File content as of revision 1:3c8a6bd50779:

#define SUB_ADRS    0x30

#define I2C_WCMD_RESET	0x00
#define I2C_WCMD_START	0x01
#define I2C_WCMD_ENQ	0x09

#define I2C_WCMD_IO		0x10
#define I2C_WCMD_SENSOR	0x11
#define I2C_WCMD_MOTOR	0x12
#define I2C_WCMD_LED	0x13
#define I2C_WCMD_LAT	0x14
#define I2C_WCMD_T		0x15
#define I2C_WCMD_V		0x16
#define I2C_WCMD_DIR	0x17
#define I2C_WCMD_EG002	0x18
#define I2C_WCMD_EG003	0x19
#define I2C_WCMD_EG009	0x1A
#define I2C_WCMD_LDM	0x1B

#define I2C_RCMD_IO		0x80
#define I2C_RCMD_SENSOR	0x81
#define I2C_RCMD_MOTOR	0x82
#define I2C_RCMD_LED	0x83
#define I2C_RCMD_LAT	0x84
#define I2C_RCMD_T		0x85
#define I2C_RCMD_V		0x86
#define I2C_RCMD_DIR	0x87

#define MAX_PWM			6
#define MAX_COL			16

#define MAX_CN		10

#define LED_GREEN    0
#define LED_RED1    1
#define LED_RED2    2
#define LED_RED3    3

void eDES2WD_reset (int id);
void eDES2WD_motor (int id, int l_speed, int r_speed);
void eDES2WD_set_led (int id, int led, int sw);

unsigned int eDES2WD_get_sensor(int id, int cn, unsigned int *dat);
int eDES2WD_get_lat(int id, int cno);