From eac9d03a250aa6933200eda76081ed75e51e6da2 Mon Sep 17 00:00:00 2001
From: "Stephen M. Moraco" <stephen@ironsheep.biz>
Date: Tue, 16 Aug 2022 18:45:34 -0600
Subject: [PATCH] Move to single mech for motor geom request

---
 src/isp_bldc_motor.spin2      | 23 ++++++++++++++---------
 src/isp_steering_2wheel.spin2 | 18 ++----------------
 2 files changed, 16 insertions(+), 25 deletions(-)

diff --git a/src/isp_bldc_motor.spin2 b/src/isp_bldc_motor.spin2
index cbb53dd..15a766e 100644
--- a/src/isp_bldc_motor.spin2
+++ b/src/isp_bldc_motor.spin2
@@ -106,15 +106,7 @@ PUB start(eMotorBasePin, eMotorVoltage) : ok | legalBase, fwdDegrees, revDegrees
 
     targetAngle := $FFFFFFFF    ' set to not used! (other values only used during testing)
 
-    case user.MOTOR_TYPE
-      MOTR_DOCO_4KRPM:
-        ' 15 degrees per tic
-        degrPerTic := 15
-        hallTicsPerRotation := 24
-      other:
-        ' 4 degrees per tic
-        degrPerTic := 4
-        hallTicsPerRotation := 90
+    degrPerTic, hallTicsPerRotation := hallTicInfoForMotor()
 
     fwdDegrees, revDegrees := offsetsForMotor(user.MOTOR_TYPE)
     offset_fwd  := fwdDegrees frac 360
@@ -618,6 +610,19 @@ PUB validMotorForChoice(userMotor) : legalMotor
             legalMotor := INVALID_MOTOR
     debug("*VAL* ", sdec_long(legalMotor))
 
+PUB hallTicInfoForMotor() : degreesPerTic, ticsPerRotation
+'' Return numbers for user selected motor (for use by two-wheel-steering object!)
+    if user.MOTOR_TYPE == user.MOTR_DOCO_4KRPM
+        ' degrees = ticks * 15
+        degreesPerTic := 15
+        ' rotations = ticks / 24
+        ticsPerRotation := 24
+    else
+        ' degrees = ticks * 4
+        degreesPerTic := 4
+        ' rotations = ticks / 90
+        ticsPerRotation := 90
+
 CON { --- TEST-USE ONLY Methods --- }
 
 PUB testSetLimit(newMaxLimit)
diff --git a/src/isp_steering_2wheel.spin2 b/src/isp_steering_2wheel.spin2
index 4df4ed8..64f05f2 100644
--- a/src/isp_steering_2wheel.spin2
+++ b/src/isp_steering_2wheel.spin2
@@ -205,7 +205,7 @@ PUB stopAfterRotation(nRotationCount, eRotationUnits) | degreesPerTic, ticsPerRo
         ' FIXME: UNDONE should be more than ticks needed for spin-up/down ramps!!!
         abort
 
-    degreesPerTic, ticsPerRotation := hallTicInfoForMotor()
+    degreesPerTic, ticsPerRotation := ltWheel.hallTicInfoForMotor()
 
     ' convert rotation info to ticks (will stop at ticks limit)
     motorStopHallTicks := 0
@@ -352,7 +352,7 @@ PRI convertRotationCount(nValue, eRotationUnits) : rotationCount | degreesPerTic
 ' Returns accumulated {rotationCount} in {rotationUnits} [DRU_DEGREES, DRU_ROTATIONS, or DRU_HALL_TICKS], since last reset, for this motor.
     rotationCount := -1
 
-    degreesPerTic, ticsPerRotation := hallTicInfoForMotor()
+    degreesPerTic, ticsPerRotation := ltWheel.hallTicInfoForMotor()
 
     case eRotationUnits
         DRU_HALL_TICKS:
@@ -426,20 +426,6 @@ PRI calcPowerForDirection(power, direction) : ltPower, rtPower | bIsLeft, absPow
 
     debug("* calcPowerForDirection(", sdec_long(power), ", ", sdec_long(direction), ") -> ", sdec_long(ltPower), sdec_long(rtPower))
 
-PRI hallTicInfoForMotor() : degreesPerTic, ticsPerRotation
-' return numbers for user selected motor
-    if user.MOTOR_TYPE == user.MOTR_DOCO_4KRPM
-        ' degrees = ticks * 15
-        degreesPerTic := 15
-        ' rotations = ticks / 24
-        ticsPerRotation :=  24
-    else
-        ' degrees = ticks * 4
-        degreesPerTic := 4
-        ' rotations = ticks / 90
-        ticsPerRotation :=  90
-
-
 PUB isReady() : bState
 '' Return T/F where T means the both motor cogs are running
     bState := ltWheel.isReady() and rtWheel.isReady()