src/libYARP_dev/esdcan/linux/yarp/YARPEsdCanDeviceDriver.cpp
int YARPEsdCanDeviceDriver::getTorqueLimit (void *cmd)
{
	SingleAxisParameters *tmp = (SingleAxisParameters *) cmd;
	const int axis = tmp->axis;
	ACE_ASSERT (axis >= 0 && axis <= (ESD_MAX_CARDS-1)*2);
	short value;

	_readWord16 (CAN_GET_TLIM, axis, value);
	*((double *)tmp->parameters) = double(value);

	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::getTorqueLimit (void *cmd)
{
	SingleAxisParameters *tmp = (SingleAxisParameters *) cmd;
	const int axis = tmp->axis;
	ACE_ASSERT (axis >= 0 && axis <= (ESD_MAX_CARDS-1)*2);
	short value;
	_readWord16 (CAN_GET_TLIM, axis, value);
	*((double *)tmp->parameters) = double(value);
	return YARP_OK;
}
int YARPEsdCanDeviceDriver :: getTorqueLimit ( void * cmd ) { SingleAxisParameters * tmp = ( SingleAxisParameters * ) cmd ; const int axis = tmp -> axis ; ACE_ASSERT ( axis >= 0 && axis <= ( ESD_MAX_CARDS - 1 ) * 2 ) ; short value ; _readWord16 ( CAN_GET_TLIM , axis , value ) ; * ( ( double * ) tmp -> parameters ) = double ( value ) ; return YARP_OK ; }
cmd is a SingleAxis pointer with double arg
cmd is a SingleAxis pointer with double arg