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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(); showTable();
} else if (command == "ps") { } else if (command == "ps") {
Vector a = attitude.toEulerZYX(); Vector a = attitude.toEulerZYX();
Serial.println("roll: " + String(a.x * 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);
" pitch: " + String(a.y * RAD_TO_DEG, 2) +
" yaw: " + String(a.z * RAD_TO_DEG, 2));
} else if (command == "psq") { } else if (command == "psq") {
Serial.println("qx: " + String(attitude.x) + Serial.printf("qx: %f qy: %f qz: %f qw: %f\n", attitude.x, attitude.y, attitude.z, attitude.w);
" qy: " + String(attitude.y) +
" qz: " + String(attitude.z) +
" qw: " + String(attitude.w));
} else if (command == "imu") { } else if (command == "imu") {
Serial.println("gyro bias " + String(IMU.getGyroBiasX_rads()) + " " Serial.printf("gyro bias %f %f %f\n", IMU.getGyroBiasX_rads(), IMU.getGyroBiasY_rads(), IMU.getGyroBiasZ_rads());
+ String(IMU.getGyroBiasY_rads()) + " "
+ String(IMU.getGyroBiasZ_rads()));
} else if (command == "rc") { } else if (command == "rc") {
Serial.println("RAW throttle " + String(channels[RC_CHANNEL_THROTTLE]) + Serial.printf("RAW throttle %d yaw %d pitch %d roll %d aux %d mode %d\n",
" yaw " + String(channels[RC_CHANNEL_YAW]) + channels[RC_CHANNEL_THROTTLE], channels[RC_CHANNEL_YAW], channels[RC_CHANNEL_PITCH],
" pitch " + String(channels[RC_CHANNEL_PITCH]) + channels[RC_CHANNEL_ROLL], channels[RC_CHANNEL_AUX], channels[RC_CHANNEL_MODE]);
" roll " + String(channels[RC_CHANNEL_ROLL]) + Serial.printf("CONTROL throttle %f yaw %f pitch %f roll %f aux %f mode %f\n",
" aux " + String(channels[RC_CHANNEL_AUX]) + controls[RC_CHANNEL_THROTTLE], controls[RC_CHANNEL_YAW], controls[RC_CHANNEL_PITCH],
" mode " + String(channels[RC_CHANNEL_MODE])); controls[RC_CHANNEL_ROLL], controls[RC_CHANNEL_AUX], controls[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]));
} else if (command == "mot") { } else if (command == "mot") {
Serial.println("MOTOR front-right " + String(motors[MOTOR_FRONT_RIGHT]) + Serial.printf("MOTOR front-right %f front-left %f rear-right %f rear-left %f\n",
" front-left " + String(motors[MOTOR_FRONT_LEFT]) + motors[MOTOR_FRONT_RIGHT], motors[MOTOR_FRONT_LEFT], motors[MOTOR_REAR_RIGHT], motors[MOTOR_REAR_LEFT]);
" rear-right " + String(motors[MOTOR_REAR_RIGHT]) +
" rear-left " + String(motors[MOTOR_REAR_LEFT]));
} else if (command == "log") { } else if (command == "log") {
dumpLog(); dumpLog();
} else if (command == "cg") { } else if (command == "cg") {
@@ -110,9 +95,7 @@ static void doCommand()
fullMotorTest(value.toInt()); fullMotorTest(value.toInt());
} else { } else {
float val = value.toFloat(); float val = value.toFloat();
if (!isfinite(val)) { // TODO: on error returns 0, check invalid value
Serial.println("Invalid value: " + value);
}
for (uint8_t i = 0; i < sizeof(params) / sizeof(params[0]); i++) { for (uint8_t i = 0; i < sizeof(params) / sizeof(params[0]); i++) {
if (command == params[i].name) { if (command == params[i].name) {
@@ -139,7 +122,7 @@ static void showTable()
static void cliTestMotor(uint8_t n) static void cliTestMotor(uint8_t n)
{ {
Serial.println("Testing motor " + String(n)); Serial.printf("Testing motor %d\n", n);
motors[n] = 1; motors[n] = 1;
sendMotors(); sendMotors();
delay(5000); delay(5000);