Make motor indexes definition const int and move them to motors.ino

Remove motor indexes definitions from flix.ino Add motors.ino to simulation code and implement required mocks
okalachev · Jan 9, 2025 · 404ceed · 404ceed
1 parent 72033cd
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Showing 7 changed files with 14 additions and 11 deletions.
diff --git a/flix/cli.ino b/flix/cli.ino
@@ -8,6 +8,7 @@
 
 extern PID rollRatePID, pitchRatePID, yawRatePID, rollPID, pitchPID;
 extern LowPassFilter<Vector> ratesFilter;
+extern const int MOTOR_REAR_LEFT, MOTOR_REAR_RIGHT, MOTOR_FRONT_RIGHT, MOTOR_FRONT_LEFT;
 
 const char* motd =
 "\nWelcome to\n"

diff --git a/flix/control.ino b/flix/control.ino
@@ -50,6 +50,8 @@ Vector ratesTarget;
 Vector torqueTarget;
 float thrustTarget;
 
+extern const int MOTOR_REAR_LEFT, MOTOR_REAR_RIGHT, MOTOR_FRONT_RIGHT, MOTOR_FRONT_LEFT;
+
 void control() {
 	interpretRC();
 	failsafe();

diff --git a/flix/flix.ino b/flix/flix.ino
@@ -18,11 +18,6 @@
 #define RC_CHANNEL_ARMED 4
 #define RC_CHANNEL_MODE 5
 
-#define MOTOR_REAR_LEFT 0
-#define MOTOR_REAR_RIGHT 1
-#define MOTOR_FRONT_RIGHT 2
-#define MOTOR_FRONT_LEFT 3
-
 #define ONE_G 9.80665
 
 float t = NAN; // current step time, s

diff --git a/flix/motors.ino b/flix/motors.ino
@@ -14,6 +14,12 @@
 #define PWM_MIN 0
 #define PWM_MAX 1000000 / PWM_FREQUENCY
 
+// Motors array indexes:
+const int MOTOR_REAR_LEFT = 0;
+const int MOTOR_REAR_RIGHT = 1;
+const int MOTOR_FRONT_RIGHT = 2;
+const int MOTOR_FRONT_LEFT = 3;
+
 void setupMotors() {
 	Serial.println("Setup Motors");
 

diff --git a/gazebo/Arduino.h b/gazebo/Arduino.h
@@ -150,6 +150,9 @@ void delay(uint32_t ms) {
 	std::this_thread::sleep_for(std::chrono::milliseconds(ms));
 }
 
+bool ledcAttach(uint8_t pin, uint32_t freq, uint8_t resolution) { return true; }
+bool ledcWrite(uint8_t pin, uint32_t duty) { return true; }
+
 unsigned long __micros;
 unsigned long __resetTime = 0;
 

diff --git a/gazebo/flix.h b/gazebo/flix.h
@@ -12,11 +12,6 @@
 
 #define RC_CHANNELS 16
 
-#define MOTOR_REAR_LEFT 0
-#define MOTOR_FRONT_LEFT 3
-#define MOTOR_FRONT_RIGHT 2
-#define MOTOR_REAR_RIGHT 1
-
 #define WIFI_ENABLED 1
 
 #define ONE_G 9.80665
@@ -43,6 +38,7 @@ void controlAttitude();
 void controlRate();
 void controlTorque();
 void showTable();
+void sendMotors();
 bool motorsActive();
 void cliTestMotor(uint8_t n);
 String stringToken(char* str, const char* delim);
@@ -61,7 +57,6 @@ inline Quaternion FLU2FRD(const Quaternion &q);
 void setLED(bool on) {};
 void calibrateGyro() { printf("Skip gyro calibrating\n"); };
 void calibrateAccel() { printf("Skip accel calibrating\n"); };
-void sendMotors() {};
 void printIMUCal() { printf("cal: N/A\n"); };
 void printIMUInfo() {};
 Vector accBias, gyroBias, accScale(1, 1, 1);
diff --git a/gazebo/simulator.cpp b/gazebo/simulator.cpp
@@ -20,6 +20,7 @@
 #include "util.ino"
 #include "rc.ino"
 #include "time.ino"
+#include "motors.ino"
 #include "estimate.ino"
 #include "control.ino"
 #include "log.ino"