Bayley Wang / Mbed 2 deprecated foc-ed_in_the_bot_compact

robot

Dependencies:   FastPWM3 mbed

COMMANDS.txt@252:38644631ed97, 2018-11-13 (annotated)

Committer:
bwang
Date:
Tue Nov 13 17:46:23 2018 +0000
Revision:
252:38644631ed97
Parent:
249:314c1b12d9c2 
11/13/2018 12:45 - hitting <return> on empty line prints "\r>", so that hitting enter after intially connecting to the controller generates a prompt

Who changed what in which revision?

UserRevisionLine numberNew contents of line
bwang 248:c4539ee69052 1 MODE SWITCHING
bwang 248:c4539ee69052 2
bwang 248:c4539ee69052 3 run: puts the controller in RUN mode
bwang 248:c4539ee69052 4 cfg: puts the controller in CONFIG mode - necessary to run some commands
bwang 248:c4539ee69052 5 zero: zeroes encoder, loading result into POS_OFFSET
bwang 248:c4539ee69052 6 wizard: motor characterization, unimplemented.
bwang 248:c4539ee69052 7
bwang 248:c4539ee69052 8 mode <run | cfg | zero | wizard>: same as above
bwang 248:c4539ee69052 9
bwang 248:c4539ee69052 10 src <rc | analog | terminal | serial | can | internal>: sets control source
bwang 248:c4539ee69052 11
bwang 248:c4539ee69052 12 op <torque | driving | speed | position>: sets operation. user command maps to percent max torque, speed, or position.
bwang 248:c4539ee69052 13
bwang 248:c4539ee69052 14 setp <value>: sets user command
bwang 248:c4539ee69052 15
bwang 248:c4539ee69052 16 SETTING AND GETTING PARAMETERS
bwang 248:c4539ee69052 17
bwang 248:c4539ee69052 18 ls: list all flash-stored parameters and values
bwang 248:c4539ee69052 19 ls <param name>: print the value of one parameter
bwang 248:c4539ee69052 20 get <param_name>: same as ls
bwang 248:c4539ee69052 21
bwang 248:c4539ee69052 22 load | reload: reload all parameters from flash
bwang 248:c4539ee69052 23 flush: write current working parameter set to flash
bwang 248:c4539ee69052 24
bwang 248:c4539ee69052 25 set <param_name> <value>: sets a parameter; new value is used immediately
bwang 248:c4539ee69052 26
bwang 248:c4539ee69052 27 query <w | cmd | d | q | d_ref | q_ref | vd | vq | tq | ia | ib | ic>: displays a variable
bwang 248:c4539ee69052 28 query errors: displays error status
bwang 248:c4539ee69052 29
bwang 248:c4539ee69052 30 MISC
bwang 248:c4539ee69052 31
bwang 248:c4539ee69052 32 clear: clears screen on compliant terminals
bwang 248:c4539ee69052 33 exit: same as run
bwang 248:c4539ee69052 34
bwang 248:c4539ee69052 35 FAST COMMANDS:
bwang 248:c4539ee69052 36
bwang 248:c4539ee69052 37 These are non-printable commands that execute much faster than their printable equivalents
bwang 248:c4539ee69052 38
bwang 248:c4539ee69052 39 [128] [value]: sets user command to (value - 127) / 128
bwang 249:314c1b12d9c2 40 [129]: returns velocity as a signed 16-bit int
bwang 248:c4539ee69052 41 [130]: sends back one logger data packet, containing useful information about current controller state