Revision ff7ad65b devices/DiWheelDrive/main.cpp
| devices/DiWheelDrive/main.cpp | ||
|---|---|---|
| 670 | 670 |
} |
| 671 | 671 |
|
| 672 | 672 |
void shellRequestMotorCalibrate(BaseSequentialStream *chp, int argc, char *argv[]) {
|
| 673 |
global.motorcontrol.resetGains(); |
|
| 674 |
chprintf((BaseSequentialStream*)&global.sercanmux1, "motor calibration starts in five seconds...\n"); |
|
| 675 |
BaseThread::sleep(MS2ST(5000)); |
|
| 673 | 676 |
global.motorcontrol.isCalibrating = true; |
| 674 | 677 |
|
| 675 | 678 |
return; |
| ... | ... | |
| 681 | 684 |
return; |
| 682 | 685 |
} |
| 683 | 686 |
|
| 687 |
void shellRequestMotorResetGains(BaseSequentialStream *chp, int argc, char *argv[]) {
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|
| 688 |
global.motorcontrol.resetGains();; |
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| 689 |
|
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| 690 |
return; |
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| 691 |
} |
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| 692 |
|
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| 684 | 693 |
static const ShellCommand commands[] = {
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| 685 | 694 |
{"shutdown", shellRequestShutdown},
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| 686 | 695 |
{"wakeup", shellRequestWakeup},
|
| ... | ... | |
| 706 | 715 |
{"motor_stop", shellRequestMotorStop},
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| 707 | 716 |
{"motor_calibrate", shellRequestMotorCalibrate},
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| 708 | 717 |
{"motor_getGains", shellRequestMotorGetGains},
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{"motor_resetGains", shellRequestMotorResetGains},
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|
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{NULL, NULL}
|
| 710 | 720 |
}; |
| 711 | 721 |
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