#include "message.h"
#include "connection.h"
#include "robomaster.h"

void
set_wheel_speed (
		union Request* req,
        uint16_t seq,
        bool ack,
		int16_t w1,
		int16_t w2,
		int16_t w3,
		int16_t w4 ) {
    req->wheel.wheel_speed[0] = w1;
    req->wheel.wheel_speed[1] = w2;
    req->wheel.wheel_speed[2] = w3;
    req->wheel.wheel_speed[3] = w4;
    req_finalize(seq, SET_WHEEL_SPEED_CMD, false, req);
}

void
chassis_speed_mode (
		union Request* req,
        uint16_t seq,
        bool ack,
		float x,
		float y,
		float z ) {
    req->chsspeed.speed[0] = x;
    req->chsspeed.speed[1] = y;
    req->chsspeed.speed[2] = z;
    req_finalize(seq, CHASSIS_SPEED_MODE_CMD, false, req);
}