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Refactor/Cleanup MotorsWrapper #31

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Merged
merged 4 commits into from
Jan 20, 2022
Merged

Refactor/Cleanup MotorsWrapper #31

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bd99719
Renaming MotorsWrapper to Servo since this feels more to the point.
aentinger Jan 20, 2022
e3a6f42
Cleaning up Servo class for better visibility in how it functions.
aentinger Jan 20, 2022
5b8aa22
Inlining a couple of functions for better readability.
aentinger Jan 20, 2022
c87a0f7
Rename '*idx' to 'id' for better compatibility within the whole codeb…
aentinger Jan 20, 2022
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6 changes: 3 additions & 3 deletions src/Braccio++.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -188,13 +188,13 @@ bool BraccioClass::connected(int const id)
return _is_motor_connected[SmartServoClass::idToArrayIndex(id)];
}

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

MotorsWrapper BraccioClass::get(int const id)
Servo BraccioClass::get(int const id)
{
return move(id);
}
Expand Down
76 changes: 27 additions & 49 deletions src/Braccio++.h
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Original file line number Diff line number Diff line change
Expand Up @@ -36,7 +36,7 @@ enum speed_grade_t {
#include <chrono>
using namespace std::chrono;

class MotorsWrapper;
class Servo;

class BraccioClass
{
Expand All @@ -53,25 +53,16 @@ class BraccioClass
bool connected(int const id);


MotorsWrapper move(int const id);
MotorsWrapper get (int const id);
Servo move(int const id);
Servo get (int const 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);


void speed(speed_grade_t speed_grade) {
runTime = speed_grade;
}

void disengage(int id = SmartServoClass::BROADCAST) {
servos.disengage(id);
}

void engage(int id = SmartServoClass::BROADCAST) {
servos.engage(id);
}
inline void speed (speed_grade_t const speed_grade) { runTime = speed_grade; }
inline void disengage(int const id = SmartServoClass::BROADCAST) { servos.disengage(id); }
inline void engage (int const id = SmartServoClass::BROADCAST) { servos.engage(id); }

int getKey();
void connectJoystickTo(lv_obj_t* obj);
Expand Down Expand Up @@ -173,46 +164,33 @@ class BraccioClass

#define Braccio BraccioClass::get_default_instance()

class MotorsWrapper {
class Servo
{
public:
MotorsWrapper(SmartServoClass & servos, int idx) : _servos(servos), _idx(idx) {}
MotorsWrapper& to(float angle) {
_servos.setPosition(_idx, angle, _speed);
return *this;
}
MotorsWrapper& in(std::chrono::milliseconds len) {
_servos.setTime(_idx, len.count());
return *this;
}
MotorsWrapper& move() {
return *this;
}
float position() {
return _servos.getPosition(_idx);
}

inline bool connected() { return Braccio.connected(_idx); }
Servo(SmartServoClass & servos, int const id) : _servos(servos), _id(id) { }

inline void disengage() { _servos.disengage(_id); }
inline void engage() { _servos.engage(_id); }
inline bool engaged() { return _servos.isEngaged(_id); }

inline Servo & move() { return *this; }
inline Servo & to (float const angle) { _servos.setPosition(_id, angle, _speed); return *this; }
inline Servo & in (std::chrono::milliseconds const len) { _servos.setTime(_id, len.count()); return *this; }

inline float position() { return _servos.getPosition(_id); }
inline bool connected() { return Braccio.connected(_id); }
inline void info(Stream & stream) { _servos.getInfo(stream, _id); }

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 _id;
int const _speed = 100;

};

struct __callback__container__ {
Expand Down