Issue#305 (#306)

Signed-off-by: Santiago Barragan <sbarraganp19@gmail.com>
Co-authored-by: santiago barragan <santiago.barragan@ekumenlabs.com>

Author: pabnas

andino_firmware/README.md

@@ -63,3 +63,17 @@ A serial port connection must be created at 57600 bauds. You can use the serial
 
 * Closed loop verification
   - Send `m <tps> <tps>` where `tps` stands for `ticks per second`. For example if your motor-encoder system gets 700 ticks per revolution then sending `m 700 700` will rotate both motors at 1 rev per sec. (~3.14rad/sec)
+
+## Commands
+
+| Command | Description | Args | Example | Result |
+| --- | --- | --- | --- | --- |
+| `a` | Read Analog GPIO pin | pin_number | `a 0` |  |
+| `d` | Read Digital GPIO pin | pin_number | `d 2` |  |
+| `e` | Get encoder tick values |  | `e` | `<left> <right>` |
+| `r` | Reset encoder values |  | `r` |  |
+| `m` | Set closed-loop speed for the motors[ticks/sec] | left_tps right_tps | `m 700 700` |  |
+| `o` | Set open-loop speed for the motors[pwm] | left_pwm right_pwm | `o 255 255` |  |
+| `u` | Set PID values | kp kd ki offset | `u 1.0 0.1 0.01 0` |  |
+| `h` | Get if IMU is connected |  | `h` | `0` if not connected, `1` if connected |
+| `i` | Get IMU data and encoder tick values |  | `i` | `<left> <right>  <orientation_X> <orientation_Y> <orientation_Z> <orientation_W> <angular_velocity_X> <angular_velocity_Y> <angular_velocity_Z> <linear_acceleration_X> <linear_acceleration_Y> <linear_acceleration_Z>` |

andino_firmware/src/app.cpp

@@ -278,6 +278,10 @@ void App::cmd_set_motors_pwm_cb(int argc, char** argv) {
   // Sneaky way to temporarily disable the PID.
   left_pid_controller_.disable();
   right_pid_controller_.disable();
+
+  // Reset the auto stop timer.
+  last_set_motors_speed_cmd_ = millis();
+
   left_motor_.set_speed(left_motor_pwm);
   right_motor_.set_speed(right_motor_pwm);
   Serial.println("OK");