src/libYARP_dev/esdcan/linux/yarp/YARPEsdCanDeviceDriver.cpp
int YARPEsdCanDeviceDriver::setSpeed (void *cmd)
{
	SingleAxisParameters *tmp = (SingleAxisParameters *) cmd;
	const int axis = tmp->axis;
	ACE_ASSERT (axis >= 0 && axis <= (ESD_MAX_CARDS-1)*2);
	
	_ref_speeds[axis] = *((double *)(tmp->parameters));
	//const short s = S_16(_ref_speeds[axis]);
	//return _writeWord16 (CAN_SET_DESIRED_VELOCITY, axis, s);
	return YARP_OK;
}
/// cmd is a SingleAxis pointer with double arg
cmd is a SingleAxis pointer with double arg
cmd is a SingleAxis pointer with double arg
int YARPEsdCanDeviceDriver::setSpeed (void *cmd)
{
	SingleAxisParameters *tmp = (SingleAxisParameters *) cmd;
	const int axis = tmp->axis;
	ACE_ASSERT (axis >= 0 && axis <= (ESD_MAX_CARDS-1)*2);
	_ref_speeds[axis] = *((double *)(tmp->parameters));
	return YARP_OK;
}
int YARPEsdCanDeviceDriver :: setSpeed ( void * cmd ) { SingleAxisParameters * tmp = ( SingleAxisParameters * ) cmd ; const int axis = tmp -> axis ; ACE_ASSERT ( axis >= 0 && axis <= ( ESD_MAX_CARDS - 1 ) * 2 ) ; _ref_speeds [ axis ] = * ( ( double * ) ( tmp -> parameters ) ) ; return YARP_OK ; }
cmd is a SingleAxis pointer with double arg
cmd is a SingleAxis pointer with double arg
//const short s = S_16(_ref_speeds[axis]); //return _writeWord16 (CAN_SET_DESIRED_VELOCITY, axis, s);