Current control
Compare changes
Files
2+ 1
− 1
@@ -4,6 +4,6 @@
const char helpscreentext[] = "// USAGE:\n// The device is addressed over serial port\n// Help function is printed on startup, or with the command -h\n// '-o' Reset the loadcell offset\n// '-d' display loadcell calibration data \n// Commands:\n//\n// A force can be set with '-f *FORCE*' where *FORCE* is the desired measurement force in newtons \n//\n// After a desired test force is given, it will generate a waveform of the following shape:\n//\n// Fset ----// \\ \n// \\ \n// \\ \n// \\______ 0[A] \n//\n// i.e. A force is set on the object, which is held for a set amount of time (waveform_dwell_time), before then incrementally decreasing\n// it decreases with waveform_stepheight (default 0.1N) per time unit, of which the time unit is defined by BLINKING_RATE (default 1000ms)\n// Whilst the waveform is followed the program will return back data in the following format, ready for use in a csv:\n// ForceSetpoint; currentEstimatedForce; ForceDistalLoadcell; ForceProximalLoadcell, ForcePalmLoadcell, ForceLeftFingerLoadcell, ForceRightFingerLoadcell, PID_Output, ActualMotorcurrent, RequestedMotorcurrent\n// All forces in N, all currents in A\n\n";
const char helpscreentext[] = "// USAGE:\n// The device is addressed over serial port\n// Help function is printed on startup, or with the command -h\n// '-o' Reset the loadcell offset\n// '-d' display loadcell calibration data \n// Commands:\n//\n// A force can be set with '-f *FORCE*' where *FORCE* is the desired measurement force in newtons \n//\n// After a desired test force is given, it will generate a waveform of the following shape:\n//\n// Fset ----// \\ \n// \\ \n// \\ \n// \\______ 0[A] \n//\n// i.e. A force is set on the object, which is held for a set amount of time (waveform_dwell_time), before then incrementally decreasing\n// it decreases with waveform_stepheight (default 0.1N) per time unit, of which the time unit is defined by BLINKING_RATE (default 1000ms)\n// Whilst the waveform is followed the program will return back data in the following format, ready for use in a csv:\n// ForceSetpoint; currentEstimatedForce; ForceDistalLoadcell; ForceProximalLoadcell, ForcePalmLoadcell, ForceLeftFingerLoadcell, ForceRightFingerLoadcell, PID_Output, ActualMotorcurrent, RequestedMotorcurrent\n// All forces in N, all currents in A\n// The command '-c *CURRENT*' can be used to follow the same waveform shape, but with a set max current.\n\n";
\ No newline at end of file