From ccf6d0cdc0e97d7abf170def16b0746d89b5274c Mon Sep 17 00:00:00 2001
From: Stefan Krupop <stefankrupop@web.de>
Date: Wed, 4 Dec 2019 01:20:35 +0100
Subject: [PATCH] Use OC_MOTORS instead of OC_MOTORS_PWM on V_1 models (#55)

SCI for older Roombas (V_1) did not include OC_MOTORS_PWM, but only OC_MOTORS. Use that instead of OC_MOTORS_PWM for V_1, interpeting values != 0 as "on"
---
 src/create.cpp | 9 +++++++++
 1 file changed, 9 insertions(+)

diff --git a/src/create.cpp b/src/create.cpp
index 10846e5..a0f9da6 100644
--- a/src/create.cpp
+++ b/src/create.cpp
@@ -463,6 +463,15 @@ namespace create {
     sideMotorPower = roundf(side * 127);
     vacuumMotorPower = roundf(vacuum * 127);
 
+    if (model.getVersion() == V_1) {
+        uint8_t cmd[2] = { OC_MOTORS,
+                           static_cast<uint8_t>((side != 0.0 ? 1 : 0) |
+                                     (vacuum != 0.0 ? 2 : 0) |
+                                     (main != 0.0 ? 4 : 0))
+                         };
+        return serial->send(cmd, 2);
+    }
+
     uint8_t cmd[4] = { OC_MOTORS_PWM,
                        mainMotorPower,
                        sideMotorPower,