Cleaning up Servo class for better visibility in how it functions.

Author: aentinger

src/Braccio++.h

@@ -173,46 +173,33 @@ class BraccioClass
 
 #define Braccio BraccioClass::get_default_instance()
 
-class Servo {
+class Servo
+{
 public:
-  Servo(SmartServoClass & servos, int idx) : _servos(servos), _idx(idx) {}
-  Servo& to(float angle) {
-    _servos.setPosition(_idx, angle, _speed);
-    return *this;
-  }
-  Servo& in(std::chrono::milliseconds len) {
-    _servos.setTime(_idx, len.count());
-    return *this;
-  }
-  Servo& move() {
-    return *this;
-  }
-  float position() {
-    return _servos.getPosition(_idx);
-  }
 
-  inline bool connected() { return Braccio.connected(_idx); }
+  Servo(SmartServoClass & servos, int const idx) : _servos(servos), _idx(idx) { }
+
+  inline void disengage() { _servos.disengage(_idx); }
+  inline void engage()    { _servos.engage(_idx); }
+  inline bool engaged()   { return _servos.isEngaged(_idx); }
+
+  inline Servo & move()                                    { return *this; }
+  inline Servo & to  (float const angle)                   { _servos.setPosition(_idx, angle, _speed); return *this; }
+  inline Servo & in  (std::chrono::milliseconds const len) { _servos.setTime(_idx, len.count()); return *this; }
+
+  inline float position()            { return _servos.getPosition(_idx); }
+  inline bool  connected()           { return Braccio.connected(_idx); }
+  inline void  info(Stream & stream) { _servos.getInfo(stream, _idx); }
+
+  operator bool() { return connected(); }
 
-  operator bool() {
-    return connected();
-  }
-  void info(Stream& stream) {
-    _servos.getInfo(stream, _idx);
-  }
-  void disengage() {
-    _servos.disengage(_idx);
-  }
-  void engage() {
-    _servos.engage(_idx);
-  }
-  bool engaged() {
-    return _servos.isEngaged(_idx);
-  }
 
 private:
+
   SmartServoClass & _servos;
-  int _idx;
-  int _speed = 100;
+  int const _idx;
+  int const _speed = 100;
+
 };
 
 struct __callback__container__ {