summaryrefslogtreecommitdiff
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.c24
1 files changed, 24 insertions, 0 deletions
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);
+}
+