Updated documentation and gitignore

groundStation/.gitignore

@@ -44,8 +44,10 @@ obj
 Cli
 
 #symlinks
-getpid
-monitor
-setpid
-setsetpoint
-getsetpoint
+getnodes
+addnode
+getoutput
+setsource
+getsource
+getparam
+setparam

groundStation/README.md

@@ -14,12 +14,11 @@ cd into the groundstation folder.
 	make
 
 run the program with sudo privledges
-	sudo -E ./BackEnd
+	./BackEnd
 
 If you wish to change the way the backend communicates to the quad and vice versa, look at src/config.h. 
 	This provides a list of environment variables which you can set and use for your computer or time of use.
-	Because the backend must be ran with sudo privledges, you will need to preserve the env. vars. with sudo rights.
-	Hence the "-E" flag.
+	
 
 ## Modifying
 See MODIFYING for the software architecture/organization and how to add new functionality.
@@ -32,38 +31,35 @@ socket path is writable by the user.
 
 Once the backend is running, various CLI tools can be used to view the state of the
 quad and send commands. Each of these tools is given as the first argument
-to the CLI program, for example, to monitor the quad, use `cli monitor`. Note that
+to the CLI program, for example, to get a node output the quad, use `cli getoutput`. Note that
 the backend socket environment variable must be set to the same value as it
 was for the backend. The CLI program also supports busybox-style symbolic links.
-For example, if there is a symlink named `monitor` that points to the `cli` binary,
-running the `monitor` program will effectively run `cli monitor`.
+For example, if there is a symlink named `getoutput` that points to the `cli` binary,
+running the `getoutput` program will effectively run `cli getoutput`.
 
 The names of the binaries is subject to change.
 
-For more in depth usage explainations, use the --help flag.
+For a list of cli commands and more in depth usage explainations, use the --help flag.
 './Cli --help'
 
 For help with the specific cli command you are running, use the --help flag once again.
-'./Cli setpid --help'
+'./Cli getoutput --help'
 
 ### Example
 In one terminal or screen, run the backend:
 
-`UCART_SOCKET=./ucart.socket ./BackEnd`
+`./BackEnd`
 
 This will activate the quad and the backend, and the backend will be available for
-connections from the frontend tools. One useful tool is the monitor. In another
-terminal window, run the monitor forever:
+connections from the frontend tools. One useful tool is the getnodes. In another
+terminal window, run
 
-`UCART_SOCKET=./ucart.socket ./cli monitor -f`
+`./Cli getnodes` 
 
-This will begin a periodic monitoring that updates 10 times per second.
+or alternatively with symlinks
 
-Finally, in a third window, export the socket path:
+`./getnodes`
 
-`export UCART_SOCKET=./ucart.socket`
-
-and then run any other tools to modify the quad, for example modifying PID constants:
-
-`./cli setpid --pitch -p 1.000`
+This will fetch the block_id, type_id and name of every node in the current graph
 
+You can run any number of any combination of frontend tools at the same time.
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