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Made calibration C++ better match MP

This commit is contained in:
ZodiusInfuser 2022-03-27 12:48:58 +01:00
parent 7f83c98968
commit c5be5be759
4 changed files with 92 additions and 42 deletions
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68
drivers/servo/calibration.cpp
View File

@ -123,31 +123,79 @@ namespace servo {
return calibration[index];
}
Calibration::Pair &Calibration::first() {
assert(calibration_size > 0);
return calibration[0];
}
Calibration::Pair &Calibration::last() {
assert(calibration_size > 0);
return calibration[calibration_size - 1];
}
const Calibration::Pair &Calibration::pair(uint8_t index) const {
assert(index < calibration_size);
return calibration[index];
}
float Calibration::pulse(uint8_t index) const {
return pair(index).pulse;
}
void Calibration::pulse(uint8_t index, float pulse) {
pair(index).pulse = pulse;
}
float Calibration::value(uint8_t index) const {
return pair(index).value;
}
void Calibration::value(uint8_t index, float value) {
pair(index).value = value;
}
Calibration::Pair &Calibration::first() {
assert(calibration_size > 0);
return calibration[0];
}
const Calibration::Pair &Calibration::first() const {
assert(calibration_size > 0);
return calibration[0];
}
float Calibration::first_pulse() const {
return first().pulse;
}
void Calibration::first_pulse(float pulse) {
first().pulse = pulse;
}
float Calibration::first_value() const {
return first().value;
}
void Calibration::first_value(float value) {
first().value = value;
}
Calibration::Pair &Calibration::last() {
assert(calibration_size > 0);
return calibration[calibration_size - 1];
}
const Calibration::Pair &Calibration::last() const {
assert(calibration_size > 0);
return calibration[calibration_size - 1];
}
float Calibration::last_pulse() const {
return last().pulse;
}
void Calibration::last_pulse(float pulse) {
last().pulse = pulse;
}
float Calibration::last_value() const {
return last().value;
}
void Calibration::last_value(float value) {
last().value = value;
}
bool Calibration::has_lower_limit() const {
return limit_lower;
}

20
drivers/servo/calibration.hpp
View File

@ -74,13 +74,27 @@ namespace servo {
void apply_default_pairs(CalibrationType default_type);
uint size() const;
Pair &pair(uint8_t index); // Ensure the pairs are assigned in ascending value order
Pair &first();
Pair &last();
Pair &pair(uint8_t index); // Ensure the pairs are assigned in ascending value order
const Pair &pair(uint8_t index) const; // Ensure the pairs are assigned in ascending value order
float pulse(uint8_t index) const;
void pulse(uint8_t index, float pulse);
float value(uint8_t index) const;
void value(uint8_t index, float value);
Pair &first();
const Pair &first() const;
float first_pulse() const;
void first_pulse(float pulse);
float first_value() const;
void first_value(float value);
Pair &last();
const Pair &last() const;
float last_pulse() const;
void last_pulse(float pulse);
float last_value() const;
void last_value(float value);
bool has_lower_limit() const;
bool has_upper_limit() const;

10
examples/servo2040/servo2040_calibration.cpp
View File

@ -52,8 +52,8 @@ int main() {
constexpr float WIDE_ANGLE_RANGE = 270.0f;
// Lets modify the calibration to increase its range
acal.first().value = -WIDE_ANGLE_RANGE / 2;
acal.last().value = WIDE_ANGLE_RANGE / 2;
acal.first_value(-WIDE_ANGLE_RANGE / 2);
acal.last_value(WIDE_ANGLE_RANGE / 2);
// As the calibration was a reference, the servo has already
// been updated, but lets access it again to confirm it worked
@ -73,7 +73,7 @@ int main() {
// Update the linear servo so its max value matches the real distance travelled
Calibration &lcal = linear_servo.calibration();
lcal.last().value = LINEAR_RANGE;
lcal.last_value(LINEAR_RANGE);
// As the calibration was a reference, the servo has already
// been updated, but lets access it again to confirm it worked
@ -93,8 +93,8 @@ int main() {
// Update the continuous rotation servo so its value matches its real speed
Calibration &ccal = continuous_servo.calibration();
ccal.first().value = -CONTINUOUS_SPEED;
ccal.last().value = CONTINUOUS_SPEED;
ccal.first_value(-CONTINUOUS_SPEED);
ccal.last_value(CONTINUOUS_SPEED);
// As the calibration was a reference, the servo has already
// been updated, but lets access it again to confirm it worked

