Vitec Group / Mbed 2 deprecated 1_AH10_Motor_Scope_Tool

As used for motor testing May / June 2016

Dependencies:   iC_MU mbed-rtos mbed

Fork of SweptSine by Vitec Group

ServiceKeyboard.cpp@3:463edcfc09c5, 2016-06-08 (annotated)

Committer:
acodd
Date:
Wed Jun 08 13:56:25 2016 +0000
Revision:
3:463edcfc09c5
As used for scoping motors May / June 2016

Who changed what in which revision?

UserRevisionLine numberNew contents of line
acodd 3:463edcfc09c5 1 #include "mbed.h"
acodd 3:463edcfc09c5 2 #include "rtos.h"
acodd 3:463edcfc09c5 3 #include "MyAxis.h"
acodd 3:463edcfc09c5 4
acodd 3:463edcfc09c5 5
acodd 3:463edcfc09c5 6 extern Serial pc;
acodd 3:463edcfc09c5 7 extern float DeadBand;
acodd 3:463edcfc09c5 8 extern bool scoping;
acodd 3:463edcfc09c5 9 extern int scope_duration;
acodd 3:463edcfc09c5 10 extern int scope_time;
acodd 3:463edcfc09c5 11 extern bool sinusoid;
acodd 3:463edcfc09c5 12 extern bool ratiocalc;
acodd 3:463edcfc09c5 13 extern float jogaccel_time;
acodd 3:463edcfc09c5 14 extern float jogaccel;
acodd 3:463edcfc09c5 15 extern int pos_enc_start;
acodd 3:463edcfc09c5 16 extern int run_count_jog;
acodd 3:463edcfc09c5 17 extern int primed;
acodd 3:463edcfc09c5 18 float temp;
acodd 3:463edcfc09c5 19
acodd 3:463edcfc09c5 20
acodd 3:463edcfc09c5 21 // Returns the new set point entered via the keyboard
acodd 3:463edcfc09c5 22 int ServiceKeyboard ()
acodd 3:463edcfc09c5 23 {
acodd 3:463edcfc09c5 24 int key; // The keypress by the user
acodd 3:463edcfc09c5 25 int value = 0; // The variable to return
acodd 3:463edcfc09c5 26
acodd 3:463edcfc09c5 27 key = pc.getc(); // Read the intial keypress
acodd 3:463edcfc09c5 28
acodd 3:463edcfc09c5 29 switch (key) {
acodd 3:463edcfc09c5 30 // List keypresses used:
acodd 3:463edcfc09c5 31 case 'q':
acodd 3:463edcfc09c5 32 // To move up and down: 8, 2: To move left and right 4,6. To start stop both: 5:
acodd 3:463edcfc09c5 33 pc.printf("\n\r Left, Right, Up Down: 4,6,8,2. \n\r Start & Stop both: 5 \n\r Toggle all directions = d \n\r");
acodd 3:463edcfc09c5 34 pc.printf("\n\r Scope = s \n\r Run Test sinusoid = t \n\r Run Ratio Calculator = r \n\r Set Motor Kp = g \n\r Set Sys Kp_Sys = h \n\r Fetch Gain = f \n\r Set Kff_Sys = k \n\r Prime Start Scope = p \n\r Set Kff = 2 \n\r Set Gearbox Ratio = 1 \n\r");
acodd 3:463edcfc09c5 35 pc.printf(" Set Stationary c value = c \n\r Set Moving c value = b \n\r Set Jog_2 value = 3 \n\r \n\r \n\r Jog Speed PAN,TILT = j,m \n\r Set Jog Acceleration = a \n\r Cycle to hard Stop = z \n\r Fade = x \n\r");
acodd 3:463edcfc09c5 36 break;
acodd 3:463edcfc09c5 37
acodd 3:463edcfc09c5 38 // Turn on Scope Tool:
acodd 3:463edcfc09c5 39 case 's':
acodd 3:463edcfc09c5 40 if (!scoping) {
acodd 3:463edcfc09c5 41 scope_time = 0;
acodd 3:463edcfc09c5 42 scoping = true;
acodd 3:463edcfc09c5 43 } else {
acodd 3:463edcfc09c5 44 scoping = false;
acodd 3:463edcfc09c5 45 }
acodd 3:463edcfc09c5 46 break;
acodd 3:463edcfc09c5 47 // Turn on Ratio Calculator:
