the_quimdc_command_line_interface
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| Both sides previous revisionPrevious revisionNext revision | Previous revision | ||
| the_quimdc_command_line_interface [2018/05/22 10:33] – external edit 127.0.0.1 | the_quimdc_command_line_interface [2022/06/24 11:50] (current) – [Data Publication] cbernier | ||
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| Line 23: | Line 23: | ||
| Display the list of all available commands except debug commands with their syntax. | Display the list of all available commands except debug commands with their syntax. | ||
| < | < | ||
| - | >help | + | > help |
| - | - ref_speed [< | + | - motor_reset_position < |
| - | - ref_position [< | + | - help |
| - | - ref_current [< | + | - srst |
| - | - encoder_motor [< | + | - rword < |
| - | - current_motor [< | + | - set_echo < |
| - | - speed_motor [< | + | - loop_mesurement [< |
| - | - motor_watchdog_value [<value>] | + | - ref_pwm [< |
| - | - speed_pid_p [< | + | |
| - | - speed_pid_i [< | + | - ref_position [< |
| - | - speed_pid_d [< | + | - ref_current [< |
| - | - speed_pid_do [< | + | - encoder_motor [< |
| - | - speed_pid_fixed_point_divider [< | + | - current_motor [< |
| - | - speed_pid_uIAntiWU_Limit [< | + | - speed_motor [< |
| - | - current_pid_p [< | + | - pwm_motor [< |
| - | - current_pid_i [< | + | |
| - | - current_pid_d [< | + | - speed_pid_p [< |
| - | - current_pid_do [< | + | - speed_pid_i [< |
| - | - current_pid_fixed_point_divider [< | + | - speed_pid_d [< |
| - | - current_pid_uIAntiWU_Limit [< | + | - speed_pid_do [< |
| - | - position_pid_p [< | + | - speed_pid_fixed_point_divider [< |
| - | - position_pid_i [< | + | - speed_pid_uIAntiWU_Limit [< |
| - | - position_pid_d [< | + | - current_pid_p [< |
| - | - position_pid_do [< | + | - current_pid_i [< |
| - | - position_pid_fixed_point_divider [< | + | - current_pid_d [< |
| - | - position_pid_uIAntiWU_Limit [< | + | - current_pid_do [< |
| - | - loop_function [< | + | - current_pid_fixed_point_divider [< |
| - | - ticks_per_turn_motor [< | + | - current_pid_uIAntiWU_Limit [< |
| - | - resistance_motor [< | + | - position_pid_p [< |
| - | - kv_motor [< | + | - position_pid_i [< |
| - | - nominal_power_voltage [< | + | - position_pid_d [< |
| - | - save_parameter_to_flash | + | - position_pid_do [< |
| - | - polarity [< | + | - position_pid_fixed_point_divider [< |
| - | - position_speed_period [< | + | - position_pid_uIAntiWU_Limit [< |
| - | - print_board_states | + | - pwm_duty_max [< |
| - | - enterOperationalMode | + | - bemf_compensation [< |
| - | - leaveOperationalMode | + | - minimal_speed [< |
| - | - help | + | - offset_current_start [< |
| + | | ||
| + | - ticks_per_turn_motor [< | ||
| + | - resistance_motor [< | ||
| + | - kv_motor [< | ||
| + | - nominal_power_voltage [< | ||
| + | - polarity [< | ||
| + | - position_speed_period [< | ||
| + | - print_board_states | ||
| + | - enter_operational_mode | ||
| + | - leave_operational_mode | ||
| + | - publish_freq [< | ||
| + | - emergency_stop [< | ||
| + | - homing [< | ||
| + | - print_gpio_list | ||
| + | - print_gpio [< | ||
| + | - freeWheelGpio [< | ||
| + | - homingGpio [< | ||
| + | - negLimitSwitchGpio [< | ||
| + | - posLimitSwitchGpio [< | ||
| + | - is_homing_done [< | ||
| + | - invertNegLimitSwitchGpio [< | ||
| + | - invertPosLimitSwitchGpio [< | ||
| + | - invertHomingGpio [< | ||
| + | - max_position_error [< | ||
| + | - pwm_offset [< | ||
| + | - acceleration_period [< | ||
| + | - deceleration_limit [< | ||
| + | - acceleration_limit [< | ||
| + | - max_current [< | ||
| + | - max_speed [< | ||
| + | - save_parameters_to_flash | ||
| + | - load_parameters_from_flash | ||
| + | - erase_flash | ||
| + | - spi_xfer_dbg <int> <int> < | ||
| + | - spi_xfer8_dbg <int> < | ||
| + | - spi_xfer16_dbg <int> < | ||
| + | - board_brake [< | ||
| + | - board_getAllExtEncPin < | ||
| + | - board_printSupplyVoltage | ||
| + | - board_sleep < | ||
| + | - board_reset < | ||
| + | - board_printDriverFault | ||
| + | - board_resetDriver | ||
| + | - board_setRightMotorPwm < | ||
| + | - board_motorControl < | ||
| + | - board_activateDrivers < | ||
| + | - board_getCurrent < | ||
| + | - board_seeCurrent | ||
| + | - board_getMotorEnc < | ||
| + | - config_DriverParam | ||
| + | - com_spi <int> <int> <int> | ||
| </ | </ | ||
| ---- | ---- | ||
| - | |||
| ==== Board States ==== | ==== Board States ==== | ||
| Line 100: | Line 150: | ||
| ==== Save parameters ==== | ==== Save parameters ==== | ||
| - | You can save the parameters using save_parameter_to_flash. | + | You can save the parameters using save_parameters_to_flash. |
| < | < | ||
| - | >save_parameter_to_flash | + | >save_parameters_to_flash |
| > | > | ||
| Line 115: | Line 165: | ||
| To enter operational mode use : | To enter operational mode use : | ||
| < | < | ||
| - | >enterOperationalMode | + | >enter_Operational_Mode |
| </ | </ | ||
| To leave operational mode use : | To leave operational mode use : | ||
| < | < | ||
| - | >leaveOperationalMode | + | >leave_Operational_Mode |
| </ | </ | ||
| ---- | ---- | ||
| + | |||
| + | ==== Data Publication ==== | ||
| + | Some information like average speed, PWM duty cycle, voltage, and current can be published periodically to the serial port. To enable this auto-publishing mode for a specific motor, use : | ||
| + | < | ||
| + | > | ||
| + | </ | ||
| + | |||
| + | To disable auto-publishing mode, use : | ||
| + | < | ||
| + | > | ||
| + | </ | ||
| + | |||
| + | ---- | ||
| + | |||
| ==== Motor Parameters ==== | ==== Motor Parameters ==== | ||
| === Getter and Setter === | === Getter and Setter === | ||
the_quimdc_command_line_interface.1526978020.txt.gz · Last modified: 2018/05/22 10:33 by 127.0.0.1