add do command to motor

components/motor/gpio/controlled.go

@@ -2,6 +2,7 @@ package gpio
 
 import (
 	"context"
+	"fmt"
 	"math"
 	"sync"
 	"time"
@@ -18,6 +19,8 @@ import (
 	rdkutils "go.viam.com/rdk/utils"
 )
 
+const getPID = "get_tuned_pid"
+
 // SetState sets the state of the motor for the built-in control loop.
 func (cm *controlledMotor) SetState(ctx context.Context, state []*control.Signal) error {
 	if cm.loop != nil && !cm.loop.Running() {
@@ -393,3 +396,21 @@ func (cm *controlledMotor) GoFor(ctx context.Context, rpm, revolutions float64,
 
 	return nil
 }
+
+func (cm *controlledMotor) DoCommand(ctx context.Context, req map[string]interface{}) (map[string]interface{}, error) {
+	resp := make(map[string]interface{})
+
+	cm.mu.Lock()
+	defer cm.mu.Unlock()
+	ok := req[getPID].(bool)
+	if ok {
+		var respStr string
+		if !(*cm.tunedVals)[0].NeedsAutoTuning() {
+			respStr += fmt.Sprintf("{p: %v, i: %v, d: %v, type: %v} ",
+				(*cm.tunedVals)[0].P, (*cm.tunedVals)[0].I, (*cm.tunedVals)[0].D, (*cm.tunedVals)[0].Type)
+		}
+		resp[getPID] = respStr
+	}
+
+	return resp, nil
+}

control/setup_control.go

@@ -493,7 +493,7 @@ func TunedPIDErr(name string, tunedVals []PIDConfig) error {
 	return fmt.Errorf(`%v has been tuned, please copy the following control values into your config: %v`, name, tunedStr)
 }
 
-// TuningInProgressErr returns an error when the loop is actively tuning
+// TuningInProgressErr returns an error when the loop is actively tuning.
 func TuningInProgressErr(name string) error {
 	return fmt.Errorf(`tuning for %v is in progress`, name)
 }