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Code Issues Wiki Activity

cleaned up cliMotor(), added MSP_SET_MOTORS and enabled CAP_DYNBALANCE so the motors can be controlled from GUI

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This commit is contained in:
dongie 2013-11-02 15:09:46 +09:00
parent d7b99e7938
commit bd8b1a1c8f
4 changed files with 45 additions and 23 deletions
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48
src/cli.c
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@ -602,6 +602,8 @@ static void cliExit(char *cmdline)
*cliBuffer = '\0';
bufferIndex = 0;
cliMode = 0;
// incase some idiot leaves a motor running during motortest, clear it here
mixerResetMotors();
// save and reboot... I think this makes the most sense
cliSave(cmdline);
}
@ -734,37 +736,45 @@ static void cliMixer(char *cmdline)
static void cliMotor(char *cmdline)
{
int motor_index;
int motor_value;
int len;
char *tmp = NULL;
char *sep = " ";
int motor_index = 0;
int motor_value = 0;
int len, index = 0;
char *pch = NULL;
len = strlen(cmdline);
tmp = strtok(cmdline, sep);
if (tmp == NULL) {
printf("Usage:\r\n");
printf("motor [index] shows the output value of one motor\r\n");
printf("motor [index] [value] sets the output value of one motor\r\n");
if (len == 0) {
printf("Usage:\r\nmotor index [value] - show [or set] motor value\r\n");
return;
}
motor_index = atoi(tmp);
pch = strtok(cmdline, " ");
while (pch != NULL) {
switch (index) {
case 0:
motor_index = atoi(pch);
break;
case 1:
motor_value = atoi(pch);
break;
}
index++;
pch = strtok(NULL, " ");
}
if (motor_index < 0 || motor_index >= MAX_MOTORS) {
printf("No such motor, use a number [0, %d]\r\n", MAX_MOTORS);
return;
}
tmp = strtok(NULL, sep);
if (tmp == NULL) {
tmp = strtok(cmdline, sep);
motor_index = atoi(tmp);
printf("Motor %d is set at %d\r\n", motor_index,
motor_disarmed[motor_index]);
if (index < 2) {
printf("Motor %d is set at %d\r\n", motor_index, motor_disarmed[motor_index]);
return;
}
if (motor_value < 1000 || motor_value > 2000) {
printf("Invalid motor value, 1000..2000\r\n");
return;
}
motor_value = atoi(tmp);
printf("Setting motor %d to %d\r\n", motor_index, motor_value);
motor_disarmed[motor_index] = motor_value;