Merge pull request #5 from simplefoc/dev

Dev

Author: askuric

.jekyll-metadata

@@ -2,6 +2,7 @@ var libraires =[
     "SimpleFOC.h",
     "PciManager.h",
     "PciListenerImp.h",
+    "ESP32Encoder.h",
     "Encoder.h",
     "FOCutils.h",
     "BLDCMotor.h",
@@ -80,7 +81,8 @@ var classNames = [
     "InlineCurrentSense",
     "CurrentSense",
     "StepDirListener",
-    "Commander"
+    "Commander",
+    "GenericSensor"
 ];
 
 var classProps = [
@@ -162,7 +164,10 @@ var funcNames = [
     "add",
     "pid",
     "lpf",
-    "scalar"
+    "scalar",
+    "motion",
+    "target",
+    "motor"
 
 ];
 var structNames = [

_includes/js/custom.js

@@ -164,6 +164,9 @@ div.language-sh pre,  div.language-sh code ,div.language-shell pre,  div.languag
 .img100{
     height: 100px;
 }
+.img150{
+    height: 150px;
+}
 .img200{
     height: 200px;
 }
@@ -201,6 +204,10 @@ div.language-sh pre,  div.language-sh code ,div.language-shell pre,  div.languag
         height:inherit;
         width: 100%;
     }
+    .img150{
+        height:inherit;
+        width: 100%;
+    }
     .img100{
         height:inherit;
         width: 100%;

_sass/overrides.scss

@@ -0,0 +1,103 @@
+---
+layout: default
+title: Custom commands
+nav_order: 6
+permalink: /commander_custom
+parent: Commander Interface
+grand_parent: Communication
+grand_grand_parent: Writing the Code
+grand_grand_grand_parent: Arduino <span class="simple">Simple<span class="foc">FOC</span>library</span>
+---
+
+# Extending commander with custom functionality
+
+To extend the commander interface with your own functionality that has not been implemented by the <span class="simple">Simple<span class="foc">FOC</span>library</span> you only really need to:
+1. implement your callback function `void myFunc(char*){}`
+2. add it to the commander `commander.add('.',myFunc,"..")`
+
+```cpp
+void myFunc(char*){
+  // do something useful
+}
+
+Commander commander = Commander(...)
+void setup(){
+...
+  commander.add('A',myFunc,"my functionality");
+...
+}
+void loop(){
+  ...
+  commander.run()
+}
+```
+
+## Example 
+
+This is an example code of extending the commander interface with two new functionalities, turning on and off a led light and reading 5 analog pins.
+```cpp
+
+#include <SimpleFOC.h>
+
+// instantiate the commander
+Commander command = Commander(Serial);
+
+// led control function
+void doLed(char* cmd){ 
+    if(atoi(cmd)) digitalWrite(LED_BUILTIN, HIGH); 
+    else digitalWrite(LED_BUILTIN, LOW); 
+};
+// get analog input 
+void doAnalog(char* cmd){ 
+    if (cmd[0] == '0') Serial.println(analogRead(A0));
+    else if (cmd[0] == '1') Serial.println(analogRead(A1));
+    else if (cmd[0] == '2') Serial.println(analogRead(A2));
+    else if (cmd[0] == '3') Serial.println(analogRead(A3));
+    else if (cmd[0] == '4') Serial.println(analogRead(A4));
+};
+
+void setup() {
+    // define pins
+    pinMode(LED_BUILTIN, OUTPUT);
+    pinMode(A0, INPUT);
+    pinMode(A1, INPUT);
+    pinMode(A2, INPUT);
+    pinMode(A3, INPUT);
+    pinMode(A4, INPUT);
+
+    // Serial port to be used
+    Serial.begin(115200);
+
+    // add new commands
+    command.add('L', doLed, "led on/off");
+    command.add('A', doAnalog, "analog read A0-A4");
+
+    Serial.println(F("Commander listening"));
+    Serial.println(F(" - Send ? to see the node list..."));
+    Serial.println(F(" - Send L0 to turn the led off and L1 to turn it off"));
+    Serial.println(F(" - Send A0-A4 to read the analog pins"));
+    _delay(1000);
+}
+
+
+void loop() {
+
+    // user communication
+    command.run(); 
+    _delay(10);
+}
+```
+
+Then in your serial terminal you can just
+```sh 
+$ ?            # list the commands
+L: led on/off
+A: analog read A0-A4
+$ L0           # led off
+$ A1           # read A1
+321            
+$ A3           # read A3
+1023            
+$ L1           # led on
+$ L0           # led off
+```