File content as of revision 252:38644631ed97:

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