#ifndef KHEPCTRL_TWOWAY_CMDS_H
#define KHEPCTRL_TWOWAY_CMDS_H

#include "khep_config.h"
#include "raw.h"

/* TYPES */
union khep_cmd_ret_data {
  unsigned int sensor[KHEP_SENS_COUNT];
  int motor[KHEP_MOT_COUNT];
};

typedef struct {
  khep_cmd_ret_code_t result;
  union khep_cmd_ret_data data;

} khep_cmd_ret_t;


/* FUNCTIONS */

khep_cmd_ret_t khep_cmd_read_speed(khep_hand_t hand);
khep_cmd_ret_t khep_cmd_read_position(khep_hand_t hand);
khep_cmd_ret_t khep_cmd_proximity_sensors(khep_hand_t hand);
khep_cmd_ret_t khep_cmd_ambient_sensors(khep_hand_t hand);


#endif /* KHEPCTRL_TWOWAY_CMDS_H */