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); }