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Add argument to motor testing commands for specifying thrust

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This commit is contained in:
Oleg Kalachev
2026-07-02 22:22:33 +03:00
parent 26a0dd65be
commit 1ae85ff118
3 changed files with 8 additions and 8 deletions
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flix/cli.ino
+5 -5
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@@ -51,7 +51,7 @@ const char* motd =
"espnow <mac> [<key>] - configure ESP-NOW peer\n" "espnow <mac> [<key>] - configure ESP-NOW peer\n"
"mot - show motor output\n" "mot - show motor output\n"
"log [dump] - print log header [and data]\n" "log [dump] - print log header [and data]\n"
"mfr, mfl, mrr, mrl - test motor (remove props)\n" "mfr/mfl/mrr/mrl [<thrust>] - test motor (remove props)\n"
"sys - show system info\n" "sys - show system info\n"
"reset - reset drone's state\n" "reset - reset drone's state\n"
"reboot - reboot the drone\n"; "reboot - reboot the drone\n";
@@ -161,13 +161,13 @@ void doCommand(String str, bool echo = false) {
} else if (command == "ca") { } else if (command == "ca") {
calibrateAccel(); calibrateAccel();
} else if (command == "mfr") { } else if (command == "mfr") {
testMotor(MOTOR_FRONT_RIGHT); testMotor(MOTOR_FRONT_RIGHT, arg0.isEmpty() ? 0.2 : arg0.toFloat());
} else if (command == "mfl") { } else if (command == "mfl") {
testMotor(MOTOR_FRONT_LEFT); testMotor(MOTOR_FRONT_LEFT, arg0.isEmpty() ? 0.2 : arg0.toFloat());
} else if (command == "mrr") { } else if (command == "mrr") {
testMotor(MOTOR_REAR_RIGHT); testMotor(MOTOR_REAR_RIGHT, arg0.isEmpty() ? 0.2 : arg0.toFloat());
} else if (command == "mrl") { } else if (command == "mrl") {
testMotor(MOTOR_REAR_LEFT); testMotor(MOTOR_REAR_LEFT, arg0.isEmpty() ? 0.2 : arg0.toFloat());
} else if (command == "sys") { } else if (command == "sys") {
#ifdef ESP32 #ifdef ESP32
print("Chip: %s\n", ESP.getChipModel()); print("Chip: %s\n", ESP.getChipModel());
flix/motors.ino
+2 -2
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@@ -51,9 +51,9 @@ bool motorsActive() {
return motors[0] != 0 || motors[1] != 0 || motors[2] != 0 || motors[3] != 0; return motors[0] != 0 || motors[1] != 0 || motors[2] != 0 || motors[3] != 0;
} }
void testMotor(int n) { void testMotor(int n, float thrust) {
print("Testing motor %d\n", n); print("Testing motor %d\n", n);
motors[n] = 0.2; motors[n] = thrust;
delay(50); // ESP32 may need to wait until the end of the current cycle to change duty https://github.com/espressif/arduino-esp32/issues/5306 delay(50); // ESP32 may need to wait until the end of the current cycle to change duty https://github.com/espressif/arduino-esp32/issues/5306
sendMotors(); sendMotors();
pause(3); pause(3);
gazebo/flix.h
+1 -1
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@@ -38,7 +38,7 @@ const char* getModeName();
void sendMotors(); void sendMotors();
int getDutyCycle(float value); int getDutyCycle(float value);
bool motorsActive(); bool motorsActive();
void testMotor(int n); void testMotor(int, float);
void print(const char* format, ...); void print(const char* format, ...);
void pause(float duration); void pause(float duration);
void doCommand(String str, bool echo); void doCommand(String str, bool echo);