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