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Remove redundant/not-implemented API calls #28

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Merged
merged 3 commits into from
Jan 19, 2022
Merged

Remove redundant/not-implemented API calls #28

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4cef773
Remove invidual motor moveTo APIs, since they are not redundant with …
aentinger Jan 19, 2022
d009196
Move implementation BraccioClass::moveTo/positions(1/2) from header t…
aentinger Jan 19, 2022
f615bba
Removing non-implemented function-prototype for 'positions'
aentinger Jan 19, 2022
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36 changes: 36 additions & 0 deletions src/Braccio++.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -164,6 +164,42 @@ bool BraccioClass::begin(voidFuncPtr customMenu) {
return true;
}

MotorsWrapper BraccioClass::move(int const id)
{
MotorsWrapper wrapper(servos, id);
return wrapper;
}

void BraccioClass::moveTo(float const a1, float const a2, float const a3, float const a4, float const a5, float const a6)
{
servos.setPositionMode(PositionMode::SYNC);
servos.setPosition(1, a1, runTime);
servos.setPosition(2, a2, runTime);
servos.setPosition(3, a3, runTime);
servos.setPosition(4, a4, runTime);
servos.setPosition(5, a5, runTime);
servos.setPosition(6, a6, runTime);
servos.synchronize();
servos.setPositionMode(PositionMode::IMMEDIATE);
}

void BraccioClass::positions(float * buffer)
{
for (int id = SmartServoClass::MIN_MOTOR_ID; id <= SmartServoClass::MAX_MOTOR_ID; id++)
*buffer++ = servos.getPosition(id);
}

void BraccioClass::positions(float & a1, float & a2, float & a3, float & a4, float & a5, float & a6)
{
// TODO: add check if motors are actually connected
a1 = servos.getPosition(1);
a2 = servos.getPosition(2);
a3 = servos.getPosition(3);
a4 = servos.getPosition(4);
a5 = servos.getPosition(5);
a6 = servos.getPosition(6);
}

void BraccioClass::connectJoystickTo(lv_obj_t* obj) {
lv_group_add_obj(p_objGroup, obj);
lv_indev_set_group(kb_indev, p_objGroup);
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50 changes: 9 additions & 41 deletions src/Braccio++.h
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Expand Up @@ -87,47 +87,15 @@ class BraccioClass
inline bool begin() { return begin(nullptr); }
bool begin(voidFuncPtr customMenu);

// setters
MotorsWrapper move(int joint_index) {
MotorsWrapper wrapper(servos, joint_index);
return wrapper;
}
MotorsWrapper get(int joint_index) {
return move(joint_index);
}
void moveTo(int joint_index, int position) {
//servos.setPosition(joint_index, position, 100);
}
void moveTo(int joint_index, float angle) {
servos.setPosition(joint_index, angle, 100);
}
void moveTo(float a1, float a2, float a3, float a4, float a5, float a6) {
servos.setPositionMode(PositionMode::SYNC);
servos.setPosition(1, a1, runTime);
servos.setPosition(2, a2, runTime);
servos.setPosition(3, a3, runTime);
servos.setPosition(4, a4, runTime);
servos.setPosition(5, a5, runTime);
servos.setPosition(6, a6, runTime);
servos.synchronize();
servos.setPositionMode(PositionMode::IMMEDIATE);
}
// getters
void positions(float* buffer) {
for (int i = 1; i < 7; i++) {
*buffer++ = servos.getPosition(i);
}
}
void positions(float& a1, float& a2, float& a3, float& a4, float& a5, float& a6) {
// TODO: add check if motors are actually connected
a1 = servos.getPosition(1);
a2 = servos.getPosition(2);
a3 = servos.getPosition(3);
a4 = servos.getPosition(4);
a5 = servos.getPosition(5);
a6 = servos.getPosition(6);
}
float position(int joint_index);

MotorsWrapper move(int const id);
inline MotorsWrapper get(int const id) { return move(id); }

void moveTo(float const a1, float const a2, float const a3, float const a4, float const a5, float const a6);
void positions(float * buffer);
void positions(float & a1, float & a2, float & a3, float & a4, float & a5, float & a6);


bool connected(int joint_index) {
return _connected[joint_index];
}
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7 changes: 3 additions & 4 deletions src/lib/motors/SmartServo.h
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Expand Up @@ -71,7 +71,9 @@ class SmartServoClass

inline int getErrors() const { return _errors; }

static const int BROADCAST = 0xFE;
static int constexpr BROADCAST = 0xFE;
static int constexpr MIN_MOTOR_ID = 1;
static int constexpr MAX_MOTOR_ID = 6;
static float constexpr MAX_ANGLE = 315.0f;

private:
Expand All @@ -81,9 +83,6 @@ class SmartServoClass
static int constexpr MAX_RX_PAYLOAD_LEN = 10;
static int constexpr MAX_POSITION = 4000;

static int constexpr MIN_MOTOR_ID = 1;
static int constexpr MAX_MOTOR_ID = 6;

inline bool isValidAngle(float const angle) { return ((angle >= 0.0f) && (angle <= MAX_ANGLE)); }
inline bool isValidId(int const id) const { return ((id >= MIN_MOTOR_ID) && (id <= MAX_MOTOR_ID)); }
inline int idToArrayIndex(int const id) const { return (id - 1); }
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