Merge pull request #2 from esp-cpp/bugfix/start-stop

bugfix(haptics): enable repeated start/stop

README.md

@@ -39,7 +39,7 @@ See the Getting Started Guide for full steps to configure and use ESP-IDF to bui
 The haptics (detent configuration, click/buzz) can be configured dynamically at
 run-time using the provided CLI, see screenshot below:
 
-![CleanShot 2023-06-23 at 08 45 26](https://github.com/esp-cpp/bldc_test_stand/assets/213467/912aae32-a434-4969-8309-af42a4f5f4c7)
+![CleanShot 2023-06-23 at 13 23 44](https://github.com/esp-cpp/bldc_test_stand/assets/213467/eb2a2f37-01d0-46e3-992a-48820401c0ab)
 
 As you can see, the cli also allows you to start and stop the haptic engine
 (default is off when the program starts) and allows you to query the position of

main/main.cpp

@@ -154,15 +154,23 @@ extern "C" void app_main(void) {
   root_menu->Insert(
       "start",
       [&](std::ostream &out) {
-        out << "Starting motor!\n";
-        haptic_motor.start();
+        if (!haptic_motor.is_running()) {
+          out << "Starting motor!\n";
+          haptic_motor.start();
+        } else {
+          out << "Motor already running!\n";
+        }
       },
       "Start the motor");
   root_menu->Insert(
       "stop",
       [&](std::ostream &out) {
-        out << "Stopping motor!\n";
-        haptic_motor.stop();
+        if (haptic_motor.is_running()) {
+          out << "Stopping motor!\n";
+          haptic_motor.stop();
+        } else {
+          out << "Motor already stopped!\n";
+        }
       },
       "Stop the motor");
   root_menu->Insert(
@@ -171,6 +179,18 @@ extern "C" void app_main(void) {
         out << "Current position: " << haptic_motor.get_position() << "\n";
       },
       "Print the current position of the haptic motor");
+  root_menu->Insert(
+      "shaft_angle",
+      [&](std::ostream &out) {
+        out << "Current shaft angle: " << motor.get_shaft_angle() << " radians\n";
+      },
+      "Print the current position of the haptic motor");
+  root_menu->Insert(
+      "electrical_angle",
+      [&](std::ostream &out) {
+        out << "Current electrical angle: " << motor.get_electrical_angle() << " radians\n";
+      },
+      "Print the current position of the haptic motor");
   root_menu->Insert(
       "unbounded_no_detents",
       [&](std::ostream &out) {