renamed varible to scalar because it has to be a number

askuric · askuric · commit cfa2dc6e6a36 · 2021-03-03T15:27:32.000+01:00
diff --git a/examples/hardware_specific_examples/Bluepill_examples/encoder/bluepill_position_control/bluepill_position_control.ino b/examples/hardware_specific_examples/Bluepill_examples/encoder/bluepill_position_control/bluepill_position_control.ino
@@ -28,7 +28,7 @@ void doI(){encoder.handleIndex();}
 float target_angle = 0;
 // instantiate the commander
 Commander command = Commander(Serial);
-void doTarget(char* cmd) { command.variable(&target_angle, cmd); }
+void doTarget(char* cmd) { command.scalar(&target_angle, cmd); }
 
 
 void setup() {
diff --git a/examples/hardware_specific_examples/Bluepill_examples/magnetic_sensor/bluepill_position_control/bluepill_position_control.ino b/examples/hardware_specific_examples/Bluepill_examples/magnetic_sensor/bluepill_position_control/bluepill_position_control.ino
@@ -31,7 +31,7 @@ BLDCDriver3PWM driver = BLDCDriver3PWM(PB6, PB7, PB8, PB5);
 float target_angle = 0;
 // instantiate the commander
 Commander command = Commander(Serial);
-void doTarget(char* cmd) { command.variable(&target_angle, cmd); }
+void doTarget(char* cmd) { command.scalar(&target_angle, cmd); }
 
 
 void setup() {
diff --git a/examples/hardware_specific_examples/ESP32/encoder/esp32_position_control/esp32_position_control.ino b/examples/hardware_specific_examples/ESP32/encoder/esp32_position_control/esp32_position_control.ino
@@ -20,7 +20,7 @@ void doB(){encoder.handleB();}
 float target_angle = 0;
 // instantiate the commander
 Commander command = Commander(Serial);
-void doTarget(char* cmd) { command.variable(&target_angle, cmd); }
+void doTarget(char* cmd) { command.scalar(&target_angle, cmd); }
 
 void setup() {
   
diff --git a/examples/hardware_specific_examples/ESP32/magnetic_sensor/esp32_position_control/esp32_position_control.ino b/examples/hardware_specific_examples/ESP32/magnetic_sensor/esp32_position_control/esp32_position_control.ino
@@ -29,7 +29,7 @@ BLDCDriver3PWM driver = BLDCDriver3PWM(25, 26, 27, 7);
 float target_angle = 0;
 // instantiate the commander
 Commander command = Commander(Serial);
-void doTarget(char* cmd) { command.variable(&target_angle, cmd); }
+void doTarget(char* cmd) { command.scalar(&target_angle, cmd); }
 
 void setup() {
 
diff --git a/examples/hardware_specific_examples/HMBGC_example/position_control/position_control.ino b/examples/hardware_specific_examples/HMBGC_example/position_control/position_control.ino
@@ -38,7 +38,7 @@ PciListenerImp listenerB(encoder.pinB, doB);
 float target_angle = 0;
 // instantiate the commander
 Commander command = Commander(Serial);
-void doTarget(char* cmd) { command.variable(&target_angle, cmd); }
+void doTarget(char* cmd) { command.scalar(&target_angle, cmd); }
 
 void setup() {
 
diff --git a/examples/hardware_specific_examples/HMBGC_example/voltage_control/voltage_control.ino b/examples/hardware_specific_examples/HMBGC_example/voltage_control/voltage_control.ino
@@ -44,7 +44,7 @@ PciListenerImp listenerB(encoder.pinB, doB);
 float target_voltage = 2;
 // instantiate the commander
 Commander command = Commander(Serial);
-void doTarget(char* cmd) { command.variable(&target_voltage, cmd); }
+void doTarget(char* cmd) { command.scalar(&target_voltage, cmd); }
 
 void setup() { 
   
diff --git a/examples/motion_control/open_loop_motor_control/open_loop_position_example/open_loop_position_example.ino b/examples/motion_control/open_loop_motor_control/open_loop_position_example/open_loop_position_example.ino
@@ -17,7 +17,7 @@ float target_position = 0;
 
 // instantiate the commander
 Commander command = Commander(Serial);
-void doTarget(char* cmd) { command.variable(&target_position, cmd); }
+void doTarget(char* cmd) { command.scalar(&target_position, cmd); }
 
 void setup() {
 
diff --git a/examples/motion_control/open_loop_motor_control/open_loop_velocity_example/open_loop_velocity_example.ino b/examples/motion_control/open_loop_motor_control/open_loop_velocity_example/open_loop_velocity_example.ino
@@ -18,7 +18,7 @@ float target_velocity = 0;
 
