clangtidy corrections part 1

src/driveModi/Modi/ManualControl/manualControl.cpp

@@ -4,67 +4,89 @@
  * @brief Implementation of the class manualControl.h
  * @version 0.1
  * @date 2021-12-13
- * 
+ *
  * @copyright Copyright (c) 2021
- * 
+ *
  */
 #include "manualControl.h"
 
-void ManualControl::run() {    
-    switch (this->inputMode) {
-        case InputMode::Analog :
-            this->analogControl();
-            break;
+void ManualControl::run()
+{
+    switch (this->inputMode)
+    {
+    case InputMode::Analog:
+        this->analogControl();
+        break;
 
-        case InputMode::Digital :
-            this->digitalControl();
-            break;
-        
-        default:
-            break;
+    case InputMode::Digital:
+        this->digitalControl();
+        break;
+
+    default:
+        break;
     }
 }
 
-void ManualControl::switchInputMode() {
+void ManualControl::switchInputMode()
+{
     this->inputMode = (this->inputMode == InputMode::Analog) ? InputMode::Digital : InputMode::Analog;
 }
 
-void ManualControl::analogControl() {
+void ManualControl::analogControl()
+{
     // Have to be int16_t to avoid overflow (int8_t = 255 - 127 = -128)
-    int16_t x = this->input->x - 127;
-    int16_t y = this->input->y - 127;
-
+    const int16_t xAxis = this->input->x - 127;
+    const int16_t yAxis = this->input->y - 127;
 
     double value_per_step = this->maxSpeeds.x * 2 / UINT8_MAX;
-    this->moveControl->setSpeed(-x * value_per_step);
+    this->moveControl->setSpeed(-xAxis * value_per_step);
 
     value_per_step = this->maxSpeeds.rot * 2 / UINT8_MAX;
-    this->moveControl->setRotationSpeed(y * value_per_step);
+    this->moveControl->setRotationSpeed(yAxis * value_per_step);
 }
 
-void ManualControl::digitalControl() {
-    int16_t y = this->input->x - 127;
-    int16_t x = this->input->y - 127;
+void ManualControl::digitalControl()
+{
+    static constexpr uint8_t deadzone = 120;
+    const int16_t yAxis = this->input->x - 127;
+    const int16_t xAxis = this->input->y - 127;
 
-    if (y > 120)
+    if (yAxis > deadzone)
+    {
         this->moveControl->setSpeed(-this->maxSpeeds.x);
-    else if (y < -120)
+    }
+    else if (yAxis < -deadzone)
+    {
         this->moveControl->setSpeed(this->maxSpeeds.rot);
+    }
     else
+    {
         this->moveControl->setSpeed(0);
+    }
 
-    if (x > 120)
+    if (xAxis > deadzone)
+    {
         this->moveControl->setRotationSpeed(this->maxSpeeds.rot);
-    else if (x < -120)
+    }
+    else if (xAxis < -deadzone)
+    {
         this->moveControl->setRotationSpeed(-this->maxSpeeds.rot);
+    }
     else
+    {
         this->moveControl->setRotationSpeed(0);
+    }
 
-    if (this->directionChangeWrapper && (x > 120 || x < -120))
+    if (static_cast<bool>(this->directionChangeWrapper) && (xAxis > deadzone || xAxis < -deadzone))
+    {
         this->lastLoopTurned = true;
-    else if (this->lastLoopTurned) {
-        if (this->directionChangeWrapper)
+    }
+    else if (this->lastLoopTurned)
+    {
+        if (static_cast<bool>(this->directionChangeWrapper))
+        {
             this->directionChangeWrapper->action();
+        }
         this->lastLoopTurned = false;
-    }      
+    }
 }