bool RoboClaw::SetConfig(uint8_t address, uint16_t config){ return write_n(4,address,SETCONFIG,SetWORDval(config)); }
bool RoboClaw::SetMainVoltages(uint8_t address,uint16_t min,uint16_t max){ return write_n(6,address,SETMAINVOLTAGES,SetWORDval(min),SetWORDval(max)); }
bool RoboClaw::SetLogicVoltages(uint8_t address,uint16_t min,uint16_t max){ return write_n(6,address,SETLOGICVOLTAGES,SetWORDval(min),SetWORDval(max)); }
bool RoboClaw::DutyAccelM2(uint8_t address, uint16_t duty, uint32_t accel){ return write_n(8,address,M2DUTYACCEL,SetWORDval(duty),SetDWORDval(accel)); }
bool RoboClaw::DutyAccelM1M2(uint8_t address, uint16_t duty1, uint32_t accel1, uint16_t duty2, uint32_t accel2){ return write_n(14,address,MIXEDDUTYACCEL,SetWORDval(duty1),SetDWORDval(accel1),SetWORDval(duty2),SetDWORDval(accel2)); }
bool RoboClaw::DutyM1M2(uint8_t address, uint16_t duty1, uint16_t duty2){ return write_n(6,address,MIXEDDUTY,SetWORDval(duty1),SetWORDval(duty2)); }
bool RoboClaw::DutyM2(uint8_t address, uint16_t duty){ return write_n(4,address,M2DUTY,SetWORDval(duty)); }
void RoboClaw::DutyAccelM1M2(uint8_t address, uint16_t duty1, uint16_t accel1, uint16_t duty2, uint16_t accel2){ write_n(10,address,MIXEDDUTY,SetWORDval(duty1),SetWORDval(accel1),SetWORDval(duty2),SetWORDval(accel2)); }
void RoboClaw::DutyAccelM2(uint8_t address, uint16_t duty, uint16_t accel){ write_n(6,address,M2DUTY,SetWORDval(duty),SetWORDval(accel)); }
void RoboClaw::DutyM1(uint8_t address, uint16_t duty){ write_n(4,address,M1DUTY,SetWORDval(duty)); }