modify flash configs and adjust pa_hero's feedback for pid params

Meta-Team · Mar 13, 2024 · ddbe417 · ddbe417
1 parent a9a7db1
commit ddbe417
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Showing 5 changed files with 4 additions and 47 deletions.
diff --git a/config/RM_Board_Linux.cfg b/config/RM_Board_Linux.cfg
diff --git a/config/RM_Board_Mac.cfg b/config/RM_Board_Mac.cfg
diff --git a/config/RM_Board_Win.cfg → config/RM_F4_Stlink.cfg b/config/RM_Board_Win.cfg → config/RM_F4_Stlink.cfg
diff --git a/config/openocd_flash.sh b/config/openocd_flash.sh
@@ -16,8 +16,8 @@ cd "$config_base"
 exit_cmd="exit"
 # default flash file: hero
 flash_file="../build/HERO.elf"
-# default flash config file: RM_Board_Win.cfg
-config_file="RM_Board_Win.cfg"
+# default flash config file: RM_F4_Stlink.cfg
+config_file="RM_F4_Stlink.cfg"
 
 
 

diff --git a/dev/application/param_adjusts/pa_hero/pa_hero.cpp b/dev/application/param_adjusts/pa_hero/pa_hero.cpp
@@ -204,13 +204,14 @@ DEF_SHELL_CMD_START(cmd_echo_param)
 
     unsigned pid_id = Shell::atoi(argv[1]);
     if (pid_id > 1) {
+        // TODO, pid_id=2 for autostraightening
         Shell::printf("Invalid pid ID %d" SHELL_NEWLINE_STR, pid_id);
         return false;
     }
 
     PIDController::pid_params_t pid_param = {0,0,0,0,0};
     pid_param = CANMotorController::getPIDParams((CANMotorCFG::motor_id_t)motor_id, (pid_id == 0));
-    Shell::printf("kp: %.2f, ki: %.2f, kd: %.2f, i_limit: %.2f, out_limit: %.2f" SHELL_NEWLINE_STR,
+    Shell::printf("!kp:%u,%.2f,ki:%.2f,kd:%.2f,il:%.2f,ol:%.2f" SHELL_NEWLINE_STR,pid_id,
                  pid_param.kp, pid_param.ki, pid_param.kd, pid_param.i_limit, pid_param.out_limit);
     return true; // command executed successfully
 DEF_SHELL_CMD_END