AntoineH/multi-motors-controller
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Improve CLI

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AntoineH 2024-09-05 15:39:17 +02:00
parent 583f5e2933
commit d3691b10db
10 changed files with 72 additions and 58 deletions
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README.md
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@ -11,9 +11,9 @@ In root directory, call `make` to generate binary file. To clean up, call `make
```bash
./motorsim -c ./cfg/motors.yaml motor --id [ID] serve
```
2. Start Motor controller server (Beware, controllers commands except Port 8080):
2. Start Motor controller server (Beware, if modifying port controllers commands except Port 8080):
```bash
./motorsim -c ./cfg/motors.yaml controller serve -p 8080
./motorsim -c ./cfg/motors.yaml controller serve
```
### Client usage
#### Motor controller commands
@ -21,9 +21,9 @@ In root directory, call `make` to generate binary file. To clean up, call `make
```bash
./motorsim -c ./cfg/motors.yaml controller getJoints
```
- Set joints values (Beware, currently set the same values for all joints):
- Set joints values:
```bash
./motorsim -c ./cfg/motors.yaml controller setJoints --j [Joint goals]
./motorsim -c ./cfg/motors.yaml controller setJoints [Joint goals]
```
#### Motor commands
Every command should be provided with valid ID from [config file](./cfg/motors.yaml):
@ -33,7 +33,7 @@ Every command should be provided with valid ID from [config file](./cfg/motors.y
```
- Set motor velocity:
```bash
./motorsim -c ./cfg/motors.yaml motor --id [ID] moveVel --vel [Velocity]
./motorsim -c ./cfg/motors.yaml motor --id [ID] moveVel -- [Velocity]
```
## TODO
@ -42,4 +42,4 @@ Every command should be provided with valid ID from [config file](./cfg/motors.y
- [ ] Use coroutines for gRPC services callbacks.
- [ ] Fix get Motor State service (Behavior not robust).
- [ ] Fix Controller SetJoint command CLI omitting multiples input values.
- [ ] Complete CLI help messages.
- [ ] Send error responses to clients of gRPC services.