added: radians cmd (#17)

<!-- This is an auto-generated comment: release notes by coderabbit.ai
-->
## Summary by CodeRabbit

- **New Features**
	- Introduced options to set motor targets in both radians and degrees.
	- Added a delay feature for monitoring motor performance.
- **Improvements**
	- Enhanced motor limit settings for better performance.
- Improved initial setup for motor, driver, and current sensor
configurations.
- **Refactor**
	- Renamed target setting function for clarity.
- **Chores**
	- Adjusted serial communication commands for setting motor targets.
<!-- end of auto-generated comment: release notes by coderabbit.ai -->

src/main.cpp

@@ -16,12 +16,16 @@ void doA(){ hall_sensor.handleA(); }
 void doB(){ hall_sensor.handleB(); }
 void doC(){ hall_sensor.handleC(); }
 
+// monitor delay
+#define MONITOR_DELAY_MS (20)
+unsigned long monitor_delay = 0;
 // angle set point variable
 float target = 0.0f;
 // instantiate the commander
 Commander commander = Commander(Serial);
 void doMotor(char* cmd) { commander.motor(&motor, cmd); }
-void doTarget(char* cmd) {
+void doRadians(char* cmd) { commander.scalar(&target, cmd); };
+void doDegrees(char* cmd) {
         float angle_degrees;
         commander.scalar(&angle_degrees, cmd);
         target = angle_degrees * (PI / 180.0);
@@ -51,7 +55,8 @@ void setup() {
         // initialize the driver
         driver.voltage_power_supply = 24.0f;
         rc = driver.init();
-        checkRC(rc); SIMPLEFOC_DEBUG("Driver ready.");
+        checkRC(rc);
+        SIMPLEFOC_DEBUG("Driver ready.");
         // link the current sensor and the driver
         current_sensor.linkDriver(&driver);
         // link the motor and the driver
@@ -60,7 +65,8 @@ void setup() {
         // initialize the current sensor
         current_sensor.skip_align = true;
         rc = current_sensor.init();
-        checkRC(rc); SIMPLEFOC_DEBUG("Current sensor ready.");
+        checkRC(rc);
+        SIMPLEFOC_DEBUG("Current sensor ready.");
         // link the current sensor to the motor
         motor.linkCurrentSense(&current_sensor);
 
@@ -84,13 +90,13 @@ void setup() {
         motor.P_angle.P = 20.0f;
 
         // motor limits
-        motor.voltage_limit = 12.0f;
-        motor.velocity_limit = 4.0f;
-        motor.current_limit = 2.0f;
+        motor.voltage_limit = 24.0f;
+        motor.velocity_limit = 200.0f;
+        motor.current_limit = 1.0f;
 
         // motion and monitoring settings
         motor.motion_downsample = 0;
-        motor.monitor_downsample = 10000;
+        motor.monitor_downsample = 1;
 
         // use monitoring with serial
         motor.monitor_separator = '\t';
@@ -102,16 +108,19 @@ void setup() {
         motor.init();
         // align sensor and start FOC
         rc = motor.initFOC();
-        checkRC(rc); SIMPLEFOC_DEBUG("Motor ready.");
+        checkRC(rc);
+        SIMPLEFOC_DEBUG("Motor ready.");
 
         // initialize serial communication
         commander.verbose = VerboseMode::user_friendly;
         commander.add('M',doMotor,"motor");
-        commander.add('T', doTarget, "target [deg]");
+        commander.add('R', doRadians, "target [rad]");
+        commander.add('D', doDegrees, "target [deg]");
 
         SIMPLEFOC_DEBUG("Setup ready.");
         SIMPLEFOC_DEBUG("Set the target angle using serial terminal:");
         _delay(1000);
+        monitor_delay = millis();
 }
 
 void loop() {
@@ -127,9 +136,12 @@ void loop() {
         // You can also use motor.move() and set the motor.target in the code
         motor.move(target);
 
-        // function intended to be used with serial plotter to monitor motor variables
-        // significantly slowing the execution down!!!!
-        motor.monitor();
+        if (millis() - monitor_delay > MONITOR_DELAY_MS) {
+                monitor_delay = millis();
+                // function intended to be used with serial plotter to monitor motor variables
+                // significantly slowing the execution down!!!!
+                motor.monitor();
+        }
 
         // user communication
         commander.run();