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diff --git a/digital/io-hub/src/common-cc/mimot.cc b/digital/io-hub/src/common-cc/mimot.cc
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+// io-hub - Modular Input/Output. {{{
+//
+// Copyright (C) 2013 Nicolas Schodet
+//
+// APBTeam:
+// Web: http://apbteam.org/
+// Email: team AT apbteam DOT org
+//
+// This program is free software; you can redistribute it and/or modify
+// it under the terms of the GNU General Public License as published by
+// the Free Software Foundation; either version 2 of the License, or
+// (at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU General Public License for more details.
+//
+// You should have received a copy of the GNU General Public License
+// along with this program; if not, write to the Free Software
+// Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA.
+//
+// }}}
+#include "mimot.hh"
+
+#include "ucoolib/utils/bytes.hh"
+
+Mimot::Mimot (I2cQueue &queue)
+ : I2cQueue::Slave (queue, 0x06, 6),
+ motor0 (*this, 0), motor1 (*this, 1),
+ status_flag_ (0), input_port_ (0)
+{
+}
+
+void
+Mimot::recv_status (const uint8_t *status)
+{
+ status_flag_ = status[0];
+ input_port_ = status[1];
+ motor0.position_ = ucoo::bytes_pack (status[2], status[3]);
+ motor1.position_ = ucoo::bytes_pack (status[4], status[5]);
+}
+
+void
+Mimot::Motor::move (uint16_t position, uint16_t speed)
+{
+ uint8_t buf[] = { (char) ('b' + index_),
+ ucoo::bytes_unpack (position, 1),
+ ucoo::bytes_unpack (position, 0),
+ ucoo::bytes_unpack (speed, 1),
+ ucoo::bytes_unpack (speed, 0),
+ };
+ mimot_.send (buf, sizeof (buf));
+}
+
+void
+Mimot::Motor::free ()
+{
+ uint8_t buf[] = { 'w',
+ (uint8_t) index_,
+ 0, // brake
+ };
+ mimot_.send (buf, sizeof (buf));
+}
+
+void
+Mimot::Motor::output_set (int16_t pwm)
+{
+ uint8_t buf[] = { 'W',
+ (uint8_t) index_,
+ ucoo::bytes_unpack (pwm, 1),
+ ucoo::bytes_unpack (pwm, 0),
+ };
+ mimot_.send (buf, sizeof (buf));
+}
+