source: arduino-1-6-7/trunk/fuentes/arduino-ide-amd64/libraries/Robot_Control/src/communication.cpp @ 46

#include <ArduinoRobot.h>

bool RobotControl::isActionDone(){
        if(messageIn.receiveData()){
                if(messageIn.readByte()==COMMAND_ACTION_DONE){
                        return true;
                }
        }
        return false;
}

void RobotControl::pauseMode(uint8_t onOff){
        messageOut.writeByte(COMMAND_PAUSE_MODE);
        if(onOff){
                messageOut.writeByte(true);
        }else{
                messageOut.writeByte(false);
        }
        messageOut.sendData();
}

void RobotControl::lineFollowConfig(uint8_t KP, uint8_t KD, uint8_t robotSpeed, uint8_t intergrationTime){
        messageOut.writeByte(COMMAND_LINE_FOLLOW_CONFIG);
        messageOut.writeByte(KP);
        messageOut.writeByte(KD);
        messageOut.writeByte(robotSpeed);
        messageOut.writeByte(intergrationTime);
        messageOut.sendData();
}