Cleanup/Refactor `SmartServo`#14

Merged

aentinger merged 21 commits intomasterfrom

simplify-smart-motor-logic

Jan 12, 2022

Commits on Jan 12, 2022

Deleting superfluous file ArduinoRS485.h.
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Turning SmartServo from a template class in a normal C++ class since the number of motors is known (and fixed).
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Moving member variable initialisation from class body to constructor.
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There's no need to create an instance of SmartServoClass on the heap, it can be safely stored on the stack.
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Replacing enum 'positionMode' with enum class 'PositionMode' for increase type-safety and readability."
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Inline short functions.
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Applying const-correctness is a first step towards detecting programmer error.
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Extracting enum SERVO_REG into separate file 'SmartServoConst.h'.
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Turning SmartServoConstants into an enum class prevents misusage, as enum automatically default to int.
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Extract servo operation commands into enum class.
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Replacing uint8_t with enum class SmartServoOperation ensures that this API can only be used with a defined servo operation command.
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Extract PositionMode into header file 'SmartServoConst.h'.
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Turning const MAX_MOTORS private, replacing const with constexpr to enable compiler optimisation.
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Add separators for better readability.
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Initialize private member 'errors' within constructor, prefix with '_'.
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Prefix private member 'onError' with '_', initialise within constructor.
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Deleting superfluous variable 'timestamps'.
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The struct needs to be packed, otherwise the little trick with converting to a char pointer can backfire badly.
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Replace tabs with spaces (why does anyone still uses tabs in their editor ;( ).
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Remove superfluous inclusion of 'Arduino.h' in .cpp file (already included in .h).
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Provide REG/CMD macros to hide 'ugly' conversion function 'toVal'.
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