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add feedback command to ascii docs

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Oskar Weigl
2019-03-22 22:57:55 -07:00
parent e795374434
commit e3a92f214d
1 changed files with 23 additions and 0 deletions
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docs/ascii-protocol.md
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@@ -86,6 +86,29 @@ c motor current
* `motor` is the motor number, `0` or `1`.
* `current` is the desired current in A.
This command updates the watchdog timer for the motor.
#### Request feedback
```
f motor
response:
pos vel
```
* `f` for feedback
* `pos` is the encoder position in counts (float)
* `vel` is the encoder velocity in counts/s (float)
#### Update motor watchdog
```
u motor
```
* `u` for /u/pdate.
* `motor` is the motor number, `0` or `1`.
This command updates the watchdog timer for the motor, without changing any
setpoints.
#### Parameter reading/writing
Not all parameters can be accessed via the ASCII protocol but at least all parameters with float and integer type are supported.