acodd 3:463edcfc09c5 48 case 'r':
acodd 3:463edcfc09c5 49 if (!ratiocalc) {
acodd 3:463edcfc09c5 50 ratiocalc = true;
acodd 3:463edcfc09c5 51 pc.printf("\n\r Running Ratio Calculator");
acodd 3:463edcfc09c5 52 } else {
acodd 3:463edcfc09c5 53 Tilt.calcmyratio = false;
acodd 3:463edcfc09c5 54 Pan.calcmyratio = false;
acodd 3:463edcfc09c5 55 }
acodd 3:463edcfc09c5 56 break;
acodd 3:463edcfc09c5 57 // We are going to jog Tilt up
acodd 3:463edcfc09c5 58 case '8':
acodd 3:463edcfc09c5 59 Tilt.sysjogdir = -1;
acodd 3:463edcfc09c5 60 if (Tilt.moveme) {
acodd 3:463edcfc09c5 61 //pc.printf("\n\r Moving stop");
acodd 3:463edcfc09c5 62 Tilt.moveme = false;
acodd 3:463edcfc09c5 63 } else {
acodd 3:463edcfc09c5 64 //pc.printf("\n\r Moving Start");
acodd 3:463edcfc09c5 65 Tilt.moveme = true;
acodd 3:463edcfc09c5 66 }
acodd 3:463edcfc09c5 67 break;
acodd 3:463edcfc09c5 68 // We are going to jog Tilt down
acodd 3:463edcfc09c5 69 case '2':
acodd 3:463edcfc09c5 70 Tilt.sysjogdir = 1;
acodd 3:463edcfc09c5 71 if (Tilt.moveme) {
acodd 3:463edcfc09c5 72 //pc.printf("\n\r Moving stop");
acodd 3:463edcfc09c5 73 Tilt.moveme = false;
acodd 3:463edcfc09c5 74 } else {
acodd 3:463edcfc09c5 75 //pc.printf("\n\r Moving Start");
acodd 3:463edcfc09c5 76 Tilt.moveme = true;
acodd 3:463edcfc09c5 77 }
acodd 3:463edcfc09c5 78 break;
acodd 3:463edcfc09c5 79 // We are going to jog Tilt up
acodd 3:463edcfc09c5 80 case '4':
acodd 3:463edcfc09c5 81 Pan.sysjogdir = -1;
acodd 3:463edcfc09c5 82 if (Pan.moveme) {
acodd 3:463edcfc09c5 83 //pc.printf("\n\r Moving stop");
acodd 3:463edcfc09c5 84 Pan.moveme = false;
acodd 3:463edcfc09c5 85 } else {
acodd 3:463edcfc09c5 86 //pc.printf("\n\r Moving Start");
acodd 3:463edcfc09c5 87 Pan.moveme = true;
acodd 3:463edcfc09c5 88 }
acodd 3:463edcfc09c5 89 break;
acodd 3:463edcfc09c5 90 // We are going to jog Tilt down
acodd 3:463edcfc09c5 91 case '6':
acodd 3:463edcfc09c5 92 Pan.sysjogdir = 1;
acodd 3:463edcfc09c5 93 if (Pan.moveme) {
acodd 3:463edcfc09c5 94 //pc.printf("\n\r Moving stop");
acodd 3:463edcfc09c5 95 Pan.moveme = false;
acodd 3:463edcfc09c5 96 } else {
acodd 3:463edcfc09c5 97 //pc.printf("\n\r Moving Start");
acodd 3:463edcfc09c5 98 Pan.moveme = true;
acodd 3:463edcfc09c5 99 }
acodd 3:463edcfc09c5 100 break;
acodd 3:463edcfc09c5 101 // We are going to jog everything
acodd 3:463edcfc09c5 102 case '5':
acodd 3:463edcfc09c5 103 if (Pan.moveme) {
acodd 3:463edcfc09c5 104 //pc.printf("\n\r Moving stop");
acodd 3:463edcfc09c5 105 Pan.moveme = false;
acodd 3:463edcfc09c5 106 } else {
acodd 3:463edcfc09c5 107 //pc.printf("\n\r Moving Start");
acodd 3:463edcfc09c5 108 Pan.moveme = true;
acodd 3:463edcfc09c5 109 }
acodd 3:463edcfc09c5 110 if (Tilt.moveme) {
acodd 3:463edcfc09c5 111 //pc.printf("\n\r Moving stop");
acodd 3:463edcfc09c5 112 Tilt.moveme = false;
acodd 3:463edcfc09c5 113 } else {
acodd 3:463edcfc09c5 114 //pc.printf("\n\r Moving Start");
acodd 3:463edcfc09c5 115 Tilt.moveme = true;
acodd 3:463edcfc09c5 116 }
