Support for moving continuosly with fork. CAN message expanded for sending req. speed.

diff --git a/src/robofsm/actuators.c b/src/robofsm/actuators.c
index 154c3f0a651069ff473707f24fc504a77e2744b1..ca0346d78c1ed58aea8963c5871d562a3118c90b 100644 (file)
--- a/src/robofsm/actuators.c
+++ b/src/robofsm/actuators.c
@@ -52,6 +52,7 @@ static uint16_t vidle_last_request;
 void act_vidle(uint16_t position)
 {
        orte->vidle_cmd.req_pos = position;
+       orte->vidle_cmd.speed = 0;
        /* Remember the request so that we change check for matching
         * response in rcv_vidle_status_cb() */
        vidle_last_request = position;

diff --git a/src/types/robottype.idl b/src/types/robottype.idl
index 47181b8160e2a81104bd1166e0b0bcac8357f834..c1f5cba246b47ad825988951c92ae37c88332ba6 100644 (file)
--- a/src/types/robottype.idl
+++ b/src/types/robottype.idl
@@ -88,6 +88,7 @@ struct hokuyo_pitch {
 // Actuators
 struct vidle_cmd {
        unsigned short req_pos;
+       octet speed;
 };
 
 /** Status sent from actuators */