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Signed-off-by: Javier Balloffet <javier.balloffet@gmail.com>
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@jballoffet
jballoffet committed Dec 16, 2023
1 parent 27fdd85 commit e1c4493
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Showing 3 changed files with 33 additions and 45 deletions.
50 changes: 19 additions & 31 deletions andino_firmware/src/app.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -201,25 +201,25 @@ void App::reset_command() {

void App::run_command() {
switch (cmd) {
case Commands::kreadAnalogGpio:
case Commands::kReadAnalogGpio:
cmd_read_analog_gpio(argv1, argv2);
break;
case Commands::kreadDigitalGpio:
case Commands::kReadDigitalGpio:
cmd_read_digital_gpio(argv1, argv2);
break;
case Commands::kreadEncoders:
case Commands::kReadEncoders:
cmd_read_encoders(argv1, argv2);
break;
case Commands::kresetEncoders:
case Commands::kResetEncoders:
cmd_reset_encoders(argv1, argv2);
break;
case Commands::ksetMotorsSpeed:
case Commands::kSetMotorsSpeed:
cmd_set_motors_speed(argv1, argv2);
break;
case Commands::ksetMotorsPwm:
case Commands::kSetMotorsPwm:
cmd_set_motors_pwm(argv1, argv2);
break;
case Commands::ksetPidsTuningGains:
case Commands::kSetPidsTuningGains:
cmd_set_pid_tuning_gains(argv1, argv2);
break;
default:
Expand All @@ -228,35 +228,25 @@ void App::run_command() {
}
}

void App::cmd_unknown(const char* arg1, const char* arg2) {
(void)arg1;
(void)arg2;
Serial.println("Unknown command.");
}
void App::cmd_unknown(const char*, const char*) { Serial.println("Unknown command."); }

void App::cmd_read_analog_gpio(const char* arg1, const char* arg2) {
(void)arg2;
int pin = atoi(arg1);
void App::cmd_read_analog_gpio(const char* arg1, const char*) {
const int pin = atoi(arg1);
Serial.println(analogRead(pin));
}

void App::cmd_read_digital_gpio(const char* arg1, const char* arg2) {
(void)arg2;
int pin = atoi(arg1);
void App::cmd_read_digital_gpio(const char* arg1, const char*) {
const int pin = atoi(arg1);
Serial.println(digitalRead(pin));
}

void App::cmd_read_encoders(const char* arg1, const char* arg2) {
(void)arg1;
(void)arg2;
void App::cmd_read_encoders(const char*, const char*) {
Serial.print(left_encoder_.read());
Serial.print(" ");
Serial.println(right_encoder_.read());
}

void App::cmd_reset_encoders(const char* arg1, const char* arg2) {
(void)arg1;
(void)arg2;
void App::cmd_reset_encoders(const char*, const char*) {
left_encoder_.reset();
right_encoder_.reset();
left_pid_controller_.reset(left_encoder_.read());
Expand All @@ -265,8 +255,8 @@ void App::cmd_reset_encoders(const char* arg1, const char* arg2) {
}

void App::cmd_set_motors_speed(const char* arg1, const char* arg2) {
int left_motor_speed = atoi(arg1);
int right_motor_speed = atoi(arg2);
const int left_motor_speed = atoi(arg1);
const int right_motor_speed = atoi(arg2);

// Reset the auto stop timer.
lastMotorCommand = millis();
Expand All @@ -290,8 +280,8 @@ void App::cmd_set_motors_speed(const char* arg1, const char* arg2) {
}

void App::cmd_set_motors_pwm(const char* arg1, const char* arg2) {
int left_motor_pwm = atoi(arg1);
int right_motor_pwm = atoi(arg2);
const int left_motor_pwm = atoi(arg1);
const int right_motor_pwm = atoi(arg2);