acodd 3:463edcfc09c5 117 break;
acodd 3:463edcfc09c5 118 // We are going to toggle all directions
acodd 3:463edcfc09c5 119 case 'd':
acodd 3:463edcfc09c5 120 Pan.sysjogdir = -Pan.sysjogdir;
acodd 3:463edcfc09c5 121 Tilt.sysjogdir = -Tilt.sysjogdir;
acodd 3:463edcfc09c5 122 break;
acodd 3:463edcfc09c5 123
acodd 3:463edcfc09c5 124 // Turn on Potentiometer control:
acodd 3:463edcfc09c5 125 case 't':
acodd 3:463edcfc09c5 126 if (!sinusoid) {
acodd 3:463edcfc09c5 127 pc.printf("\n\r Running sinusoid test");
acodd 3:463edcfc09c5 128 sinusoid = true;
acodd 3:463edcfc09c5 129 } else {
acodd 3:463edcfc09c5 130 sinusoid = false;
acodd 3:463edcfc09c5 131 }
acodd 3:463edcfc09c5 132 break;
acodd 3:463edcfc09c5 133 // We are going to set the Motor gain
acodd 3:463edcfc09c5 134 case 'g':
acodd 3:463edcfc09c5 135 pc.printf("\n\r Enter a new Motor Kp gain x 1000: ");
acodd 3:463edcfc09c5 136 //key = pc.getc();
acodd 3:463edcfc09c5 137 do {
acodd 3:463edcfc09c5 138 key = pc.getc(); // Wait for a keypress
acodd 3:463edcfc09c5 139 if(key >= '0' && key <= '9') { // Check it is a number
acodd 3:463edcfc09c5 140 value *= 10; // Index the old number
acodd 3:463edcfc09c5 141 value += (key - '0'); // Add on the new number
acodd 3:463edcfc09c5 142 pc.printf("%c",key); // Display the new number
acodd 3:463edcfc09c5 143 }
acodd 3:463edcfc09c5 144 } while(key != 0x0D);
acodd 3:463edcfc09c5 145 Pan.Kp = value;
acodd 3:463edcfc09c5 146 Pan.Kp = Pan.Kp / 1000;
acodd 3:463edcfc09c5 147 Tilt.Kp = Pan.Kp;
acodd 3:463edcfc09c5 148 //PanVelocityPID.setKp(Kp/1000);
acodd 3:463edcfc09c5 149 pc.printf("\n\r");
acodd 3:463edcfc09c5 150 break;
acodd 3:463edcfc09c5 151 // We are going to set the System gain
acodd 3:463edcfc09c5 152 case 'h':
acodd 3:463edcfc09c5 153 pc.printf("\n\r Enter a new System Sys_Kp gain x 10000: ");
acodd 3:463edcfc09c5 154 //key = pc.getc();
acodd 3:463edcfc09c5 155 do {
acodd 3:463edcfc09c5 156 key = pc.getc(); // Wait for a keypress
acodd 3:463edcfc09c5 157 if(key >= '0' && key <= '9') { // Check it is a number
acodd 3:463edcfc09c5 158 value *= 10; // Index the old number
acodd 3:463edcfc09c5 159 value += (key - '0'); // Add on the new number
acodd 3:463edcfc09c5 160 pc.printf("%c",key); // Display the new number
acodd 3:463edcfc09c5 161 }
acodd 3:463edcfc09c5 162 } while(key != 0x0D);
acodd 3:463edcfc09c5 163 Pan.Kp_Sys = value;
acodd 3:463edcfc09c5 164 Pan.Kp_Sys = Pan.Kp_Sys / 10000;
acodd 3:463edcfc09c5 165 Tilt.Kp_Sys = Pan.Kp_Sys;
acodd 3:463edcfc09c5 166 //PanVelocityPID.setKp(Kp/1000);
acodd 3:463edcfc09c5 167 pc.printf("\n\r");
acodd 3:463edcfc09c5 168 break;
acodd 3:463edcfc09c5 169 // We are going to confirm what the gain is
acodd 3:463edcfc09c5 170 case 'f':
acodd 3:463edcfc09c5 171 //Kp = PanVelocityPID.getKp();
acodd 3:463edcfc09c5 172 pc.printf("\n\r Kp = %f, Kff = %f, Kp_Sys = %f, Kff_Sys = %f, Ratio = %f, c_stationary = %f, c_moving = %f, Jog_2 = %f \n\r", Pan.Kp,Pan.Kff,Pan.Kp_Sys,Pan.Kff_Sys,Pan.ratio,Pan.c_stationary, Pan.c_moving, Pan.Jog_2);
