Differences

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--- the_quimdc_command_line_interface [2019/07/16 14:11] – [Save parameters] ddecoeyer
+++ the_quimdc_command_line_interface [2022/06/21 15:24] – [Operational Mode] cbernier
@@ Line 23: / Line 23: @@
 Display the list of all available commands except debug commands with their syntax.
 <code>
->help
+> help
-- motor_reset_position <int>
+    - motor_reset_position <int>
-- srst
+    - help
-- rword <int>
+    - srst
-- loop_mesurement [<motor>] [<int value>]
+    - rword <int>
-- ref_pwm [<motor>] [<int value>]
+    - set_echo <int>
-- ref_speed [<motor>] [<int value>]
+    - loop_mesurement [<motor>] [<int>]
-- ref_position [<motor>] [<int value>]
+    - ref_pwm [<motor>] [<int>] [<int>]
-- ref_current [<motor>] [<int value>]
+    - ref_speed [<motor>] [<int>] [<int>]
-- encoder_motor [<motor>]
+    - ref_position [<motor>] [<int>] [<int>]
-- current_motor [<motor>]
+    - ref_current [<motor>] [<int>] [<int>]
-- speed_motor [<motor>]
+    - encoder_motor [<motor>]
-- pwm_motor [<motor>]
+    - current_motor [<motor>]
-- motor_watchdog_value [<int value>]
+    - speed_motor [<motor>]
-- speed_pid_p [<motor>] [<int value>]
+    - pwm_motor [<motor>]
-- speed_pid_i [<motor>] [<int value>]
+    - motor_watchdog_value [<int>]
-- speed_pid_d [<motor>] [<int value>]
+    - speed_pid_p [<motor>] [<int>]
-- speed_pid_do [<motor>] [<int value>]
+    - speed_pid_i [<motor>] [<int>]
-- speed_pid_fixed_point_divider [<motor>] [<int value>]
+    - speed_pid_d [<motor>] [<int>]
-- speed_pid_uIAntiWU_Limit [<motor>] [<int value>]
+    - speed_pid_do [<motor>] [<int>]
-- current_pid_p [<motor>] [<int value>]
+    - speed_pid_fixed_point_divider [<motor>] [<uint>]
-- current_pid_i [<motor>] [<int value>]
+    - speed_pid_uIAntiWU_Limit [<motor>] [<uint>]
-- current_pid_d [<motor>] [<int value>]
+    - current_pid_p [<motor>] [<int>]
-- current_pid_do [<motor>] [<int value>]
+    - current_pid_i [<motor>] [<int>]
-- current_pid_fixed_point_divider [<motor>] [<int value>]
+    - current_pid_d [<motor>] [<int>]
-- current_pid_uIAntiWU_Limit [<motor>] [<int value>]
+    - current_pid_do [<motor>] [<int>]
-- position_pid_p [<motor>] [<int value>]
+    - current_pid_fixed_point_divider [<motor>] [<uint>]
-- position_pid_i [<motor>] [<int value>]
+    - current_pid_uIAntiWU_Limit [<motor>] [<uint>]
-- position_pid_d [<motor>] [<int value>]
+    - position_pid_p [<motor>] [<int>]
-- position_pid_do [<motor>] [<int value>]
+    - position_pid_i [<motor>] [<int>]
-- position_pid_fixed_point_divider [<motor>] [<int value>]
+    - position_pid_d [<motor>] [<int>]
-- position_pid_uIAntiWU_Limit [<motor>] [<int value>]
+    - position_pid_do [<motor>] [<int>]
-- pwmDutyMax [<motor>] [<int value>]
+    - position_pid_fixed_point_divider [<motor>] [<uint>]
-- bemf_compensation [<motor>] [<int value>]
+    - position_pid_uIAntiWU_Limit [<motor>] [<uint>]
-- loop_function [<motor>] [<int value>]
+    - pwm_duty_max [<motor>] [<uint>]
-- ticks_per_turn_motor [<motor>] [<int value>]
+    - bemf_compensation [<motor>] [<uint>]
-- resistance_motor [<motor>] [<float value>]
+    - minimal_speed [<motor>] [<uint>]
-- kv_motor [<motor>] [<float value>]
+    - offset_current_start [<motor>] [<uint>]
-- nominal_power_voltage [<motor>] [<float value>]
+    - loop_function [<motor>] [<int>]
-- polarity [<motor>] [<int value>]
+    - ticks_per_turn_motor [<motor>] [<int>]
-- position_speed_period [<motor>] [<int value>]
+    - resistance_motor [<motor>] [<float>]
-- print_board_states
+    - kv_motor [<motor>] [<float>]
-- enterOperationalMode
+    - nominal_power_voltage [<motor>] [<float>]
-- leaveOperationalMode
+    - polarity [<motor>] [<int>]
-- startAutoPublish [<motor>] [<int value>]
+    - position_speed_period [<motor>] [<int>]
-- stopAutoPublish [<motor>]
+    - print_board_states
-- save_parameters_to_flash
+    - enter_operational_mode
-- load_parameters_from_flash
+    - leave_operational_mode
-- erase_flash
+    - publish_freq [<motor>] [<int>]
-- help
+    - emergency_stop [<motor>] [<int>]
+    - homing [<motor>] [<int>]
+    - print_gpio_list
+    - print_gpio [<motor>] [<str>]
+    - freeWheelGpio [<motor>] [<str>]
+    - homingGpio [<motor>] [<str>]
+    - negLimitSwitchGpio [<motor>] [<str>]
+    - posLimitSwitchGpio [<motor>] [<str>]
+    - is_homing_done [<motor>]
+    - invertNegLimitSwitchGpio [<motor>] [<uint>]
+    - invertPosLimitSwitchGpio [<motor>] [<uint>]
+    - invertHomingGpio [<motor>] [<uint>]
+    - max_position_error [<motor>] [<uint>]
+    - pwm_offset [<motor>] [<uint>]
+    - acceleration_period [<motor>] [<uint>]
+    - deceleration_limit [<motor>] [<uint>]
+    - acceleration_limit [<motor>] [<uint>]
+    - max_current [<motor>] [<uint>]
+    - max_speed [<motor>] [<uint>]
+    - save_parameters_to_flash
+    - load_parameters_from_flash
+    - erase_flash
+    - spi_xfer_dbg <int> <int> <int>
+    - spi_xfer8_dbg <int> <int>
+    - spi_xfer16_dbg <int> <int>
+    - board_brake [<motor>] [<int>]
+    - board_getAllExtEncPin <int>
+    - board_printSupplyVoltage
+    - board_sleep <int>
+    - board_reset <int>
+    - board_printDriverFault
+    - board_resetDriver
+    - board_setRightMotorPwm <int>
+    - board_motorControl <int>
+    - board_activateDrivers <int>
+    - board_getCurrent <int>
+    - board_seeCurrent
+    - board_getMotorEnc <int>
+    - config_DriverParam
+    - com_spi <int> <int> <int>
 </code>
@@ Line 126: / Line 165: @@
 To enter operational mode use :
 <code>
->enterOperationalMode
+>enter_Operational_Mode
 </code>
 To leave operational mode use :
 <code>
->leaveOperationalMode
+>leave_Operational_Mode
 </code>
 ----
+==== 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 :
+<code>
+>startAutoPublish [<motor>] [<int frequency>]
+</code>
+To disable auto-publishing mode, use :
+<code>
+>stopAutoPublish [<motor>]
+</code>
+----
 ==== Motor Parameters ====
 === Getter and Setter ===