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Use printf in cli

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This commit is contained in:
Oleg Kalachev 2023-05-23 11:52:03 +03:00
parent d3338ac90e
commit 3a05403068
1 changed files with 13 additions and 30 deletions
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43
flix/cli.ino
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@ -64,36 +64,21 @@ static void doCommand()
showTable();
} else if (command == "ps") {
Vector a = attitude.toEulerZYX();
Serial.println("roll: " + String(a.x * RAD_TO_DEG, 2) +
" pitch: " + String(a.y * RAD_TO_DEG, 2) +
" yaw: " + String(a.z * RAD_TO_DEG, 2));
Serial.printf("roll: %f pitch: %f yaw: %f\n", a.x * RAD_TO_DEG, a.y * RAD_TO_DEG, a.z * RAD_TO_DEG);
} else if (command == "psq") {
Serial.println("qx: " + String(attitude.x) +
" qy: " + String(attitude.y) +
" qz: " + String(attitude.z) +
" qw: " + String(attitude.w));
Serial.printf("qx: %f qy: %f qz: %f qw: %f\n", attitude.x, attitude.y, attitude.z, attitude.w);
} else if (command == "imu") {
Serial.println("gyro bias " + String(IMU.getGyroBiasX_rads()) + " "
+ String(IMU.getGyroBiasY_rads()) + " "
+ String(IMU.getGyroBiasZ_rads()));
Serial.printf("gyro bias %f %f %f\n", IMU.getGyroBiasX_rads(), IMU.getGyroBiasY_rads(), IMU.getGyroBiasZ_rads());
} else if (command == "rc") {
Serial.println("RAW throttle " + String(channels[RC_CHANNEL_THROTTLE]) +
" yaw " + String(channels[RC_CHANNEL_YAW]) +
" pitch " + String(channels[RC_CHANNEL_PITCH]) +
" roll " + String(channels[RC_CHANNEL_ROLL]) +
" aux " + String(channels[RC_CHANNEL_AUX]) +
" mode " + String(channels[RC_CHANNEL_MODE]));
Serial.println("CONTROL throttle " + String(controls[RC_CHANNEL_THROTTLE]) +
" yaw " + String(controls[RC_CHANNEL_YAW]) +
" pitch " + String(controls[RC_CHANNEL_PITCH]) +
" roll " + String(controls[RC_CHANNEL_ROLL]) +
" aux " + String(controls[RC_CHANNEL_AUX]) +
" mode " + String(controls[RC_CHANNEL_MODE]));
Serial.printf("RAW throttle %d yaw %d pitch %d roll %d aux %d mode %d\n",
channels[RC_CHANNEL_THROTTLE], channels[RC_CHANNEL_YAW], channels[RC_CHANNEL_PITCH],
channels[RC_CHANNEL_ROLL], channels[RC_CHANNEL_AUX], channels[RC_CHANNEL_MODE]);
Serial.printf("CONTROL throttle %f yaw %f pitch %f roll %f aux %f mode %f\n",
controls[RC_CHANNEL_THROTTLE], controls[RC_CHANNEL_YAW], controls[RC_CHANNEL_PITCH],
controls[RC_CHANNEL_ROLL], controls[RC_CHANNEL_AUX], controls[RC_CHANNEL_MODE]);
} else if (command == "mot") {
Serial.println("MOTOR front-right " + String(motors[MOTOR_FRONT_RIGHT]) +
" front-left " + String(motors[MOTOR_FRONT_LEFT]) +
" rear-right " + String(motors[MOTOR_REAR_RIGHT]) +
" rear-left " + String(motors[MOTOR_REAR_LEFT]));
Serial.printf("MOTOR front-right %f front-left %f rear-right %f rear-left %f\n",
motors[MOTOR_FRONT_RIGHT], motors[MOTOR_FRONT_LEFT], motors[MOTOR_REAR_RIGHT], motors[MOTOR_REAR_LEFT]);
} else if (command == "log") {
dumpLog();
} else if (command == "cg") {
@ -110,9 +95,7 @@ static void doCommand()
fullMotorTest(value.toInt());
} else {
float val = value.toFloat();
if (!isfinite(val)) {
Serial.println("Invalid value: " + value);
}
// TODO: on error returns 0, check invalid value
for (uint8_t i = 0; i < sizeof(params) / sizeof(params[0]); i++) {
if (command == params[i].name) {
@ -139,7 +122,7 @@ static void showTable()
static void cliTestMotor(uint8_t n)
{
Serial.println("Testing motor " + String(n));
Serial.printf("Testing motor %d\n", n);
motors[n] = 1;
sendMotors();
delay(5000);