 // instantiate the commander
 Commander command = Commander(Serial);
-void doTarget(char* cmd) { command.variable(&target_velocity, cmd); }
+void doTarget(char* cmd) { command.scalar(&target_velocity, cmd); }
 
 void setup() {
 
diff --git a/examples/motion_control/position_motion_control/encoder/angle_control/angle_control.ino b/examples/motion_control/position_motion_control/encoder/angle_control/angle_control.ino
@@ -50,7 +50,7 @@ PciListenerImp listenerIndex(encoder.index_pin, doIndex);
 float target_angle = 0;
 // instantiate the commander
 Commander command = Commander(Serial);
-void doTarget(char* cmd) { command.variable(&target_angle, cmd); }
+void doTarget(char* cmd) { command.scalar(&target_angle, cmd); }
 
 void setup() {
   
diff --git a/examples/motion_control/position_motion_control/hall_sensor/angle_control/angle_control.ino b/examples/motion_control/position_motion_control/hall_sensor/angle_control/angle_control.ino
@@ -43,7 +43,7 @@ PciListenerImp listenC(sensor.pinC, doC);
 float target_angle = 0;
 // instantiate the commander
 Commander command = Commander(Serial);
-void doTarget(char* cmd) { command.variable(&target_angle, cmd); }
+void doTarget(char* cmd) { command.scalar(&target_angle, cmd); }
 
 void setup() {
   
diff --git a/examples/motion_control/position_motion_control/magnetic_sensor/angle_control/angle_control.ino b/examples/motion_control/position_motion_control/magnetic_sensor/angle_control/angle_control.ino
@@ -27,7 +27,7 @@ BLDCDriver3PWM driver = BLDCDriver3PWM(9, 5, 6, 8);
 float target_angle = 0;
 // instantiate the commander
 Commander command = Commander(Serial);
-void doTarget(char* cmd) { command.variable(&target_angle, cmd); }
+void doTarget(char* cmd) { command.scalar(&target_angle, cmd); }
 
 void setup() {
 
diff --git a/examples/motion_control/torque_control/encoder/current_control/current_control.ino b/examples/motion_control/torque_control/encoder/current_control/current_control.ino
@@ -23,7 +23,7 @@ InlineCurrentSense current_sense = InlineCurrentSense(0.01, 50.0, A0, A2);
 float target_current = 0;
 // instantiate the commander
 Commander command = Commander(Serial);
-void doTarget(char* cmd) { command.variable(&target_current, cmd); }
+void doTarget(char* cmd) { command.scalar(&target_current, cmd); }
 
 void setup() { 
   
diff --git a/examples/motion_control/torque_control/encoder/voltage_control/voltage_control.ino b/examples/motion_control/torque_control/encoder/voltage_control/voltage_control.ino
@@ -29,7 +29,7 @@ void doB(){encoder.handleB();}
 float target_voltage = 2;
 // instantiate the commander
 Commander command = Commander(Serial);
-void doTarget(char* cmd) { command.variable(&target_voltage, cmd); }
+void doTarget(char* cmd) { command.scalar(&target_voltage, cmd); }
 
 void setup() { 
   
diff --git a/examples/motion_control/torque_control/hall_sensor/voltage_control/voltage_control.ino b/examples/motion_control/torque_control/hall_sensor/voltage_control/voltage_control.ino
@@ -31,7 +31,7 @@ void doC(){sensor.handleC();}
 float target_voltage = 2;
 // instantiate the commander
 Commander command = Commander(Serial);
-void doTarget(char* cmd) { command.variable(&target_voltage, cmd); }
+void doTarget(char* cmd) { command.scalar(&target_voltage, cmd); }
 
 void setup() { 
   
diff --git a/examples/motion_control/torque_control/magnetic_sensor/voltage_control/voltage_control.ino b/examples/motion_control/torque_control/magnetic_sensor/voltage_control/voltage_control.ino
@@ -26,7 +26,7 @@ BLDCDriver3PWM driver = BLDCDriver3PWM(9, 5, 6, 8);
 float target_voltage = 2;
 // instantiate the commander
 Commander command = Commander(Serial);
-void doTarget(char* cmd) { command.variable(&target_voltage, cmd); }
+void doTarget(char* cmd) { command.scalar(&target_voltage, cmd); }
 
 void setup() {
 
diff --git a/examples/motion_control/velocity_motion_control/encoder/velocity_control/velocity_control.ino b/examples/motion_control/velocity_motion_control/encoder/velocity_control/velocity_control.ino
@@ -52,7 +52,7 @@ PciListenerImp listenerIndex(encoder.index_pin, doIndex);
 float target_velocity = 0;
 // instantiate the commander
 Commander command = Commander(Serial);
-void doTarget(char* cmd) { command.variable(&target_velocity, cmd); }
+void doTarget(char* cmd) { command.scalar(&target_velocity, cmd); }
 
