From 04816a2763a12e4cb90f5c2de4b8f5b9e37a3f22 Mon Sep 17 00:00:00 2001 From: Nicolas Schodet Date: Thu, 17 May 2012 00:42:31 +0200 Subject: digital/{ai,io-hub,mimot}: add parameter for brake --- digital/ai/src/twi_master/mimot.c | 16 ++++------------ digital/ai/src/twi_master/mimot.h | 8 ++------ 2 files changed, 6 insertions(+), 18 deletions(-) (limited to 'digital/ai') diff --git a/digital/ai/src/twi_master/mimot.c b/digital/ai/src/twi_master/mimot.c index 6663f81f..ff73fdb7 100644 --- a/digital/ai/src/twi_master/mimot.c +++ b/digital/ai/src/twi_master/mimot.c @@ -240,21 +240,13 @@ mimot_motor1_clamp (int16_t speed, int16_t pwm) } void -mimot_motor0_free (void) +mimot_motor_free (uint8_t motor, uint8_t brake) { uint8_t *buffer = twi_master_get_buffer (TWI_MASTER_ID_MIMOT); buffer[0] = 'w'; - buffer[1] = 0; - twi_master_send_buffer (2); -} - -void -mimot_motor1_free (void) -{ - uint8_t *buffer = twi_master_get_buffer (TWI_MASTER_ID_MIMOT); - buffer[0] = 'w'; - buffer[1] = 1; - twi_master_send_buffer (2); + buffer[1] = motor; + buffer[2] = brake; + twi_master_send_buffer (3); } void diff --git a/digital/ai/src/twi_master/mimot.h b/digital/ai/src/twi_master/mimot.h index 78806154..78f0a8c9 100644 --- a/digital/ai/src/twi_master/mimot.h +++ b/digital/ai/src/twi_master/mimot.h @@ -111,13 +111,9 @@ mimot_motor0_clamp (int16_t speed, int16_t pwm); void mimot_motor1_clamp (int16_t speed, int16_t pwm); -/** Free motor0. */ +/** Free motor. */ void -mimot_motor0_free (void); - -/** Free motor1. */ -void -mimot_motor1_free (void); +mimot_motor_free (uint8_t motor, uint8_t brake); /** Set raw output for motor. */ void -- cgit v1.2.3