Colony

#define LS  0

#define LD  1

#define RS  2

#define RD  3

#define FORWARD 1

#define BACKWARD 0

	int serialFile = open("/dev/ttyUSB0", O_RDWR);

	struct termios attributes;

    	tcgetattr(serialFile, &attributes);

	cfsetispeed(&attributes, B115200);

	cfsetospeed(&attributes, B115200);

	attributes.c_cflag &= ~PARENB;

	attributes.c_cflag &= ~CSTOPB;

	attributes.c_cflag &= ~CSIZE;

	attributes.c_cflag |= CS8;

//	attributes.c_cflag &= ~ICRNL;

//	attributes.c_cflag &= ~OCRNL;

//	attributes.c_cflag |= (CLOCAL | CREAD);

//	attributes.c_lflag &= ~ICANON;

//	attributes.c_cc[VMIN] = 1;

//	attributes.c_cc[VTIME] = 50;

	if (tcsetattr(serialFile, TCSANOW, &attributes) < 0){

		perror("tcsetattr failed");

		exit(-1);

	}

	unsigned char encoders[4] = {1,1,1,1};

///	while(1)

//		write(serialFile, encoders, 1);

	//Sending velocity as LS LD RS RD

		printf("SENDING DATA\n");

		encoders[LS] = 170;

		encoders[LD] = 1;

		encoders[RS] = 170;

		encoders[RD] = 1;

		int temp = 0;

		int count = 0;

		do

		{

//			tcflush(serialFile, TCIOFLUSH

			temp = write(serialFile, encoders + count, 1);	

			if(temp < 0)

				perror("Write Error");

			count += temp;

//			tcflush(serialFile, TCIOFLUSH);

			usleep(10000);

		}while(count < 4);

		count = 0;

		printf("READING DATA\n");

		do

		{

			count += read(serialFile, encoders, 4);

		}while(count < 4);

		int leftEncoder = (encoders[0] << 8) | encoders[1];

		int rightEncoder = (encoders[2] << 8) | encoders[3];

		printf("%d %d\n", leftEncoder, rightEncoder);