added more flexibility to the monitor

Author: askuric

src/common/base_classes/FOCMotor.cpp

@@ -94,18 +94,21 @@ void FOCMotor::monitor() {
   bool printed = 0;
 
   if(monitor_variables & _MON_TARGET){
-    monitor_port->print(target,4);
-    monitor_port->print("\t");
+    if(!printed) monitor_port->print(monitor_start_char);
+    else monitor_port->print(monitor_separation);
+    monitor_port->print(target,monitor_decimals);    
     printed= true;
   }
   if(monitor_variables & _MON_VOLT_Q) {
-    monitor_port->print(voltage.q,4);
-    monitor_port->print("\t");
+    if(!printed) monitor_port->print(monitor_start_char);
+    else monitor_port->print(monitor_separation);
+    monitor_port->print(voltage.q,monitor_decimals);
     printed= true;
   }
   if(monitor_variables & _MON_VOLT_D) {
-    monitor_port->print(voltage.d,4);
-    monitor_port->print("\t");
+    if(!printed) monitor_port->print(monitor_start_char);
+    else monitor_port->print(monitor_separation);
+    monitor_port->print(voltage.d,monitor_decimals);
     printed= true;
   }
   // read currents if possible - even in voltage mode (if current_sense available)
@@ -117,27 +120,32 @@ void FOCMotor::monitor() {
       c.d = LPF_current_d(c.d);
     }
     if(monitor_variables & _MON_CURR_Q) {
-      monitor_port->print(c.q*1000, 2); // mAmps
-      monitor_port->print("\t");
+      if(!printed) monitor_port->print(monitor_start_char);
+      else monitor_port->print(monitor_separation);
+      monitor_port->print(c.q*1000, monitor_decimals); // mAmps
       printed= true;
     }
     if(monitor_variables & _MON_CURR_D) {
-      monitor_port->print(c.d*1000, 2); // mAmps
-      monitor_port->print("\t");
+      if(!printed) monitor_port->print(monitor_start_char);
+      else monitor_port->print(monitor_separation);
+      monitor_port->print(c.d*1000, monitor_decimals); // mAmps
       printed= true;
     }
   }
 
   if(monitor_variables & _MON_VEL) {
-    monitor_port->print(shaft_velocity,4);
-    monitor_port->print("\t");
+    if(!printed) monitor_port->print(monitor_start_char);
+    else monitor_port->print(monitor_separation);
+    monitor_port->print(shaft_velocity,monitor_decimals);
     printed= true;
   }
   if(monitor_variables & _MON_ANGLE) {
-    monitor_port->print(shaft_angle,4);
+    if(!printed) monitor_port->print(monitor_start_char);
+    else monitor_port->print(monitor_separation);
+    monitor_port->print(shaft_angle,monitor_decimals);
     printed= true;
   }
-  if(printed) monitor_port->println();
+  if(printed) monitor_port->println(monitor_end_char);
 
 }
 

src/common/base_classes/FOCMotor.h

@@ -223,6 +223,10 @@ class FOCMotor
      */
     void monitor();
     unsigned int monitor_downsample = DEF_MON_DOWNSMAPLE; //!< show monitor outputs each monitor_downsample calls 
+    char monitor_start_char = 0; //!< monitor starting character 
+    char monitor_end_char = 0; //!< monitor outputs ending character 
+    char monitor_separation = '\t'; //!< monitor outputs separation character
+    unsigned int  monitor_decimals = 4; //!< monitor outputs decimal places
     // initial monitoring will display target, voltage, velocity and angle
     uint8_t monitor_variables = _MON_TARGET | _MON_VOLT_Q | _MON_VEL | _MON_ANGLE; //!< Bit array holding the map of variables the user wants to monitor