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add ascii command f for feedback

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Oskar Weigl
2019-02-09 21:48:30 -08:00
parent a86fb3e59b
commit 1e4b71b67b
1 changed files with 13 additions and 0 deletions
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Firmware/communication/ascii_protocol.cpp
+13
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@@ -155,6 +155,19 @@ void ASCII_protocol_process_line(const uint8_t* buffer, size_t len, StreamSink&
axes[motor_number]->controller_.move_to_pos(goal_point);
}
} else if (cmd[0] == 'f') { // feedback
unsigned motor_number;
int numscan = sscanf(cmd, "f %u", &motor_number);
if (numscan < 1) {
respond(response_channel, use_checksum, "invalid command format");
} else if (motor_number >= AXIS_COUNT) {
respond(response_channel, use_checksum, "invalid motor %u", motor_number);
} else {
respond(response_channel, use_checksum, "%f %f",
(double)axes[motor_number]->encoder_.pos_estimate_,
(double)axes[motor_number]->encoder_.vel_estimate_);
}
} else if (cmd[0] == 'h') { // Help
respond(response_channel, use_checksum, "Please see documentation for more details");
respond(response_channel, use_checksum, "");