acodd 3:463edcfc09c5 173 break;
acodd 3:463edcfc09c5 174
acodd 3:463edcfc09c5 175 // We are going to set the Jog_2 Value:
acodd 3:463edcfc09c5 176 case '3':
acodd 3:463edcfc09c5 177 pc.printf("\n\r Enter a new Jog_2 value: ");
acodd 3:463edcfc09c5 178 //key = pc.getc();
acodd 3:463edcfc09c5 179 do {
acodd 3:463edcfc09c5 180 key = pc.getc(); // Wait for a keypress
acodd 3:463edcfc09c5 181 if(key >= '0' && key <= '9') { // Check it is a number
acodd 3:463edcfc09c5 182 value *= 10; // Index the old number
acodd 3:463edcfc09c5 183 value += (key - '0'); // Add on the new number
acodd 3:463edcfc09c5 184 pc.printf("%c",key); // Display the new number
acodd 3:463edcfc09c5 185 }
acodd 3:463edcfc09c5 186 } while(key != 0x0D);
acodd 3:463edcfc09c5 187 Pan.Jog_2 = value;
acodd 3:463edcfc09c5 188 pc.printf("\n\r");
acodd 3:463edcfc09c5 189 break;
acodd 3:463edcfc09c5 190 // We are going to set the new threshold:
acodd 3:463edcfc09c5 191 case '1':
acodd 3:463edcfc09c5 192 pc.printf("\n\r Enter a new gearbox ratio: ");
acodd 3:463edcfc09c5 193 //key = pc.getc();
acodd 3:463edcfc09c5 194 do {
acodd 3:463edcfc09c5 195 key = pc.getc(); // Wait for a keypress
acodd 3:463edcfc09c5 196 if(key >= '0' && key <= '9') { // Check it is a number
acodd 3:463edcfc09c5 197 value *= 10; // Index the old number
acodd 3:463edcfc09c5 198 value += (key - '0'); // Add on the new number
acodd 3:463edcfc09c5 199 pc.printf("%c",key); // Display the new number
acodd 3:463edcfc09c5 200 }
acodd 3:463edcfc09c5 201 } while(key != 0x0D);
acodd 3:463edcfc09c5 202 Pan.ratio = value;
acodd 3:463edcfc09c5 203 pc.printf("\n\r");
acodd 3:463edcfc09c5 204 break;
acodd 3:463edcfc09c5 205 // We are going to set the Kff gain
acodd 3:463edcfc09c5 206 case 'w':
acodd 3:463edcfc09c5 207 pc.printf("\n\r Enter a new Kff gain x 100: ");
acodd 3:463edcfc09c5 208 //key = pc.getc();
acodd 3:463edcfc09c5 209 do {
acodd 3:463edcfc09c5 210 key = pc.getc(); // Wait for a keypress
acodd 3:463edcfc09c5 211 if(key >= '0' && key <= '9') { // Check it is a number
acodd 3:463edcfc09c5 212 value *= 10; // Index the old number
acodd 3:463edcfc09c5 213 value += (key - '0'); // Add on the new number
acodd 3:463edcfc09c5 214 pc.printf("%c",key); // Display the new number
acodd 3:463edcfc09c5 215 }
acodd 3:463edcfc09c5 216 } while(key != 0x0D);
acodd 3:463edcfc09c5 217 Pan.Kff = value;
acodd 3:463edcfc09c5 218 Pan.Kff = Pan.Kff / 100;
acodd 3:463edcfc09c5 219 pc.printf("\n\r");
acodd 3:463edcfc09c5 220 break;
acodd 3:463edcfc09c5 221 // We are going to set the dead band for the Motor PWM
acodd 3:463edcfc09c5 222 case 'k':
acodd 3:463edcfc09c5 223 pc.printf("\n\r Enter a new Kff_Sys x 100: ");
acodd 3:463edcfc09c5 224 //key = pc.getc();
acodd 3:463edcfc09c5 225 do {
acodd 3:463edcfc09c5 226 key = pc.getc(); // Wait for a keypress
acodd 3:463edcfc09c5 227 if(key >= '0' && key <= '9') { // Check it is a number
acodd 3:463edcfc09c5 228 value *= 10; // Index the old number
