Diff: COMMANDS.txt

Revision:

249:314c1b12d9c2

Parent:

248:c4539ee69052

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/COMMANDS.txt	Tue Nov 13 17:23:50 2018 +0000
@@ -0,0 +1,41 @@
+MODE SWITCHING
+
+run: puts the controller in RUN mode
+cfg: puts the controller in CONFIG mode - necessary to run some commands
+zero: zeroes encoder, loading result into POS_OFFSET
+wizard: motor characterization, unimplemented.
+
+mode <run | cfg | zero | wizard>: same as above
+
+src <rc | analog | terminal | serial | can | internal>: sets control source
+
+op <torque | driving | speed | position>: sets operation. user command maps to percent max torque, speed, or position.
+
+setp <value>: sets user command
+
+SETTING AND GETTING PARAMETERS
+
+ls: list all flash-stored parameters and values
+ls <param name>: print the value of one parameter
+get <param_name>: same as ls
+
+load | reload: reload all parameters from flash
+flush: write current working parameter set to flash
+
+set <param_name> <value>: sets a parameter; new value is used immediately
+
+query <w | cmd | d | q | d_ref | q_ref | vd | vq | tq | ia | ib | ic>: displays a variable
+query errors: displays error status
+
+MISC
+
+clear: clears screen on compliant terminals
+exit: same as run
+
+FAST COMMANDS:
+
+These are non-printable commands that execute much faster than their printable equivalents
+
+[128] [value]: sets user command to (value - 127) / 128
+[129]: returns velocity as a signed 16-bit int
+[130]: sends back one logger data packet, containing useful information about current controller state
\ No newline at end of file