From 4f9dcfd9c4ac873c29527884e85b75d4cd42413a Mon Sep 17 00:00:00 2001 From: Nicolas Schodet Date: Mon, 10 May 2010 08:42:25 +0200 Subject: digital/io: use the clamp command --- digital/io/src/mimot.c | 24 ++++++++++++++++++++++++ 1 file changed, 24 insertions(+) (limited to 'digital/io/src/mimot.c') diff --git a/digital/io/src/mimot.c b/digital/io/src/mimot.c index 96746f51..4192cb9e 100644 --- a/digital/io/src/mimot.c +++ b/digital/io/src/mimot.c @@ -157,3 +157,27 @@ mimot_motor1_zero_position (int8_t speed) twi_master_send (2); } +void +mimot_motor0_clamp (int8_t speed, int16_t pwm) +{ + uint8_t *buffer = twi_master_get_buffer (MIMOT_SLAVE); + buffer[0] = 'l'; + buffer[1] = 0; + buffer[2] = speed; + buffer[3] = v16_to_v8 (pwm, 1); + buffer[4] = v16_to_v8 (pwm, 0); + twi_master_send (5); +} + +void +mimot_motor1_clamp (int8_t speed, int16_t pwm) +{ + uint8_t *buffer = twi_master_get_buffer (MIMOT_SLAVE); + buffer[0] = 'l'; + buffer[1] = 1; + buffer[2] = speed; + buffer[3] = v16_to_v8 (pwm, 1); + buffer[4] = v16_to_v8 (pwm, 0); + twi_master_send (5); +} + -- cgit v1.2.3