+#ifdef UDP_CAPABLE
+static void startUdpPos(struct rpi_state* state, char *ip){
+ pthread_t thread_id=pthread_self();
+ if (!remote_pos.stop) return; /*dont be reentrant*/
+ setCommutationOn(state);
+ setRegulationPos(state);
+ remote_pos.stop=0;
+ remote_pos.ip=ip;
+ remote_pos.factor=-5;
+ remote_pos.semaphore=&state->thd_par_sem;
+ remote_pos.rem_pos=&state->desired_pos;
+ create_rt_task(&thread_id,48,start_reading_remote_position,&remote_pos);
+}
+
+/*FIXME thers no max speed limit check!!! hard debug mode!! be careful*/
+static void startUdpSpd(struct rpi_state* state, char *ip){
+ pthread_t thread_id=pthread_self();
+ if (!remote_pos.stop) return; /*dont be reentrant*/
+ setCommutationOn(state);
+ setRegulationSpeed(state);
+ remote_pos.stop=0;
+ remote_pos.ip=ip;
+ remote_pos.factor=-1;
+ remote_pos.semaphore=&state->thd_par_sem;
+ remote_pos.rem_pos=&state->desired_spd;
+ create_rt_task(&thread_id,48,start_reading_remote_position,&remote_pos);
+}
+#endif