Bayley Wang
/
foc-ed_in_the_bot_compact
robot
COMMANDS.txt@249:314c1b12d9c2, 2018-11-13 (annotated)
- Committer:
- bwang
- Date:
- Tue Nov 13 17:23:50 2018 +0000
- Revision:
- 249:314c1b12d9c2
- Parent:
- Transforms/COMMANDS.txt@248:c4539ee69052
11/13/2018 12:33 - changes to rxCallback() - fast commands no longer print "\r>" after completion; non-ASCII chars are no longer echoed
Who changed what in which revision?
User | Revision | Line number | New 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 |