456,6 +456,33 @@
     return(0);
 }
 
+int AX12::Set_Goal_speed(int speed, int flags)
+{
+
+     char reg_flag = 0;
+    char data[2];
+
+    // set the flag is only the register bit is set in the flag
+    if (flags == 0x2) {
+        reg_flag = 1;
+    }
+
+    data[0] = speed & 0xff; // bottom 8 bits
+    data[1] = speed >> 8;   // top 8 bits
+
+    // write the packet, return the error code
+    int rVal = write(_ID, AX12_REG_MOVING_SPEED, 2, data, reg_flag);
+
+    /*if (flags == 1) {
+        // block until it comes to a halt
+        while (isMoving()) 
+            {
+            }
+    
+    }*/
+    return(rVal);
+}
+
 
 // if flag[0] is set, were blocking
 // if flag[1] is set, we're registering