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41 lines
1.5 KiB
Markdown
41 lines
1.5 KiB
Markdown
Command line motor management
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=============================
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Works with [my CAN-USB sniffer](https://github.com/eddyem/stm32samples/tree/master/F0-nolib/usbcan).
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Usage: steppermove [args]
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Where args are:
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-0, --zeropos set current position to zero
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-A, --disablesw disable end-switches
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-D, --disable disable motor
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-E, --enablesw=arg enable end-switches with given mask
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-I, --nodeid=arg node ID (1..127)
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-P, --pidfile=arg pidfile (default: /tmp/steppersmng.pid)
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-R, --readvals read values of used parameters
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-S, --stop stop motor
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-a, --abs=arg move to absolute position (in encoder ticks)
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-c, --clearerr clear errors
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-d, --device=arg serial device name (default: /dev/ttyUSB0)
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-h, --help show this help
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-k, --check check SDO data file
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-l, --logfile=arg file to save logs
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-m, --maxspd=arg maximal motor speed (enc ticks per second)
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-p, --parse file[s] with SDO data to send to device
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-q, --quick directly send command without getting status
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-r, --rel=arg move to relative position (in encoder ticks)
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-s, --canspd=arg CAN bus speed
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-t, --serialspd=arg serial (tty) device speed (default: 115200)
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-u, --microsteps=arg set microstepping (0..256)
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-v, --verbose verbosity level for logging (each -v increases level)
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-w, --wait wait while motor is busy
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## Some usefull information
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Factory settings of pusirobot drivers: 125kBaud, nodeID=5
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Speed 6553.6 == 1rev/s
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