cand: set_vidle_cmd expanded for sending movement speed

diff --git a/src/cand/cand.cc b/src/cand/cand.cc
index 315b9da3c96a3b7a308e79f6dd12515d697ea52e..09df2dc1a808e944a60217a752d8ad4649fe42e5 100644 (file)
--- a/src/cand/cand.cc
+++ b/src/cand/cand.cc
@@ -114,13 +114,14 @@ int set_motor_speed(struct robottype_orte_data *orte_data)
        return 0;
 }
 
-int set_vidle_cmd(uint16_t req_pos)
+int set_vidle_cmd(uint16_t req_pos, char speed)
 {
        unsigned char data[2];
 
        data[0] = req_pos >> 8;
        data[1] = req_pos & 0xff;
-       can_send(CAN_VIDLE_CMD, 2, data);
+       data[2] = speed;
+       can_send(CAN_VIDLE_CMD, 3, data);
 
        return 0;
 }
@@ -330,7 +331,7 @@ void rcv_vidle_cmd_cb(const ORTERecvInfo *info, void *vinstance,
 
        switch (info->status) {
                case NEW_DATA:
-                       set_vidle_cmd(vidle_cmd->req_pos);
+                       set_vidle_cmd(vidle_cmd->req_pos,vidle_cmd->speed);
                        break;
                case DEADLINE:
                        break;