motor_test: make -m & -p optional (select all motors/0 output if not given)

src/systemcmds/motor_test/motor_test.c

@@ -77,6 +77,8 @@ void motor_test(unsigned channel, float value)
 		/* advertise and publish */
 		_test_motor_pub = orb_advertise(ORB_ID(test_motor), &_test_motor);
 	}
+
+	printf("motor %d set to %.2f\n", channel, (double)value);
 }
 
 static void usage(const char *reason)
@@ -88,27 +90,24 @@ static void usage(const char *reason)
 	errx(1,
 	     "usage:\n"
 	     "motor_test\n"
-	     "    -m <channel>            Motor to test (0..7)\n"
-	     "    -p <power>              Power (0..100)\n");
+	     "    -m <channel>            Motor to test (0..7), all if -m not given\n"
+	     "    -p <power>              Power (0..100), 0 if -p not given\n"
+	     "motor_test stop             Stop all motors\n");
 }
 
 int motor_test_main(int argc, char *argv[])
 {
-	unsigned long channel = 0;
+	int channel = -1; //default to all channels
 	unsigned long lval;
 	float value = 0.0f;
 	int ch;
 
-	if (argc != 5) {
-		usage("please specify motor and power");
-	}
-
 	while ((ch = getopt(argc, argv, "m:p:")) != EOF) {
 		switch (ch) {
 
 		case 'm':
 			/* Read in motor number */
-			channel = strtoul(optarg, NULL, 0);
+			channel = (int)strtoul(optarg, NULL, 0);
 			break;
 
 		case 'p':
@@ -127,9 +126,20 @@ int motor_test_main(int argc, char *argv[])
 		}
 	}
 
-	motor_test(channel, value);
+	if (argc > 1 && strcmp("stop", argv[1]) == 0) {
+		channel = -1;
+		value = 0.f;
+	}
+
+	if (channel == -1) {
+		for (int i = 0; i < 8; ++i) {
+			motor_test(i, value);
+			usleep(10000);
+		}
 
-	printf("motor %d set to %.2f\n", channel, (double)value);
+	} else {
+		motor_test(channel, value);
+	}
 
 	exit(0);
 }