Diff: hbCommand.cpp

Revision:

26:732bc37fbefd

Parent:

25:f3a6e7eec9c3

Child:

27:ff63c23bc689

--- a/hbCommand.cpp	Wed Dec 12 23:52:22 2018 +0000
+++ b/hbCommand.cpp	Thu Dec 13 12:15:35 2018 +0000
@@ -67,6 +67,16 @@
             gf_MtReq[3].bf.req=true; 
             gf_MtReq[3].bf.val=(UINT16)atoi(&g_CmdBuf[arg2pos]);
             }
+        else if (strcmp(g_CmdBuf , "smf"   )==0 ){
+            gf_MtReq[0].bf.req=true;
+            gf_MtReq[0].bf.val=(UINT16)atoi(&g_CmdBuf[arg2pos]);
+            gf_MtReq[1].bf.req=true;
+            gf_MtReq[1].bf.val=(UINT16)atoi(&g_CmdBuf[arg2pos]);}
+        else if (strcmp(g_CmdBuf , "smr"   )==0 ){
+            gf_MtReq[2].bf.req=true;
+            gf_MtReq[2].bf.val=(UINT16)atoi(&g_CmdBuf[arg2pos]);
+            gf_MtReq[3].bf.req=true;
+            gf_MtReq[3].bf.val=(UINT16)atoi(&g_CmdBuf[arg2pos]);            }
         
         //キャリブレーション
         else if (strcmp(g_CmdBuf , "calyaw")==0 ){gf_Cal.bf.yaw=true;}//
@@ -129,6 +139,11 @@
             g_MotPara[2].limit_low = atoi(&g_CmdBuf[arg2pos]);gf_MotParaUpdate[2]=true;
             g_MotPara[3].limit_low = atoi(&g_CmdBuf[arg2pos]);gf_MotParaUpdate[3]=true;
             }//モーター１~４下限値設定
+        else if (strcmp(g_CmdBuf , "rmo"  )==0 ){gf_DbgPrint.bf.mo1=true;gf_DbgPrint.bf.mo2=true;gf_DbgPrint.bf.mo3=true;gf_DbgPrint.bf.mo4=true;}//リードモーターオフセット
+        else if (strcmp(g_CmdBuf , "rmo1" )==0 ){gf_DbgPrint.bf.mo1=true;}//リードモーターオフセット1 
+        else if (strcmp(g_CmdBuf , "rmo2" )==0 ){gf_DbgPrint.bf.mo2=true;}//リードモーターオフセット2 
+        else if (strcmp(g_CmdBuf , "rmo3" )==0 ){gf_DbgPrint.bf.mo3=true;}//リードモーターオフセット3 
+        else if (strcmp(g_CmdBuf , "rmo4" )==0 ){gf_DbgPrint.bf.mo4=true;}//リードモーターオフセット4 
        
         
         //何にも引っ掛からない
@@ -154,6 +169,16 @@
             gf_MtReq[3].bf.req=true; 
             gf_MtReq[3].bf.val=(UINT16)atoi(&g_CmdBuf[arg2pos]);
             }
+        else if (strcmp(g_CmdBuf , "smf"   )==0 ){
+            gf_MtReq[0].bf.req=true;
+            gf_MtReq[0].bf.val=(UINT16)atoi(&g_CmdBuf[arg2pos]);
+            gf_MtReq[1].bf.req=true;
+            gf_MtReq[1].bf.val=(UINT16)atoi(&g_CmdBuf[arg2pos]);}
+        else if (strcmp(g_CmdBuf , "smr"   )==0 ){
+            gf_MtReq[2].bf.req=true;
+            gf_MtReq[2].bf.val=(UINT16)atoi(&g_CmdBuf[arg2pos]);
+            gf_MtReq[3].bf.req=true;
+            gf_MtReq[3].bf.val=(UINT16)atoi(&g_CmdBuf[arg2pos]);            }
         
         //キャリブレーション
         else if (strcmp(g_CmdBuf , "calyaw")==0 ){gf_Cal.bf.yaw=true;}//