Diff: Transforms/COMMANDS.txt

Revision:

249:314c1b12d9c2

Parent:

248:c4539ee69052

Child:

250:ef028cbd0749

--- a/Transforms/COMMANDS.txt	Tue Nov 13 16:21:06 2018 +0000
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,41 +0,0 @@
-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]: sends 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