acodd 3:463edcfc09c5 229 value += (key - '0'); // Add on the new number
acodd 3:463edcfc09c5 230 pc.printf("%c",key); // Display the new number
acodd 3:463edcfc09c5 231 }
acodd 3:463edcfc09c5 232 } while(key != 0x0D);
acodd 3:463edcfc09c5 233 temp = value;
acodd 3:463edcfc09c5 234 Pan.Kff_Sys = temp / 100;
acodd 3:463edcfc09c5 235 pc.printf("\n\r");
acodd 3:463edcfc09c5 236 break;
acodd 3:463edcfc09c5 237 // We are going to set a stationary c value
acodd 3:463edcfc09c5 238 case 'c':
acodd 3:463edcfc09c5 239 pc.printf("\n\r Enter a new stationary c value: ");
acodd 3:463edcfc09c5 240 //key = pc.getc();
acodd 3:463edcfc09c5 241 do {
acodd 3:463edcfc09c5 242 key = pc.getc(); // Wait for a keypress
acodd 3:463edcfc09c5 243 if(key >= '0' && key <= '9') { // Check it is a number
acodd 3:463edcfc09c5 244 value *= 10; // Index the old number
acodd 3:463edcfc09c5 245 value += (key - '0'); // Add on the new number
acodd 3:463edcfc09c5 246 pc.printf("%c",key); // Display the new number
acodd 3:463edcfc09c5 247 }
acodd 3:463edcfc09c5 248 } while(key != 0x0D);
acodd 3:463edcfc09c5 249 Pan.c_stationary = value;
acodd 3:463edcfc09c5 250 pc.printf("\n\r");
acodd 3:463edcfc09c5 251 break;
acodd 3:463edcfc09c5 252 // We are going to set a moving b value
acodd 3:463edcfc09c5 253 case 'b':
acodd 3:463edcfc09c5 254 pc.printf("\n\r Enter a new moving c value: ");
acodd 3:463edcfc09c5 255 //key = pc.getc();
acodd 3:463edcfc09c5 256 do {
acodd 3:463edcfc09c5 257 key = pc.getc(); // Wait for a keypress
acodd 3:463edcfc09c5 258 if(key >= '0' && key <= '9') { // Check it is a number
acodd 3:463edcfc09c5 259 value *= 10; // Index the old number
acodd 3:463edcfc09c5 260 value += (key - '0'); // Add on the new number
acodd 3:463edcfc09c5 261 pc.printf("%c",key); // Display the new number
acodd 3:463edcfc09c5 262 }
acodd 3:463edcfc09c5 263 } while(key != 0x0D);
acodd 3:463edcfc09c5 264 Pan.c_moving = value;
acodd 3:463edcfc09c5 265 pc.printf("\n\r");
acodd 3:463edcfc09c5 266 break;
acodd 3:463edcfc09c5 267 // Set a jog speed
acodd 3:463edcfc09c5 268 case 'j':
acodd 3:463edcfc09c5 269 pc.printf("\n\r Set Jog PAN speed (Deg/s) x100 ");
acodd 3:463edcfc09c5 270 //key = pc.getc();
acodd 3:463edcfc09c5 271 do {
acodd 3:463edcfc09c5 272 key = pc.getc(); // Wait for a keypress
acodd 3:463edcfc09c5 273 if(key >= '0' && key <= '9') { // Check it is a number
acodd 3:463edcfc09c5 274 value *= 10; // Index the old number
acodd 3:463edcfc09c5 275 value += (key - '0'); // Add on the new number
acodd 3:463edcfc09c5 276 pc.printf("%c",key); // Display the new number
acodd 3:463edcfc09c5 277 }
acodd 3:463edcfc09c5 278 } while(key != 0x0D);
acodd 3:463edcfc09c5 279 Pan.jog = value;
acodd 3:463edcfc09c5 280 Pan.jog = (Pan.jog * 0.0145);
acodd 3:463edcfc09c5 281 pc.printf("\n\r");
acodd 3:463edcfc09c5 282 break;
acodd 3:463edcfc09c5 283 // Set a jog speed
acodd 3:463edcfc09c5 284 case 'm':
acodd 3:463edcfc09c5 285 pc.printf("\n\r Set Jog TILT speed (Deg/s) x100 ");
