void moveWithVelocity(int fd, uint8_t nodeId, int32_t vel) { ZO_PROTOCOL_PACKET p; p.addressedNodeID = nodeId; p.ownNodeID = 0x01; p.commandID = 0x07; p.byteCount = 0x04; s32ToStr(vel, p.data); p.lrc = calcLRC(&p); if( putPacketSerial(fd, &p) ) getResponse(fd, &p); }
void zoSms::setProfiledVelocitySetpoint(uint8_t nodeId, int32_t vel) { ZO_PROTOCOL_PACKET p; p.addressedNodeID = nodeId; p.ownNodeID = 1; p.commandID = 0x10; p.byteCount = 4; s32ToStr(vel,p.data); p.lrc = calcLRC(&p); if( ha.putPacket(&p) ) getResponse(&p); }