// Reset the auto stop timer.
lastMotorCommand = millis();
Expand All @@ -305,9 +295,7 @@ void App::cmd_set_motors_pwm(const char* arg1, const char* arg2) {
Serial.println("OK");
}

void App::cmd_set_pid_tuning_gains(const char* arg1, const char* arg2) {
(void)arg2;

void App::cmd_set_pid_tuning_gains(const char* arg1, const char*) {
int i = 0;
char arg[20];
char* str;
Expand Down
14 changes: 7 additions & 7 deletions andino_firmware/src/app.h
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Original file line number Diff line number Diff line change
Expand Up @@ -60,31 +60,31 @@ class App {
// TODO(jballoffet): Parse arguments within callback method.
static void cmd_unknown(const char* arg1, const char* arg2);

/// Callback method for the `Commands::kreadAnalogGpio` command.
/// Callback method for the `Commands::kReadAnalogGpio` command.
// TODO(jballoffet): Parse arguments within callback method.
static void cmd_read_analog_gpio(const char* arg1, const char* arg2);

/// Callback method for the `Commands::kreadDigitalGpio` command.
/// Callback method for the `Commands::kReadDigitalGpio` command.
// TODO(jballoffet): Parse arguments within callback method.
static void cmd_read_digital_gpio(const char* arg1, const char* arg2);

/// Callback method for the `Commands::kreadEncoders` command.
/// Callback method for the `Commands::kReadEncoders` command.
// TODO(jballoffet): Parse arguments within callback method.
static void cmd_read_encoders(const char* arg1, const char* arg2);

/// Callback method for the `Commands::kresetEncoders` command.
/// Callback method for the `Commands::kResetEncoders` command.
// TODO(jballoffet): Parse arguments within callback method.
static void cmd_reset_encoders(const char* arg1, const char* arg2);

/// Callback method for the `Commands::ksetMotorsSpeed` command.
/// Callback method for the `Commands::kSetMotorsSpeed` command.
// TODO(jballoffet): Parse arguments within callback method.
static void cmd_set_motors_speed(const char* arg1, const char* arg2);

/// Callback method for the `Commands::ksetMotorsPwm` command.
/// Callback method for the `Commands::kSetMotorsPwm` command.
// TODO(jballoffet): Parse arguments within callback method.
static void cmd_set_motors_pwm(const char* arg1, const char* arg2);

/// Callback method for the `Commands::ksetPidsTuningGains` command.
/// Callback method for the `Commands::kSetPidsTuningGains` command.
// TODO(jballoffet): Parse arguments within callback method.
static void cmd_set_pid_tuning_gains(const char* arg1, const char* arg2);

Expand Down
14 changes: 7 additions & 7 deletions andino_firmware/src/commands.h
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Original file line number Diff line number Diff line change
Expand Up @@ -69,19 +69,19 @@ namespace andino {
/// @brief CLI commands.
struct Commands {
/// @brief Reads an analog GPIO.
static constexpr char kreadAnalogGpio{'a'};
static constexpr char kReadAnalogGpio{'a'};
/// @brief Reads a digital GPIO.
static constexpr char kreadDigitalGpio{'d'};
static constexpr char kReadDigitalGpio{'d'};
/// @brief Reads the encoders tick count values.
static constexpr char kreadEncoders{'e'};
static constexpr char kReadEncoders{'e'};
/// @brief Sets the encoders ticks count to zero.
static constexpr char kresetEncoders{'r'};
static constexpr char kResetEncoders{'r'};
/// @brief Sets the motors speed [ticks/s].
static constexpr char ksetMotorsSpeed{'m'};
static constexpr char kSetMotorsSpeed{'m'};
/// @brief Sets the motors PWM value [duty range: 0-255].
static constexpr char ksetMotorsPwm{'o'};
static constexpr char kSetMotorsPwm{'o'};
/// @brief Sets the PIDs tuning gains [format: "kp:kd:ki:ko"].
static constexpr char ksetPidsTuningGains{'u'};
static constexpr char kSetPidsTuningGains{'u'};
};

} // namespace andino

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