#pragma once

#include "message.h"

#include <stdbool.h>
#include <stdint.h>

static const uint8_t CHASSIS_HOST = 3;
static const uint8_t CHASSIS_INDEX = 6;

#define SET_WHEEL_SPEED_CMD 0x203F

void
set_wheel_speed (
		union Request* req,
        uint16_t seq,
        bool ack,
		int16_t w1,
		int16_t w2,
		int16_t w3,
		int16_t w4 );

#define CHASSIS_SPEED_MODE_CMD 0x213F

void
chassis_speed_mode (
		union Request* req,
        uint16_t seq,
        bool ack,
		float x,
		float y,
		float z );