Definition:

#include <aMotion.h>
object code: aMotion.c



aErr aMotion_GetMode(

aStemLib stemRef, const unsigned char module, const unsigned char channel, unsigned char* pMode, unsigned char* pFlags);

Parameters:

stemRef	-	An opaque library reference representing the aStem library which manages the communication with the BrainStem modules.
module	-	The IIC address of the Moto module that will return the mode settings for one of its motion control channels.  This need not be the router.
channel	-	The index of the motion control channel.
pMode	-	Address of char where the mode code will be stored.
pFlags	-	Address of char where the flag byte will be stored.

Return Value:

This routine returns aErrNone when there are no errors.

Description:

This routine manages the BrainStem packets needed to request the mode and flag bytes for a motion control channel and receive the reply.

See the cmdMO_CFG documentation for a list of the motion control mode codes and a description of the flag bits.

Related:

aStem_GetLibRef, aStem_ReleaseLibRef, aMotion_SetMode