36
micropython/modules/servo/servo.cpp
View File

@ -338,8 +338,7 @@ mp_obj_t Calibration_pulse(size_t n_args, const mp_obj_t *pos_args, mp_map_t *kw
if(index < 0 || index >= calibration_size)
mp_raise_msg_varg(&mp_type_ValueError, MP_ERROR_TEXT("index out of range. Expected 0 to %d"), calibration_size - 1);
else {
const Calibration::Pair &pair = self->calibration->pair((uint)index);
return mp_obj_new_float(pair.pulse);
return mp_obj_new_float(self->calibration->pulse((uint)index));
}
}
else {
@ -363,8 +362,7 @@ mp_obj_t Calibration_pulse(size_t n_args, const mp_obj_t *pos_args, mp_map_t *kw
if(index < 0 || index >= calibration_size)
mp_raise_msg_varg(&mp_type_ValueError, MP_ERROR_TEXT("index out of range. Expected 0 to %d"), calibration_size - 1);
else {
Calibration::Pair &pair = self->calibration->pair((uint)index);
pair.pulse = mp_obj_get_float(args[ARG_pulse].u_obj);
self->calibration->pulse((uint)index, mp_obj_get_float(args[ARG_pulse].u_obj));
}
}
@ -392,8 +390,7 @@ mp_obj_t Calibration_value(size_t n_args, const mp_obj_t *pos_args, mp_map_t *kw
if(index < 0 || index >= calibration_size)
mp_raise_msg_varg(&mp_type_ValueError, MP_ERROR_TEXT("index out of range. Expected 0 to %d"), calibration_size - 1);
else {
const Calibration::Pair &pair = self->calibration->pair((uint)index);
return mp_obj_new_float(pair.value);
return mp_obj_new_float(self->calibration->value((uint)index));
}
}
else {
@ -417,8 +414,7 @@ mp_obj_t Calibration_value(size_t n_args, const mp_obj_t *pos_args, mp_map_t *kw
if(index < 0 || index >= calibration_size)
mp_raise_msg_varg(&mp_type_ValueError, MP_ERROR_TEXT("index out of range. Expected 0 to %d"), calibration_size - 1);
else {
Calibration::Pair &pair = self->calibration->pair((uint)index);
pair.value = mp_obj_get_float(args[ARG_value].u_obj);
self->calibration->value((uint)index, mp_obj_get_float(args[ARG_value].u_obj));
}
}
@ -513,8 +509,7 @@ mp_obj_t Calibration_first_pulse(size_t n_args, const mp_obj_t *pos_args, mp_map
if(self->calibration->size() == 0)
mp_raise_ValueError("this calibration does not have any pairs");
else {
const Calibration::Pair &pair = self->calibration->first();
return mp_obj_new_float(pair.pulse);
return mp_obj_new_float(self->calibration->first_pulse());
}
}
else {
@ -533,8 +528,7 @@ mp_obj_t Calibration_first_pulse(size_t n_args, const mp_obj_t *pos_args, mp_map
if(self->calibration->size() == 0)
mp_raise_ValueError("this calibration does not have any pairs");
else {
Calibration::Pair &pair = self->calibration->first();
pair.pulse = mp_obj_get_float(args[ARG_pulse].u_obj);
self->calibration->first_pulse(mp_obj_get_float(args[ARG_pulse].u_obj));
}
}
@ -557,8 +551,7 @@ mp_obj_t Calibration_first_value(size_t n_args, const mp_obj_t *pos_args, mp_map
if(self->calibration->size() == 0)
mp_raise_ValueError("this calibration does not have any pairs");
else {
const Calibration::Pair &pair = self->calibration->first();
return mp_obj_new_float(pair.value);
return mp_obj_new_float(self->calibration->first_value());
}
}
else {
@ -577,8 +570,7 @@ mp_obj_t Calibration_first_value(size_t n_args, const mp_obj_t *pos_args, mp_map
if(self->calibration->size() == 0)
mp_raise_ValueError("this calibration does not have any pairs");
else {
Calibration::Pair &pair = self->calibration->first();
pair.value = mp_obj_get_float(args[ARG_value].u_obj);
self->calibration->first_value(mp_obj_get_float(args[ARG_value].u_obj));
}
}
@ -673,8 +665,7 @@ mp_obj_t Calibration_last_pulse(size_t n_args, const mp_obj_t *pos_args, mp_map_
if(self->calibration->size() == 0)
mp_raise_ValueError("this calibration does not have any pairs");
else {
const Calibration::Pair &pair = self->calibration->last();
return mp_obj_new_float(pair.pulse);
return mp_obj_new_float(self->calibration->last_pulse());
}
}
else {
@ -693,8 +684,7 @@ mp_obj_t Calibration_last_pulse(size_t n_args, const mp_obj_t *pos_args, mp_map_
if(self->calibration->size() == 0)
mp_raise_ValueError("this calibration does not have any pairs");
else {
Calibration::Pair &pair = self->calibration->last();
pair.pulse = mp_obj_get_float(args[ARG_pulse].u_obj);
self->calibration->last_pulse(mp_obj_get_float(args[ARG_pulse].u_obj));
}
}
@ -717,8 +707,7 @@ mp_obj_t Calibration_last_value(size_t n_args, const mp_obj_t *pos_args, mp_map_
if(self->calibration->size() == 0)
mp_raise_ValueError("this calibration does not have any pairs");
else {
const Calibration::Pair &pair = self->calibration->last();
return mp_obj_new_float(pair.value);
return mp_obj_new_float(self->calibration->last_value());
}
}
else {
@ -737,8 +726,7 @@ mp_obj_t Calibration_last_value(size_t n_args, const mp_obj_t *pos_args, mp_map_
if(self->calibration->size() == 0)
mp_raise_ValueError("this calibration does not have any pairs");
else {
Calibration::Pair &pair = self->calibration->last();
pair.value = mp_obj_get_float(args[ARG_value].u_obj);
self->calibration->last_value(mp_obj_get_float(args[ARG_value].u_obj));
}
}