direct_ctrl.c

/*
  デバイスの直接制御
  Satofumi KAMIMURA
  $Id$
*/

#include "directDeviceCtrl.h"
#define C_RUNCTRL_SOURCE
#include "commandCtrl.h"


int setMotorPWM(int id, unsigned char duty) {
  unsigned char duty_array[1] = { duty };
  return sendMotorDuty(id, duty_array, 1);
}


int setMotorMode(int id, unsigned char mode) {
  unsigned char mode_array[1] = { mode };
  return sendMotorMode(id, mode_array, 1);
}


int getEncoderDiff(int id, int *cnt) {
  int cnt_array[1] = { 0 };
  return recvEncoderDiff(id, cnt_array, 1);
}


int setWheelVel(int id, int mm_vel) {
  int mm_vel_array[1] = { mm_vel };
  return sendWheelVel(id, mm_vel_array, 1);
}