+ /* time shift the command */
+ l_pwm_shift[i] = l_pwm;
+ r_pwm_shift[i] = r_pwm;
+ i ++;
+ i %= SHIFT;
+ local_l_pwm = l_pwm_shift[i];
+ local_r_pwm = r_pwm_shift[i];
+
+ /* read command */
+ if (((cpt ++) & 0x7) == 0) {
+ if (read(fdr, &cmd, 1) != 1)
+ cmd = 0;
+ }
+