Differences

This shows you the differences between two versions of the page.

--- getting_started [2018/05/22 10:33] – external edit 127.0.0.1
+++ getting_started [2020/03/02 13:36] (current) – [Command Line Interface] tvandenbussche
@@ Line 78: / Line 78: @@
-Enter "enterOperationalMode" and use the up arrow to retrieve the "print_board_states" command and press enter.
+Enter "enter_operational_mode" and use the up arrow to retrieve the "print_board_states" command and press enter.
 <code>
->enterOperationalMode
+>enter_operational_mode
 >print_board_states
@@ Line 97: / Line 97: @@
 </code>
-There is now 'yes' beside Operational Mode, the board is in operational mode, the motor are enabled. The motors are controlled in open loop with pwm. With 128 pwm, the motors are stopped and don't move. Use the ref_speed command to set a new PWM and make the motor move.
+There is now 'yes' beside Operational Mode, the board is in operational mode, the motor are enabled.
+Take care that the motor watchdog value as a negative value to deactivate it. If the value is positive, any reference signal will be set to 0 after the watchdog duration ( in ms ) if no signal is received.
+To set the watchdog value, use the function "motor_watch_dog_value".
+In this case, the motors are controlled in open loop with the pwm. ( If it is not the case, the control can be changed with loop_function <motor> <loop_type>, for more information about the control_loops see [[control_loops]])
+With 128 pwm, the motors are stopped and don't move. Use the ref_pwm command to set a new PWM and make the motor move.
 <code>
->ref_speed 1 40
+>ref_pwm 1 40
 </code>
-The PWM send to the motor is now 128 + 40. To stop the motor use :
+The PWM send to the right motor (1 for the right one, 2 for the left one) is now 128 + 40. To stop the motor use :
 <code>
->ref_speed 1 0
+>ref_pwm 1 0
 </code>