⚡ (power): CoreMotor - suspend/resume pwm when needed to allow deep s…

…leep
leka · Nov 28, 2022 · e7822a7 · e7822a7
1 parent 25fc281
commit e7822a7
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Showing 2 changed files with 24 additions and 2 deletions.
diff --git a/drivers/CoreMotor/source/CoreMotor.cpp b/drivers/CoreMotor/source/CoreMotor.cpp
@@ -33,15 +33,20 @@ void CoreMotor::setDirections(int dir_1, int dir_2)
 
 void CoreMotor::setSpeed(float speed)
 {
-	if (speed < 0.0F) {
+	if (speed <= 0.0F) {
 		_speed.write(0);
+		_speed.suspend();
+		return;
+	}
 
-	} else if (speed > 1.0F) {
+	if (speed > 1.0F) {
 		_speed.write(1.0F);
 
 	} else {
 		_speed.write(speed);
 	}
+
+	_speed.resume();
 }
 
 }	// namespace leka
diff --git a/drivers/CoreMotor/tests/CoreMotor_test.cpp b/drivers/CoreMotor/tests/CoreMotor_test.cpp
@@ -46,6 +46,7 @@ TEST_F(CoreMotorTest, rotateClockwiseNormalSpeed)
 	EXPECT_CALL(dir_1, write(1));
 	EXPECT_CALL(dir_2, write(0));
 	EXPECT_CALL(speed, write(0.5));
+	EXPECT_CALL(speed, resume());
 
 	motor.spin(Rotation::clockwise, 0.5);
 }
@@ -55,6 +56,7 @@ TEST_F(CoreMotorTest, rotateClockwiseMaxSpeed)
 	EXPECT_CALL(dir_1, write(1));
 	EXPECT_CALL(dir_2, write(0));
 	EXPECT_CALL(speed, write(1));
+	EXPECT_CALL(speed, resume());
 
 	motor.spin(Rotation::clockwise, 1);
 }
@@ -64,6 +66,7 @@ TEST_F(CoreMotorTest, rotateCounterClockwiseNormalSpeed)
 	EXPECT_CALL(dir_1, write(0));
 	EXPECT_CALL(dir_2, write(1));
 	EXPECT_CALL(speed, write(0.5));
+	EXPECT_CALL(speed, resume());
 
 	motor.spin(Rotation::counterClockwise, 0.5);
 }
@@ -73,6 +76,7 @@ TEST_F(CoreMotorTest, rotateCounterClockwiseMaxSpeed)
 	EXPECT_CALL(dir_1, write(0));
 	EXPECT_CALL(dir_2, write(1));
 	EXPECT_CALL(speed, write(1));
+	EXPECT_CALL(speed, resume());
 
 	motor.spin(Rotation::counterClockwise, 1);
 }
@@ -82,15 +86,27 @@ TEST_F(CoreMotorTest, stop)
 	EXPECT_CALL(dir_1, write(0));
 	EXPECT_CALL(dir_2, write(0));
 	EXPECT_CALL(speed, write(0));
+	EXPECT_CALL(speed, suspend());
 
 	motor.stop();
 }
 
+TEST_F(CoreMotorTest, speedValueEqualToZero)
+{
+	MOCK_FUNCTION_silence_digital_write_unexpected_calls();
+
+	EXPECT_CALL(speed, write(0));
+	EXPECT_CALL(speed, suspend());
+
+	motor.spin(Rotation::clockwise, 0);
+}
+
 TEST_F(CoreMotorTest, speedValueNotGreaterThanOne)
 {
 	MOCK_FUNCTION_silence_digital_write_unexpected_calls();
 
 	EXPECT_CALL(speed, write(1));
+	EXPECT_CALL(speed, resume());
 
 	motor.spin(Rotation::clockwise, 100);
 }
@@ -100,6 +116,7 @@ TEST_F(CoreMotorTest, speedValueNotLowerThanZero)
 	MOCK_FUNCTION_silence_digital_write_unexpected_calls();
 
 	EXPECT_CALL(speed, write(0));
+	EXPECT_CALL(speed, suspend());
 
 	motor.spin(Rotation::clockwise, -100);
 }