eb_lift_11: add homing flag to can lift cmd.

[eurobot/public.git] / src / cand / cand.cc

diff --git a/src/cand/cand.cc b/src/cand/cand.cc
index 847f5fb315f463af51bb38d027fe7d255fbffb35..41b08b47475820b2f8361a7a53a27f6c7558cb9e 100644 (file)
--- a/src/cand/cand.cc
+++ b/src/cand/cand.cc
@@ -131,14 +131,15 @@ int set_jaws_cmd(struct robottype_orte_data *orte_data)
        return 0;
 }
 
-int set_lift_cmd(uint16_t req_pos, unsigned char speed)
+int set_lift_cmd(struct robottype_orte_data *orte_data)
 {
-       unsigned char data[2];
+       unsigned char data[4];
 
-       data[0] = req_pos >> 8;
-       data[1] = req_pos & 0xff;
-       data[2] = speed;
-       can_send(CAN_LIFT_CMD, 3, data);
+       data[0] = orte_data->req_pos >> 8;
+       data[1] = orte_data->req_pos & 0xff;
+       data[2] = orte_data->speed;
+        data[3] = orte_data->homing;
+       can_send(CAN_LIFT_CMD, 4, data);
 
         return 0;
 }