 
 void setup() {
diff --git a/examples/motion_control/velocity_motion_control/hall_sensor/velocity_control.ino b/examples/motion_control/velocity_motion_control/hall_sensor/velocity_control.ino
@@ -43,7 +43,7 @@ PciListenerImp listenerIndex(sensor.pinC, doC);
 float target_velocity = 0;
 // instantiate the commander
 Commander command = Commander(Serial);
-void doTarget(char* cmd) { command.variable(&target_velocity, cmd); }
+void doTarget(char* cmd) { command.scalar(&target_velocity, cmd); }
 
 void setup() {
 
diff --git a/examples/motion_control/velocity_motion_control/magnetic_sensor/velocity_control/velocity_control.ino b/examples/motion_control/velocity_motion_control/magnetic_sensor/velocity_control/velocity_control.ino
@@ -29,7 +29,7 @@ BLDCDriver3PWM driver = BLDCDriver3PWM(9, 5, 6, 8);
 float target_velocity = 0;
 // instantiate the commander
 Commander command = Commander(Serial);
-void doTarget(char* cmd) { command.variable(&target_velocity, cmd); }
+void doTarget(char* cmd) { command.scalar(&target_velocity, cmd); }
 
 void setup() {
  
diff --git a/examples/utils/communication_test/commander/commander_tune_custom_loop/commander_tune_custom_loop.ino b/examples/utils/communication_test/commander/commander_tune_custom_loop/commander_tune_custom_loop.ino
@@ -24,7 +24,7 @@ LowPassFilter LPFv{0.01};
 Commander command = Commander(Serial);
 void doController(char* cmd) { command.pid(&PIDv, cmd); }
 void doFilter(char* cmd) { command.lpf(&LPFv, cmd); }
-void doTarget(char* cmd) { command.variable(&target_velocity, cmd); }
+void doTarget(char* cmd) { command.scalar(&target_velocity, cmd); }
 
 
 void setup() {
diff --git a/examples/utils/communication_test/step_dir/step_dir_motor_example/step_dir_motor_example.ino b/examples/utils/communication_test/step_dir/step_dir_motor_example/step_dir_motor_example.ino
@@ -19,7 +19,7 @@ void doA() { encoder.handleA(); }
 void doB() { encoder.handleB(); }
 
 // StepDirListener( step_pin, dir_pin, counter_to_value)
-StepDirListener step_dir = StepDirListener(A4, A5, 2.0*_PI/200);
+StepDirListener step_dir = StepDirListener(A4, A5, 2.0*_PI/200.0);
 void onStep() { step_dir.handle(); }
 
 void setup() {
diff --git a/src/communication/Commander.cpp b/src/communication/Commander.cpp
@@ -35,7 +35,11 @@ void Commander::run(){
   }
 }
 
-void Commander::run(HardwareSerial &serial){
+void Commander::run(HardwareSerial& serial){
+  HardwareSerial* tmp = com_port; // save the serial instance 
+  // use the new serial instance to output if not available the one linked in constructor
+  if(!tmp) com_port = &serial; 
+
   // a string to hold incoming data
   while (serial.available()) {
     // get the new byte:
@@ -50,6 +54,8 @@ void Commander::run(HardwareSerial &serial){
       rec_cnt=0;
     }
   }
+
+  com_port = tmp; // reset the instance to the internal value
 }
 
 void Commander::run(char* user_input){
@@ -372,7 +378,7 @@ void Commander::lpf(LowPassFilter* lpf, char* user_cmd){
   }
 }
 
-void Commander::variable(float* value,  char* user_cmd){
+void Commander::scalar(float* value,  char* user_cmd){
   bool GET  = user_cmd[0] == '\n';
   if(!GET) *value = atof(user_cmd);
   println(*value);
diff --git a/src/communication/Commander.h b/src/communication/Commander.h
@@ -159,12 +159,12 @@ class Commander
      */
     void pid(PIDController* pid, char* user_cmd);
     /**
-     * Float variable command interface
+     * Float variable scalar command interface
      *  - It only has one property - one float value
      *  - It can be get by sending an empty string '\n'
      *  - It can be set by sending 'value' - (ex. 0.01 for settin *value=0.01)
      */
-    void variable(float* value, char* user_cmd);
+    void scalar(float* value, char* user_cmd);
 
   private:
     // Subscribed command callback variables
