AMiRo-OS

    case CAN::SET_LINE_FOLLOW_SPEED:

	  if (frame->DLC == 8) {

		  uint8_t speedForward    = frame->data8[0];

		  uint8_t speedSoftLeft0  = frame->data8[1];

		  uint8_t speedSoftLeft1  = frame->data8[2];

		  uint8_t speedHardLeft0  = frame->data8[3];

		  uint8_t speedHardLeft1  = frame->data8[4];

		  global.rpmForward[0] = speedForward;

		  global.rpmForward[1] = speedForward;

		  global.rpmSoftLeft[0] = speedSoftLeft0;

		  global.rpmSoftLeft[1] = speedSoftLeft1;

		  global.rpmHardLeft[0] = speedHardLeft0;

		  global.rpmHardLeft[1] = speedHardLeft1;

		  global.rpmSoftRight[0] = global.rpmSoftLeft[1];

		  global.rpmSoftRight[1] = global.rpmSoftLeft[0];

		  global.rpmHardRight[0] = global.rpmHardLeft[1];

		  global.rpmHardRight[1] = global.rpmHardLeft[0];

		  return RDY_OK;

	  }