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motor_test: add iterate command

This commit is contained in:
Beat Küng 2016-07-25 13:26:17 +02:00 committed by Lorenz Meier
parent cbcbce3a28
commit 3a0f4c84a5
1 changed files with 31 additions and 12 deletions
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43
src/systemcmds/motor_test/motor_test.c
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@ -75,7 +75,7 @@ void motor_test(unsigned channel, float value)
} else {
/* advertise and publish */
_test_motor_pub = orb_advertise(ORB_ID(test_motor), &_test_motor);
_test_motor_pub = orb_advertise_queue(ORB_ID(test_motor), &_test_motor, 4);
}
printf("motor %d set to %.2f\n", channel, (double)value);
@ -92,7 +92,8 @@ static void usage(const char *reason)
"motor_test\n"
" -m <channel> Motor to test (0..7), all if -m not given\n"
" -p <power> Power (0..100), 0 if -p not given\n"
"motor_test stop Stop all motors\n");
"motor_test stop Stop all motors\n"
"motor_test iterate Iterate all motors starting and stopping one after the other\n");
}
int motor_test_main(int argc, char *argv[])
@ -126,19 +127,37 @@ int motor_test_main(int argc, char *argv[])
}
}
if (argc > 1 && strcmp("stop", argv[1]) == 0) {
channel = -1;
value = 0.f;
bool run_test = true;
if (argc > 1) {
if (strcmp("stop", argv[1]) == 0) {
channel = -1;
value = 0.f;
} else if (strcmp("iterate", argv[1]) == 0) {
value = 0.3f;
for (int i = 0; i < 8; ++i) {
motor_test(i, value);
usleep(500000);
motor_test(i, 0.f);
usleep(10000);
}
run_test = false;
}
}
if (channel == -1) {
for (int i = 0; i < 8; ++i) {
motor_test(i, value);
usleep(10000);
}
if (run_test) {
if (channel == -1) {
for (int i = 0; i < 8; ++i) {
motor_test(i, value);
usleep(10000);
}
} else {
motor_test(channel, value);
} else {
motor_test(channel, value);
}
}
exit(0);