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Remove non-working fullmot command

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This commit is contained in:
Oleg Kalachev 2024-11-24 00:10:37 +03:00
parent 7a2f2d955b
commit b015c15a7e
3 changed files with 1 additions and 16 deletions
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5
flix/cli.ino
View File

@ -30,8 +30,7 @@ const char* motd =
"cr - calibrate RC\n" "cr - calibrate RC\n"
"cg - calibrate gyro\n" "cg - calibrate gyro\n"
"ca - calibrate accel\n" "ca - calibrate accel\n"
"mfr, mfl, mrr, mrl - test appropriate motor\n" "mfr, mfl, mrr, mrl - test motor\n"
"fullmot <n> - full motor test\n"
"reset - reset drone's state\n"; "reset - reset drone's state\n";
const struct Param { const struct Param {
@ -102,8 +101,6 @@ void doCommand(String& command, String& value) {
cliTestMotor(MOTOR_REAR_RIGHT); cliTestMotor(MOTOR_REAR_RIGHT);
} else if (command == "mrl") { } else if (command == "mrl") {
cliTestMotor(MOTOR_REAR_LEFT); cliTestMotor(MOTOR_REAR_LEFT);
} else if (command == "fullmot") {
fullMotorTest(value.toInt());
} else if (command == "reset") { } else if (command == "reset") {
attitude = Quaternion(); attitude = Quaternion();
} else { } else {

11
flix/motors.ino
View File

@ -37,14 +37,3 @@ void sendMotors() {
ledcWrite(MOTOR_2_PIN, signalToDutyCycle(motors[2])); ledcWrite(MOTOR_2_PIN, signalToDutyCycle(motors[2]));
ledcWrite(MOTOR_3_PIN, signalToDutyCycle(motors[3])); ledcWrite(MOTOR_3_PIN, signalToDutyCycle(motors[3]));
} }
void fullMotorTest(int n) {
printf("Full test for motor %d\n", n);
for (float signal = 0; signal <= 1; signal += 0.1) {
printf("Motor %d: %f\n", n, signal);
ledcWrite(n, signalToDutyCycle(signal));
delay(3000);
}
printf("Motor %d: %f\n", n, 0);
ledcWrite(n, signalToDutyCycle(0));
}

1
gazebo/flix.h
View File

@ -57,7 +57,6 @@ inline Quaternion FLU2FRD(const Quaternion &q);
void setLED(bool on) {}; void setLED(bool on) {};
void calibrateGyro() { printf("Skip gyro calibrating\n"); }; void calibrateGyro() { printf("Skip gyro calibrating\n"); };
void calibrateAccel() { printf("Skip accel calibrating\n"); }; void calibrateAccel() { printf("Skip accel calibrating\n"); };
void fullMotorTest(int n) { printf("Skip full motor test\n"); };
void sendMotors() {}; void sendMotors() {};
void printIMUCal() { printf("cal: N/A\n"); }; void printIMUCal() { printf("cal: N/A\n"); };
void printIMUInfo() {}; void printIMUInfo() {};