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clangtidy corrections part 2

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kleiax
2023-10-12 00:44:27 +02:00
parent 23d854a826
commit a43e2db92b
41 changed files with 2274 additions and 2485 deletions
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lib/MotorControl/motorControl.cpp
+96 -57
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@@ -5,20 +5,20 @@
* @see motorControl.h
* @version 0.1
* @date 2021-12-13
*
*
* @copyright Copyright (c) 2021
*
*
*/
#include "motorControl.h"
MotorControl::MotorControl() {
this->setMinPwm(MotorControl::pwmMin);
this->setMaxPwm(MotorControl::pwmMax);
MotorControl::MotorControl()
{
Component::loopDelay = MotorControl::loopDelay;
}
void MotorControl::init(uint8_t pwmPin, uint8_t pwmChannel, uint8_t dir_1, uint8_t dir_2) {
void MotorControl::init(uint8_t pwmPin, uint8_t pwmChannel, uint8_t dir_1, uint8_t dir_2)
{
this->pwmPin = pwmPin;
this->pwmChannel = pwmChannel;
this->dir_1 = dir_1;
@@ -35,107 +35,141 @@ void MotorControl::init(uint8_t pwmPin, uint8_t pwmChannel, uint8_t dir_1, uint8
ledcWrite(this->pwmChannel, 0);
}
void MotorControl::run() {
void MotorControl::run()
{
// Absolute difference between targetPower and power
uint8_t abs_difference = abs(this->targetPower - this->power);
const uint8_t abs_difference = abs(this->targetPower - this->power);
// Difference between targetPower and power
int16_t difference = this->targetPower - this->power;
const int16_t difference = this->targetPower - this->power;
// Check that the target speed is close to 0 and that the abs_difference is lower than MotorControl::powerSteps
if (abs(this->targetPower) < MotorControl::powerSteps && abs_difference < MotorControl::powerSteps) {
if (abs(this->targetPower) < MotorControl::powerSteps && abs_difference < MotorControl::powerSteps)
{
this->setRealPower(0);
return;
}
// Correct speed
if (abs_difference < MotorControl::powerSteps) {
if (abs_difference < MotorControl::powerSteps)
{
return;
}
// Positive or negative tagret speed
if (this->targetPower >= 0) {
if (this->targetPower >= 0)
{
// Positive or negative speed
if (this->power >= 0) {
if (difference > 0) {
if (this->power >= 0)
{
if (difference > 0)
{
this->increasePower(MotorControl::powerSteps);
} else {
}
else
{
this->increasePower(-MotorControl::powerSteps);
}
} else {
}
else
{
this->increasePower(MotorControl::powerSteps);
}
} else {
}
else
{
// Positive or negative speed
if (this->power >= 0) {
if (this->power >= 0)
{
this->increasePower(-MotorControl::powerSteps);
} else {
if (difference > 0) {
}
else
{
if (difference > 0)
{
this->increasePower(MotorControl::powerSteps);
} else {
}
else
{
this->increasePower(-MotorControl::powerSteps);
}
}
}
}
void MotorControl::setMinPwm(uint8_t min) {
if (min > 80) min = 80;
//transform percentage to real pwm value
min = (uint8_t) (((1 << pwmRes) - 1) * (min / 100.0));
void MotorControl::setMinPwm(uint8_t min)
{
if (min > MotorControl::maxPwmMin)
{
min = MotorControl::maxPwmMin;
}
// transform percentage to real pwm value
min = static_cast<uint8_t>(((static_cast<uint8_t>(1) << pwmRes) - 1) * (min / 100.0));
this->dutycycleMin = min;
}
void MotorControl::setMaxPwm(uint8_t max) {
if (max > 100) max = 100;
//transform percentage to real pwm value
max = (uint8_t) (((1 << pwmRes) - 1) * (max / 100.0));
void MotorControl::setMaxPwm(uint8_t max)
{
if (max > 100)
{
max = 100;
}
// transform percentage to real pwm value
max = static_cast<uint8_t>(((static_cast<uint8_t>(1) << pwmRes) - 1) * (max / 100.0));
this->dutycycleMax = max;
}
void MotorControl::setTargetPower(int8_t power) {
void MotorControl::setTargetPower(int8_t power)
{
if (power <= 100 && power >= -100)
{
this->targetPower = power;
}
else
{
std::cout << " MotorControl::setTargetPower: Invalid Argument - Power: " << power << std::endl;
}
}
void MotorControl::stop() {
void MotorControl::stop()
{
this->targetPower = 0;
}
void MotorControl::emergencyStop() {
void MotorControl::emergencyStop()
{
setRealPower(0);
}
bool MotorControl::isTargetPowerReached() const {
if (this->targetPower == this->power)
return true;
return false;
bool MotorControl::isTargetPowerReached() const
{
return this->targetPower == this->power;
}
bool MotorControl::isAccelerationPositive() const {
if (power < targetPower)
return true;
return false;
bool MotorControl::isAccelerationPositive() const
{
return power < targetPower;
}
bool MotorControl::isAccelerationNegative() const {
if (power > targetPower)
return true;
return false;
bool MotorControl::isAccelerationNegative() const
{
return power > targetPower;
}
void MotorControl::setRealPower(int8_t power) {
//TODO: Exceptionhandling
if (power <= 100 && power >= -100) {
void MotorControl::setRealPower(int8_t power)
{
// TODO: Exceptionhandling
if (power <= 100 && power >= -100)
{
this->power = power;
} else {
}
else
{
return;
}
if (this->power == 0) {
if (this->power == 0)
{
this->direction = 0;
digitalWrite(this->dir_1, LOW);
digitalWrite(this->dir_2, LOW);
@@ -144,13 +178,16 @@ void MotorControl::setRealPower(int8_t power) {
return;
}
uint8_t pwm_val = map(abs(power), 0, 100, this->dutycycleMin, this->dutycycleMax);
const uint8_t pwm_val = map(abs(power), 0, 100, this->dutycycleMin, this->dutycycleMax);
if ((this->direction == 1 || this->direction == 0) && power < 0){ // new direction backward
if ((this->direction == 1 || this->direction == 0) && power < 0)
{ // new direction backward
this->direction = 2;
digitalWrite(this->dir_1, LOW);
digitalWrite(this->dir_2, HIGH);
} else if ((this->direction == 2 || this->direction == 0) && power > 0){ // new direction forward
}
else if ((this->direction == 2 || this->direction == 0) && power > 0)
{ // new direction forward
this->direction = 1;
digitalWrite(this->dir_1, HIGH);
digitalWrite(this->dir_2, LOW);
@@ -160,10 +197,12 @@ void MotorControl::setRealPower(int8_t power) {
this->dutycycle = pwm_val;
}
void MotorControl::increasePower(int8_t power) {
//TODO: Exceptionhandling
//TODO: make a stop befor a direction change
if (abs(power) > 2 * MotorControl::powerSteps) {
void MotorControl::increasePower(int8_t power)
{
// TODO: Exceptionhandling
// TODO: make a stop befor a direction change
if (abs(power) > 2 * MotorControl::powerSteps)
{
Serial.println("Invalid Argument in MotorControl::increasePower");
return;
}