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DC not ETB refactoring

This commit is contained in:
rusefillc 2020-11-16 19:28:30 -05:00
parent a440fc6cff
commit 724abc68f5
1 changed files with 8 additions and 8 deletions
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16
firmware/controllers/actuators/dc_motors.cpp
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@ -19,7 +19,7 @@
EXTERN_ENGINE; EXTERN_ENGINE;
class EtbHardware { class DcHardware {
private: private:
OutputPin m_pinEnable; OutputPin m_pinEnable;
OutputPin m_pinDir1; OutputPin m_pinDir1;
@ -31,7 +31,7 @@ private:
SimplePwm m_pwmDir2; SimplePwm m_pwmDir2;
public: public:
EtbHardware() : dcMotor(&m_pwmEnable, &m_pwmDir1, &m_pwmDir2, &m_disablePin) {} DcHardware() : dcMotor(&m_pwmEnable, &m_pwmDir1, &m_pwmDir2, &m_disablePin) {}
TwoPinDcMotor dcMotor; TwoPinDcMotor dcMotor;
@ -94,7 +94,7 @@ public:
} }
}; };
static EtbHardware etbHardware[ETB_COUNT * 2]; static DcHardware dcHardware[ETB_COUNT * 2];
// We needed more H-bridge configs - so the IO configs are split // We needed more H-bridge configs - so the IO configs are split
// across two arrays of settings to preserve config compatibility // across two arrays of settings to preserve config compatibility
@ -110,7 +110,7 @@ const etb_io& getConfigForMotor(size_t index DECLARE_ENGINE_PARAMETER_SUFFIX) {
DcMotor* initDcMotor(size_t index, bool useTwoWires DECLARE_ENGINE_PARAMETER_SUFFIX) { DcMotor* initDcMotor(size_t index, bool useTwoWires DECLARE_ENGINE_PARAMETER_SUFFIX) {
const auto& io = getConfigForMotor(index PASS_ENGINE_PARAMETER_SUFFIX); const auto& io = getConfigForMotor(index PASS_ENGINE_PARAMETER_SUFFIX);
auto& hw = etbHardware[index]; auto& hw = dcHardware[index];
hw.start( hw.start(
useTwoWires, useTwoWires,
@ -126,17 +126,17 @@ DcMotor* initDcMotor(size_t index, bool useTwoWires DECLARE_ENGINE_PARAMETER_SUF
} }
void setDcMotorFrequency(size_t index, int hz) { void setDcMotorFrequency(size_t index, int hz) {
etbHardware[index].setFrequency(hz); dcHardware[index].setFrequency(hz);
} }
void setDcMotorDuty(size_t index, float duty) { void setDcMotorDuty(size_t index, float duty) {
etbHardware[index].dcMotor.set(duty); dcHardware[index].dcMotor.set(duty);
} }
void showDcMotorInfo(Logging* logger, int i) { void showDcMotorInfo(Logging* logger, int i) {
EtbHardware *etb = &etbHardware[i]; DcHardware *dc = &dcHardware[i];
scheduleMsg(logger, " motor: dir=%d DC=%f", etb->dcMotor.isOpenDirection(), etb->dcMotor.get()); scheduleMsg(logger, " motor: dir=%d DC=%f", dc->dcMotor.isOpenDirection(), dc->dcMotor.get());
} }