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Cleanup/Refactor SmartServo#14

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aentinger merged 21 commits intomasterarduino-libraries/Arduino_Braccio_plusplus:masterfrom

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Jan 12, 2022

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Commits on Jan 12, 2022

• Deleting superfluous file ArduinoRS485.h.

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• Turning SmartServo from a template class in a normal C++ class since the number of motors is known (and fixed).

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• Moving member variable initialisation from class body to constructor.

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• There's no need to create an instance of SmartServoClass on the heap, it can be safely stored on the stack.

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• Replacing enum 'positionMode' with enum class 'PositionMode' for increase type-safety and readability."

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• Inline short functions.

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• Applying const-correctness is a first step towards detecting programmer error.

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• Extracting enum SERVO_REG into separate file 'SmartServoConst.h'.

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• Turning SmartServoConstants into an enum class prevents misusage, as enum automatically default to int.

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• Extract servo operation commands into enum class.

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• Replacing uint8_t with enum class SmartServoOperation ensures that this API can only be used with a defined servo operation command.

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• Extract PositionMode into header file 'SmartServoConst.h'.

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• Turning const MAX_MOTORS private, replacing const with constexpr to enable compiler optimisation.

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• Add separators for better readability.

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• Initialize private member 'errors' within constructor, prefix with '_'.

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• Prefix private member 'onError' with '_', initialise within constructor.

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• Deleting superfluous variable 'timestamps'.

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• The struct needs to be packed, otherwise the little trick with converting to a char pointer can backfire badly.

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• Replace tabs with spaces (why does anyone still uses tabs in their editor ;( ).

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• Remove superfluous inclusion of 'Arduino.h' in .cpp file (already included in .h).

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• Provide REG/CMD macros to hide 'ugly' conversion function 'toVal'.

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