void onSetSpeed()
{
float speed = cmdMessenger.readFloatArg();
leftStepper.setSpeed(speed);
rightStepper.setSpeed(speed);
cmdMessenger.sendCmd(kStatus, "Speed set");
}
void onSetAcceleration()
{
float accel = cmdMessenger.readFloatArg();
leftStepper.setAcceleration(accel);
rightStepper.setAcceleration(accel);
cmdMessenger.sendCmd(kStatus, "Acceleration set");
}
void readLimitsArgs(float *lMin, float *lMax)
{
*lMin = cmdMessenger.readFloatArg();
*lMax = cmdMessenger.readFloatArg();
}
void readTuningArgs(float *Kp, float *Ki, float *Kd)
{
*Kp = cmdMessenger.readFloatArg();
*Ki = cmdMessenger.readFloatArg();
*Kd = cmdMessenger.readFloatArg();
}