#ifndef _BY_CMD_H__
#define _BY_CMD_H__

#include <stdio.h>
#include <stdint.h>

int by_cmd_init(void);
void *by_cmd_loop(void *ptr);

void by_cmd_send_speed_x(float speed);
void by_cmd_send_speed_y(float speed);
void by_cmd_send_speed_omega(float speed);

int by_cmd_send_distance_x(float speed, uint32_t time);
int by_cmd_send_distance_y(float speed, uint32_t time);
int by_cmd_send_angle_omega(float speed, uint32_t time);

int by_cmd_send_reset_axis_z(void);
int by_cmd_send_reset_axis_x(void);
int by_cmd_send_reset_end_effector(void);

#endif