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doc - Additional states and control modes

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camrbuss
2020-02-27 21:39:54 -07:00
parent 1c9476318b
commit d2239d15b6
2 changed files with 9 additions and 3 deletions
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.gitignore
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@@ -37,7 +37,7 @@ target/
.tup
tup.config
/ruby-bundle
/_site
/.bundle
docs/ruby-bundle
docs/_site
docs/.bundle
docs/commands.md
+6
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@@ -36,6 +36,11 @@ The current state of an axis is indicated by `<axis>.current_state`. The user ca
8. `AXIS_STATE_CLOSED_LOOP_CONTROL` Run closed loop control.
* The action depends on the [control mode](#control-mode).
* Can only be entered if the motor is calibrated (`<axis>.motor.is_calibrated`) and the encoder is ready (`<axis>.encoder.is_ready`).
9. `AXIS_STATE_LOCKIN_SPIN` Run lockin spin.
* Can only be entered if the motor is calibrated (`<axis>.motor.is_calibrated`) or the motor direction is unspecified (`<axis>.motor.config.direction == 1`)
10. `AXIS_STATE_ENCODER_DIR_FIND` Run encoder direction search.
* Can only be entered if the motor is calibrated (`<axis>.motor.is_calibrated`).
### Startup Procedure
@@ -58,6 +63,7 @@ Possible values are:
* `CTRL_MODE_POSITION_CONTROL`
* `CTRL_MODE_VELOCITY_CONTROL`
* `CTRL_MODE_CURRENT_CONTROL`
* `CTRL_MODE_TRAJECTORY_CONTROL`
* `CTRL_MODE_VOLTAGE_CONTROL` - this one is not normally used.
# Control Commands