fixed bug parsing the command 'd'

README.md

@@ -41,7 +41,7 @@ The system mounts a camera on a 2-axis gimbal (yaw + pitch) and continuously sca
 
 ## Quick Start
 
-1. **Flash firmware:** `cd firmware && pio run --environment megaatmega2560 --target upload`
+1. **Flash firmware:** `cd firmware && pio run -t upload`
 2. **Build host:** `cd host/build && cmake .. && make -j$(nproc)`
 3. **Run host:** `./FireWatchTower_2axis --init true --start true`
 

firmware/src/serial/CommandParser.cpp

@@ -9,12 +9,6 @@
 #include "TMC5160.h"
 
 void parser(char &c) {
-    int base = 16;
-    if (Serial.peek() == 'd') {
-        Serial.read();
-        base = 10;
-    }
-
     static char buffer[32];
     size_t len = Serial.readBytesUntil('\n', buffer, sizeof(buffer) - 1);
     buffer[len] = '\0';
@@ -29,8 +23,8 @@ void parser(char &c) {
     }
 
     switch (c) {
-
-    case 'r':
+    
+    case 'r': // power cycle the motors
         init_motor_params();
         motor_power_on(MotorPitch);
         motor_power_on(MotorYaw);
@@ -39,22 +33,22 @@ void parser(char &c) {
         Serial.println(F("Reset"));
         break;
 
-    case 'q':
+    case 'q': // find endstop
         do_endstop(MotorYaw);
         do_endstop(MotorPitch);
         break;
 
-    case '!':
+    case '!': // turn motors off
         motor_power_off(MotorPitch);
         motor_power_off(MotorYaw);
         break;
 
-    case '*':
+    case '*': // turn motors on
         motor_power_on(MotorPitch);
         motor_power_on(MotorYaw);
         break;
 
-    case 'm':
+    case 'm': // move to a specific position in yawl
         Serial.print(F("Move "));
         Serial.print(args[0]);
         Serial.print(F(" with "));
@@ -62,11 +56,11 @@ void parser(char &c) {
         tmc5160_moveTo(MotorYaw, args[0], args[1]);
         break;
 
-    case ';':
+    case ';': // change position homing (0x21: XACTUAL register)
         tmc5160_writeRegister(MotorYaw, 0x21, args[0]);
         break;
 
-    case 's':
+    case 's': // stop motors
         tmc5160_rotateMotor(MotorPitch, 0);
         tmc5160_rotateMotor(MotorYaw, 0);
         Serial.println(F("Stop"));

host/deploy_host.sh

@@ -0,0 +1,8 @@
+#!/bin/bash
+rsync -av --exclude='build/' ~/code/FireWatchTower_2axis/host/ ggs@10.11.12.111:/home/ggs/projects/FireWatchTower_2axis/host
+ssh ggs@10.11.12.111 "
+    mkdir -p /home/ggs/projects/FireWatchTower_2axis/host/build &&
+    cd /home/ggs/projects/FireWatchTower_2axis/host/build &&
+    cmake .. &&
+    make -j\$(nproc)
+"