anchor.diff:  	send_to_amber(Hdr, MsgBinary).
   
   
  +%% @hidden
   build_drivermsg(#motor_cmd{speed=L_Speed, accel=L_Accel, dist=L_Dist, is_buf=L_Buf},
                   #motor_cmd{speed=R_Speed, accel=R_Accel, dist=R_Dist, is_buf=R_Buf},
                   HwAddr) ->
   	#motorscommand{
  -		address    = HwAddr,
  -		m1speed    = R_Speed,
  -		m1accel    = R_Accel,
  -		m1distance = R_Dist,
  -		m1buffered = R_Buf,
  -		m2speed    = L_Speed,
  -		m2accel    = L_Accel,
  -		m2distance = L_Dist,
  -		m2buffered = L_Buf
  +		address = HwAddr,
  +		m1speed = R_Speed, m1accel = R_Accel, m1distance = R_Dist, m1buffered = R_Buf,
  +		m2speed = L_Speed, m2accel = L_Accel, m2distance = L_Dist, m2buffered = L_Buf
   	}.
   
   
  
positive.code: 	DevT = proplists:get_value(device_type, Os, DefDevT),
  	DevI = proplists:get_value(device_id, Os, DefDevI), 
  	Hdr = #driverhdr{devicetype = DevT, deviceid = DevI},
  	OrderedBy = proplists:get_value(pid, Os, self()), 
  	register_receiver({DevT, DevI, SynNum}, OrderedBy),
  	send_to_amber(Hdr, MsgBinary),
  	SynNum.
  
  stargazer_subscribe_position() -> stargazer_subscribe_position([]).
  stargazer_subscribe_position(Os) ->
  	% SynNum = get_synnum(),
  	SynNum = 0, % tak, to będzie zmienione
   	MsgBase = #drivermsg{type = 'DATA', synnum = SynNum},
  	{ok, Msg} = stargazer_pb:set_extension(MsgBase, subscribeaction, #subscribeaction{action = 'SUBSCRIBE',
  	                                       																						freq = proplists:get_value(freq, Os, 100) }),
  	MsgBinary = stargazer_pb:encode_drivermsg(Msg),
  	{DefDevT,DefDevI} = ?STARGAZER_TI,
  	DevT = proplists:get_value(device_type, Os, DefDevT),
  	DevI = proplists:get_value(device_id, Os, DefDevI), 
  	Hdr = #driverhdr{devicetype = DevT, deviceid = DevI},
  	OrderedBy = proplists:get_value(pid, Os, self()), 
  	register_receiver({DevT, DevI, SynNum}, OrderedBy),
  	send_to_amber(Hdr, MsgBinary),
  	SynNum.
  
  
  stargazer_get_position(SynNum) -> stargazer_get_position(SynNum, 5000).
  
  
negative.code: %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%[ ROBOCLAW ]%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
  %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
  
  
  
  %% @doc Uproszczone sterowanie robotem. Pozwala dobrać prędkość dla lewych i
  