From cc9d492b7257f485f7d2f3fe3dcb77d5f2dd3c97 Mon Sep 17 00:00:00 2001
From: Wastl Kraus <derdoktor667@users.noreply.github.com>
Date: Sat, 1 Nov 2025 20:12:02 +0100
Subject: [PATCH] need raw values

---
 src/DShotRMT.cpp | 7 +++++++
 src/DShotRMT.h   | 3 +++
 2 files changed, 10 insertions(+)

diff --git a/src/DShotRMT.cpp b/src/DShotRMT.cpp
index bba62e1..48f369e 100644
--- a/src/DShotRMT.cpp
+++ b/src/DShotRMT.cpp
@@ -235,6 +235,13 @@ dshot_result_t DShotRMT::setMotorSpinDirection(bool reversed)
     return sendCommand(command, SETTINGS_COMMAND_REPEATS, SETTINGS_COMMAND_DELAY_US);
 }
 
+// Sends a raw DShot command to the ESC.
+dshot_result_t DShotRMT::sendRawCommand(uint16_t command_value)
+{
+    _packet = _buildDShotPacket(command_value);
+    return _sendDShotFrame(_packet);
+}
+
 // Use with caution
 dshot_result_t DShotRMT::saveESCSettings()
 {
diff --git a/src/DShotRMT.h b/src/DShotRMT.h
index 211cb26..b2a147d 100644
--- a/src/DShotRMT.h
+++ b/src/DShotRMT.h
@@ -56,6 +56,9 @@ public:
     // Sends a DShot command to the ESC with a specified repeat count and delay.
     dshot_result_t sendCommand(dshotCommands_e command, uint16_t repeat_count, uint16_t delay_us);
 
+    // Sends a raw DShot command to the ESC.
+    dshot_result_t sendRawCommand(uint16_t command_value);
+
     // Retrieves telemetry data from the ESC.
     dshot_result_t getTelemetry();