kh_hand_t (int)

enum {
 KH_CMD_OK=0,
 KH_CMD_ERR=1
} kh_res_t;

/* réponses */

{
 kh_res_t res;
 ...;
}

: union ?

/* open/close */
kh_hand_t kh_open(char *dev, int speed);
kh_close(kh_hand_t hand);

/* Ops */
char* kh_raw(kh_hand_t hand, char *cmd);
=> Vérifier qu'on a bien la lettre en minuscule : signifie que l'action est ok.
=> Timeout sur le read
=> Autres codes liés à read() / write()

(sans ret) : <= kh_res_t ?
A (configure)
C (reach pos)
D (set speed)
F (config PID controller)
G (set position counter)
J (speed profile controller)
L (Led state)
P (set PWM)
W (write byte on ext bus)

(avec ret) : <= (kh_res_t, ...)
B (read soft ver) : 2 | Struct ver
E (read speed) : 2    | Struct Motors (commun?)
H (read pos) : 2      | Struct Motors (commun?)
I (Read A/D input) : 1 | 10 bits
K (read motion contr) : 6       | Struct motion ctrl
N (read prox sensors) : 8       | Struct Sensors (commun)
O (read amb light sensors) : 8  | Struct Sensors (commun)
R (read byte on ext bus) : 1 | byte
T (send mes on ext turret) : 1