void CommandSet::setup()
{
/* Setup callbacks for SerialCommand commands */
sCmd.addCommand("L", this->led); // Toggles LED
sCmd.addCommand("ping", this->ping); // Check serial link
sCmd.addCommand("help", this->help);
/* Movement commands */
sCmd.addCommand("M", this->move); // Runs wheel motors
sCmd.addCommand("S", this->stop); // Force stops all motors
sCmd.addCommand("G", this->go); // Runs wheel motors with correction
/* Read from rotary encoders */
sCmd.addCommand("speeds", this->speeds);
/* Misc commands */
sCmd.addCommand("pixels", this->pixels); // Set LED colour
sCmd.addCommand("grab", this->grab); // Grab 0 or 1
sCmd.addCommand("kick", this->kick); // Kick
sCmd.addCommand("shuntkick", this->shuntkick); // Shuntkick
sCmd.addCommand("rotate", this->rotate); // Rotate
/* Debug and inspection commands */
sCmd.addCommand("ps", this->proc_dump); // Show process status
sCmd.addCommand("ptog", this->proc_toggle); // Enable or disable by pid on the fly
sCmd.setDefaultHandler(this->unrecognized); // Handler for command that isn't matched
}
void initCommandProcessor()
{
commandProcessor.setDefaultHandler(commandDefault);
}
