int main()
{
  khep_hand_t hand = khep_open("/dev/rfcomm0", 
			       KHEP_B115200);

  khep_cmd_ret_code_t ret = khep_cmd_setspeed(hand, 10, 10);

  khep_cmd_ret_t res = khep_cmd_read_speed(hand);

  printf("Speed = %d, %d\n", 
	 res.data.motor[KHEP_MOT_L],
	 res.data.motor[KHEP_MOT_R]);
  
  khep_close(hand);
}