summaryrefslogtreecommitdiffhomepage
path: root/digital/io/src/mimot.c
diff options
context:
space:
mode:
Diffstat (limited to 'digital/io/src/mimot.c')
-rw-r--r--digital/io/src/mimot.c14
1 files changed, 7 insertions, 7 deletions
diff --git a/digital/io/src/mimot.c b/digital/io/src/mimot.c
index 4192cb9e..ba09a3f5 100644
--- a/digital/io/src/mimot.c
+++ b/digital/io/src/mimot.c
@@ -114,7 +114,7 @@ mimot_reset (void)
{
uint8_t *buffer = twi_master_get_buffer (MIMOT_SLAVE);
buffer[0] = 'z';
- twi_master_send (1);
+ twi_master_send_buffer (1);
}
void
@@ -125,7 +125,7 @@ mimot_move_motor0_absolute (uint16_t position, uint8_t speed)
buffer[1] = v16_to_v8 (position, 1);
buffer[2] = v16_to_v8 (position, 0);
buffer[3] = speed;
- twi_master_send (4);
+ twi_master_send_buffer (4);
}
void
@@ -136,7 +136,7 @@ mimot_move_motor1_absolute (uint16_t position, uint8_t speed)
buffer[1] = v16_to_v8 (position, 1);
buffer[2] = v16_to_v8 (position, 0);
buffer[3] = speed;
- twi_master_send (4);
+ twi_master_send_buffer (4);
}
void
@@ -145,7 +145,7 @@ mimot_motor0_zero_position (int8_t speed)
uint8_t *buffer = twi_master_get_buffer (MIMOT_SLAVE);
buffer[0] = 'B';
buffer[1] = speed;
- twi_master_send (2);
+ twi_master_send_buffer (2);
}
void
@@ -154,7 +154,7 @@ mimot_motor1_zero_position (int8_t speed)
uint8_t *buffer = twi_master_get_buffer (MIMOT_SLAVE);
buffer[0] = 'C';
buffer[1] = speed;
- twi_master_send (2);
+ twi_master_send_buffer (2);
}
void
@@ -166,7 +166,7 @@ mimot_motor0_clamp (int8_t speed, int16_t pwm)
buffer[2] = speed;
buffer[3] = v16_to_v8 (pwm, 1);
buffer[4] = v16_to_v8 (pwm, 0);
- twi_master_send (5);
+ twi_master_send_buffer (5);
}
void
@@ -178,6 +178,6 @@ mimot_motor1_clamp (int8_t speed, int16_t pwm)
buffer[2] = speed;
buffer[3] = v16_to_v8 (pwm, 1);
buffer[4] = v16_to_v8 (pwm, 0);
- twi_master_send (5);
+ twi_master_send_buffer (5);
}