src/libYARP_dev/esdcan/linux/yarp/YARPEsdCanDeviceDriver.cpp
int YARPEsdCanDeviceDriver::setSpeeds (void *cmd)
{
	EsdCanResources& r = RES(system_resources);
	double *tmp = (double *)cmd;

	int i;
	for (i = 0; i < r.getJoints(); i++)
	{
		_ref_speeds[i] = tmp[i];
		//if (_writeWord16 (CAN_SET_DESIRED_VELOCITY, i, S_16(tmp[i])) != YARP_OK)
		//	return YARP_FAIL;
	}

	return YARP_OK;
}
/// cmd is an array of double
cmd is an array of double
cmd is an array of double
int YARPEsdCanDeviceDriver::setSpeeds (void *cmd)
{
	EsdCanResources& r = RES(system_resources);
	double *tmp = (double *)cmd;
	int i;
	for (i = 0; i < r.getJoints(); i++)
	{
		_ref_speeds[i] = tmp[i];
	}
	return YARP_OK;
}
int YARPEsdCanDeviceDriver :: setSpeeds ( void * cmd ) { EsdCanResources & r = RES ( system_resources ) ; double * tmp = ( double * ) cmd ; int i ; for ( i = 0 ; i < r . getJoints ( ) ; i ++ ) { _ref_speeds [ i ] = tmp [ i ] ; } return YARP_OK ; }
cmd is an array of double
cmd is an array of double
//if (_writeWord16 (CAN_SET_DESIRED_VELOCITY, i, S_16(tmp[i])) != YARP_OK) //	return YARP_FAIL;