the_quimdc_command_line_interface
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the_quimdc_command_line_interface [2019/07/16 14:10] – [Help Command] ddecoeyer | the_quimdc_command_line_interface [2022/06/21 15:24] – [Operational Mode] cbernier | ||
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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 |
- | - motor_reset_position < | + | - motor_reset_position < |
- | - srst | + | - help |
- | - rword < | + | |
- | - loop_mesurement [< | + | - rword < |
- | - ref_pwm [< | + | - set_echo < |
- | - ref_speed [< | + | |
- | - ref_position [< | + | - ref_pwm [< |
- | - ref_current [< | + | - ref_speed [< |
- | - encoder_motor [< | + | - ref_position [< |
- | - current_motor [< | + | - ref_current [< |
- | - speed_motor [< | + | - encoder_motor [< |
- | - pwm_motor [< | + | - current_motor [< |
- | - motor_watchdog_value [< | + | - speed_motor [< |
- | - speed_pid_p [< | + | - pwm_motor [< |
- | - speed_pid_i [< | + | - motor_watchdog_value [< |
- | - speed_pid_d [< | + | - speed_pid_p [< |
- | - speed_pid_do [< | + | - speed_pid_i [< |
- | - speed_pid_fixed_point_divider [< | + | - speed_pid_d [< |
- | - speed_pid_uIAntiWU_Limit [< | + | - speed_pid_do [< |
- | - current_pid_p [< | + | - speed_pid_fixed_point_divider [< |
- | - current_pid_i [< | + | - speed_pid_uIAntiWU_Limit [< |
- | - current_pid_d [< | + | - current_pid_p [< |
- | - current_pid_do [< | + | - current_pid_i [< |
- | - current_pid_fixed_point_divider [< | + | - current_pid_d [< |
- | - current_pid_uIAntiWU_Limit [< | + | - current_pid_do [< |
- | - position_pid_p [< | + | - current_pid_fixed_point_divider [< |
- | - position_pid_i [< | + | - current_pid_uIAntiWU_Limit [< |
- | - position_pid_d [< | + | - position_pid_p [< |
- | - position_pid_do [< | + | - position_pid_i [< |
- | - position_pid_fixed_point_divider [< | + | - position_pid_d [< |
- | - position_pid_uIAntiWU_Limit [< | + | - position_pid_do [< |
- | - pwmDutyMax | + | - position_pid_fixed_point_divider [< |
- | - bemf_compensation [< | + | - position_pid_uIAntiWU_Limit [< |
- | - loop_function [< | + | - pwm_duty_max |
- | - ticks_per_turn_motor [< | + | - bemf_compensation [< |
- | - resistance_motor [< | + | - minimal_speed [< |
- | - kv_motor [< | + | - offset_current_start [< |
- | - nominal_power_voltage [< | + | - loop_function [< |
- | - polarity [< | + | - ticks_per_turn_motor [< |
- | - position_speed_period [< | + | - resistance_motor [< |
- | - print_board_states | + | - kv_motor [< |
- | - enterOperationalMode | + | - nominal_power_voltage [< |
- | - leaveOperationalMode | + | - polarity [< |
- | - startAutoPublish | + | - position_speed_period [< |
- | - stopAutoPublish | + | - print_board_states |
- | - save_parameters_to_flash | + | - enter_operational_mode |
- | - load_parameters_from_flash | + | - leave_operational_mode |
- | - erase_flash | + | - publish_freq |
- | - help | + | - 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 [< | ||
+ | | ||
+ | - 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> | ||
</ | </ | ||
Line 111: | 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 126: | 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.txt · Last modified: 2022/06/24 11:50 by cbernier