| 268 | } |
| 269 | |
| 270 | int GoPiGo3::set_motor_limits(uint8_t port, uint8_t power, uint16_t dps){ |
| 271 | spi_array_out[0] = Address; |
| 272 | spi_array_out[1] = GPGSPI_MESSAGE_SET_MOTOR_LIMITS; |
| 273 | spi_array_out[2] = port; |
| 274 | spi_array_out[3] = power; |
| 275 | spi_array_out[4] = ((dps >> 8) & 0xFF); |
| 276 | spi_array_out[5] = (dps & 0xFF); |
| 277 | return spi_transfer_array(6, spi_array_out, spi_array_in); |
| 278 | } |
| 279 | |
| 280 | int GoPiGo3::get_motor_status(uint8_t port, uint8_t &state, int8_t &power, int32_t &position, int16_t &dps){ |
| 281 | uint8_t msg_type; |
nothing calls this directly
no test coverage detected