Diff: Sabertooth2x25.cpp

Revision:

1:b8f62e733e56

Parent:

0:3f784e34179c

Child:

2:6a3a047c1ce1

--- a/Sabertooth2x25.cpp	Wed Sep 21 16:55:39 2011 +0000
+++ b/Sabertooth2x25.cpp	Fri Sep 23 13:06:59 2011 +0000
@@ -5,15 +5,12 @@
 }
 
 void Sabertooth2x25::sendCommand(int address, int command, int data) {
-    tx_buf[0] = (unsigned char)address;
-    tx_buf[1] = (unsigned char)command;
-    tx_buf[2] = (unsigned char)data;
-    tx_buf[3] = (unsigned char)((address + command + data) & 0x7F);// checksum
+    checksum_ = (unsigned char)((address + command + data) & 0x7F);// checksum
 
-    device_.putc(tx_buf[0]);
-    device_.putc(tx_buf[1]);
-    device_.putc(tx_buf[2]);
-    device_.putc(tx_buf[3]);
+    device_.putc((unsigned char)address);
+    device_.putc((unsigned char)command);
+    device_.putc((unsigned char)data);
+    device_.putc(checksum_);
 }
 
 void Sabertooth2x25::forward_motor_1(int device_address, int speed) {