sad attempt at making my own forward command

src/C++/Driver/src/CKobuki.cpp

@@ -789,3 +789,32 @@ void CKobuki::goToXy(long double xx, long double yy)
     usleep(25 * 1000);
     return;
 }
+
+void CKobuki::forward(int speedvalue, long double distance) {
+  // Use the goStraight logic to determine the speed and distance
+
+  // Calculate the actual speed and radius values based on the conversion table
+  int actual_speed = speedvalue;
+  int actual_radius = 0; // Pure translation (straight line)
+
+unsigned char message[11] = {
+    0xaa,                // Start byte 1
+    0x55,                // Start byte 2
+    0x0a,                // Payload length
+    0x01,                // amount of payloads
+    0x04,                // Control byte or additional identifier
+    actual_speed % 256,  // Lower byte of speed value
+    actual_speed >> 8,   // Upper byte of speed value
+    0x00,                // Placeholder for radius
+    0x00,                // Placeholder for radius
+    0x00                 // Placeholder for checksum
+};
+
+// Calculate checksum
+message[10] = message[2] ^ message[3] ^ message[4] ^ message[5] ^ message[6] ^
+              message[7] ^ message[8] ^ message[9];
+
+  // Send the message
+  uint32_t pocet;
+  pocet = write(HCom, &message, 11);
+}

src/C++/Driver/src/CKobuki.h

@@ -154,6 +154,7 @@ public:
 
 	// control functions 
 	void goStraight(long double distance);
+	void forward(int speedvalue, long double distance);
 	void doRotation(long double th);
 	void goToXy(long double xx, long double yy);
 	std::ofstream odometry_log;

src/C++/Driver/src/main.cpp

@@ -36,7 +36,7 @@ int movement()
 
 		if (text == 1)
 		{
-			robot.goStraight(1);
+			robot.forward(1024, 100);
 		}
 		else if (text == 2)
 		{