acodd 3:463edcfc09c5 286 //key = pc.getc();
acodd 3:463edcfc09c5 287 do {
acodd 3:463edcfc09c5 288 key = pc.getc(); // Wait for a keypress
acodd 3:463edcfc09c5 289 if(key >= '0' && key <= '9') { // Check it is a number
acodd 3:463edcfc09c5 290 value *= 10; // Index the old number
acodd 3:463edcfc09c5 291 value += (key - '0'); // Add on the new number
acodd 3:463edcfc09c5 292 pc.printf("%c",key); // Display the new number
acodd 3:463edcfc09c5 293 }
acodd 3:463edcfc09c5 294 } while(key != 0x0D);
acodd 3:463edcfc09c5 295 Tilt.jog = value;
acodd 3:463edcfc09c5 296 Tilt.jog = (Tilt.jog * 0.0145);
acodd 3:463edcfc09c5 297 pc.printf("\n\r");
acodd 3:463edcfc09c5 298 break;
acodd 3:463edcfc09c5 299 // Set the jog function to cycle to a stop
acodd 3:463edcfc09c5 300 case 'z':
acodd 3:463edcfc09c5 301 pc.printf("\n\r Set to ramp to stop \n\r");
acodd 3:463edcfc09c5 302 Pan.ramp = Pan.jog / jogaccel_time;
acodd 3:463edcfc09c5 303 Pan.run_count_jog = 0;
acodd 3:463edcfc09c5 304 scope_time = 0;
acodd 3:463edcfc09c5 305 Pan.setramp = true;
acodd 3:463edcfc09c5 306 break;
acodd 3:463edcfc09c5 307 // Set a Fade like move
acodd 3:463edcfc09c5 308 case 'x':
acodd 3:463edcfc09c5 309 pc.printf("\n\r Set to Fade like move \n\r");
acodd 3:463edcfc09c5 310 Pan.ramp = Pan.jog / jogaccel_time;
acodd 3:463edcfc09c5 311 Pan.run_count_jog = 0;
acodd 3:463edcfc09c5 312 scope_time = 0;
acodd 3:463edcfc09c5 313 Pan.setramp_x = true;
acodd 3:463edcfc09c5 314
acodd 3:463edcfc09c5 315 Tilt.ramp = Tilt.jog / jogaccel_time;
acodd 3:463edcfc09c5 316 Tilt.run_count_jog = 0;
acodd 3:463edcfc09c5 317 scope_time = 0;
acodd 3:463edcfc09c5 318 Tilt.setramp_x = true;
acodd 3:463edcfc09c5 319 break;
acodd 3:463edcfc09c5 320 // Set a jog acceleration
acodd 3:463edcfc09c5 321 case 'a':
acodd 3:463edcfc09c5 322 pc.printf("\n\r Set ramp jogaccel_time, (ms) ");
acodd 3:463edcfc09c5 323 //key = pc.getc();
acodd 3:463edcfc09c5 324 do {
acodd 3:463edcfc09c5 325 key = pc.getc(); // Wait for a keypress
acodd 3:463edcfc09c5 326 if(key >= '0' && key <= '9') { // Check it is a number
acodd 3:463edcfc09c5 327 value *= 10; // Index the old number
acodd 3:463edcfc09c5 328 value += (key - '0'); // Add on the new number
acodd 3:463edcfc09c5 329 pc.printf("%c",key); // Display the new number
acodd 3:463edcfc09c5 330 }
acodd 3:463edcfc09c5 331 } while(key != 0x0D);
acodd 3:463edcfc09c5 332 temp = value;
acodd 3:463edcfc09c5 333 jogaccel_time = temp;
acodd 3:463edcfc09c5 334 //ramp = ramp / 1000;
acodd 3:463edcfc09c5 335 pc.printf("\n\r");
acodd 3:463edcfc09c5 336 break;
acodd 3:463edcfc09c5 337 // Prime the scope tool
acodd 3:463edcfc09c5 338 case 'p':
acodd 3:463edcfc09c5 339 pc.printf("\n\r Prime the scope tool \n\r");
acodd 3:463edcfc09c5 340 primed = true;
acodd 3:463edcfc09c5 341 break;
acodd 3:463edcfc09c5 342 }
acodd 3:463edcfc09c5 343 return(1);
acodd 3:463edcfc09c5 344 }
acodd 3:463edcfc09c5 345
acodd 3:463edcfc09c5 346
acodd 3:463edcfc09c5 347
acodd 3:463edcfc09c5 348
acodd 3:463edcfc09c5 349