Pioneer Module Mobile - Manual (Page 27)

Gripper & Experimenter’s Module
23
case sfRIGHT:
which = sfRIGHTLEDBIT;
break;
default:
which = 0;
}
switch(state)
{
case sfOFF:
sfRobotCom2Bytes(sfCOMDIGOUT, which, 0);
break;
case sfON:
sfRobotCom2Bytes(sfCOMDIGOUT, which, which);
break;
}
}