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Indentation fixes

motor-and-encoder
ZodiusInfuser 2022-04-29 00:09:58 +01:00
rodzic 898e4bace4
commit 24296af3d5
7 zmienionych plików z 86 dodań i 86 usunięć
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6
examples/motor2040/motor2040_motor_wave.cpp
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@ -61,9 +61,9 @@ int main() {
led.set_hsv(0, offset / 2.0f, 1.0f, BRIGHTNESS);
// Update all the motors
for(auto m = 0u; m < NUM_MOTORS; m++) {
float angle = (((float)m / (float)NUM_MOTORS) + offset) * (float)M_PI;
motors[m]->speed(sin(angle) * SPEED_EXTENT);
for(auto m = 0u; m < NUM_MOTORS; m++) {
float angle = (((float)m / (float)NUM_MOTORS) + offset) * (float)M_PI;
motors[m]->speed(sin(angle) * SPEED_EXTENT);
}
sleep_ms(1000 / UPDATES);

38
examples/motor2040/motor2040_position_control.cpp
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@ -101,20 +101,20 @@ int main() {
float percent_along = (float)update / (float)UPDATES_PER_MOVE;
switch(INTERP_MODE) {
case 0:
// Move the motor instantly to the end value
pos_pid.setpoint = end_value;
break;
case 0:
// Move the motor instantly to the end value
pos_pid.setpoint = end_value;
break;
case 2:
// Move the motor between values using cosine
pos_pid.setpoint = (((-cosf(percent_along * (float)M_PI) + 1.0) / 2.0) * (end_value - start_value)) + start_value;
break;
case 2:
// Move the motor between values using cosine
pos_pid.setpoint = (((-cosf(percent_along * (float)M_PI) + 1.0) / 2.0) * (end_value - start_value)) + start_value;
break;
case 1:
default:
// Move the motor linearly between values
pos_pid.setpoint = (percent_along * (end_value - start_value)) + start_value;
case 1:
default:
// Move the motor linearly between values
pos_pid.setpoint = (percent_along * (end_value - start_value)) + start_value;
}
// Calculate the velocity to move the motor closer to the position setpoint
@ -125,9 +125,9 @@ int main() {
// Print out the current motor values and their setpoints, but only on every multiple
if(print_count == 0) {
printf("Pos = %f, ", capture.degrees());
printf("Pos SP = %f, ", pos_pid.setpoint);
printf("Speed = %f\n", m.speed() * SPD_PRINT_SCALE);
printf("Pos = %f, ", capture.degrees());
printf("Pos SP = %f, ", pos_pid.setpoint);
printf("Speed = %f\n", m.speed() * SPD_PRINT_SCALE);
}
// Increment the print count, and wrap it
@ -137,11 +137,11 @@ int main() {
// Have we reached the end of this movement?
if(update >= UPDATES_PER_MOVE) {
update = 0; // Reset the counter
update = 0; // Reset the counter
// Set the start as the last end and create a new random end value
start_value = end_value;
end_value = (((float)rand() / (float)RAND_MAX) * (POSITION_EXTENT * 2.0f)) - POSITION_EXTENT;
// Set the start as the last end and create a new random end value
start_value = end_value;
end_value = (((float)rand() / (float)RAND_MAX) * (POSITION_EXTENT * 2.0f)) - POSITION_EXTENT;
}
sleep_ms(UPDATE_RATE * 1000.0f);

32
examples/motor2040/motor2040_position_on_velocity_control.cpp
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@ -109,20 +109,20 @@ int main() {
float percent_along = (float)update / (float)UPDATES_PER_MOVE;
switch(INTERP_MODE) {
case 0:
// Move the motor instantly to the end value
pos_pid.setpoint = end_value;
break;
case 0:
// Move the motor instantly to the end value
pos_pid.setpoint = end_value;
break;
case 2:
// Move the motor between values using cosine
pos_pid.setpoint = (((-cosf(percent_along * (float)M_PI) + 1.0) / 2.0) * (end_value - start_value)) + start_value;
break;
case 2:
// Move the motor between values using cosine
pos_pid.setpoint = (((-cosf(percent_along * (float)M_PI) + 1.0) / 2.0) * (end_value - start_value)) + start_value;
break;
case 1:
default:
// Move the motor linearly between values
pos_pid.setpoint = (percent_along * (end_value - start_value)) + start_value;
case 1:
default:
// Move the motor linearly between values
pos_pid.setpoint = (percent_along * (end_value - start_value)) + start_value;
}
// Calculate the velocity to move the motor closer to the position setpoint
@ -154,11 +154,11 @@ int main() {
// Have we reached the end of this movement?
if(update >= UPDATES_PER_MOVE) {
update = 0; // Reset the counter
update = 0; // Reset the counter
// Set the start as the last end and create a new random end value
start_value = end_value;
end_value = (((float)rand() / (float)RAND_MAX) * (POSITION_EXTENT * 2.0f)) - POSITION_EXTENT;
// Set the start as the last end and create a new random end value
start_value = end_value;
end_value = (((float)rand() / (float)RAND_MAX) * (POSITION_EXTENT * 2.0f)) - POSITION_EXTENT;
}
sleep_ms(UPDATE_RATE * 1000.0f);

18
examples/motor2040/motor2040_position_on_velocity_tuning.cpp
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@ -120,12 +120,12 @@ int main() {
// Print out the current motor values and their setpoints,
// but only for the first few updates and only every multiple
if(update < (uint)(PRINT_WINDOW * UPDATES) && print_count == 0) {
printf("Pos = %f, ", capture.degrees());
printf("Pos SP = %f, ", pos_pid.setpoint);
printf("Vel = %f, ", capture.revolutions_per_second() * SPD_PRINT_SCALE);
printf("Vel SP = %f, ", vel_pid.setpoint * SPD_PRINT_SCALE);
printf("Accel = %f, ", accel * ACC_PRINT_SCALE);
printf("Speed = %f\n", m.speed());
printf("Pos = %f, ", capture.degrees());
printf("Pos SP = %f, ", pos_pid.setpoint);
printf("Vel = %f, ", capture.revolutions_per_second() * SPD_PRINT_SCALE);
printf("Vel SP = %f, ", vel_pid.setpoint * SPD_PRINT_SCALE);
printf("Accel = %f, ", accel * ACC_PRINT_SCALE);
printf("Speed = %f\n", m.speed());
}
// Increment the print count, and wrap it
@ -135,10 +135,10 @@ int main() {
// Have we reached the end of this time window?
if(update >= (uint)(MOVEMENT_WINDOW * UPDATES)) {
update = 0; // Reset the counter
update = 0; // Reset the counter
// Set the new position setpoint to be the inverse of the current setpoint
pos_pid.setpoint = 0.0 - pos_pid.setpoint;
// Set the new position setpoint to be the inverse of the current setpoint
pos_pid.setpoint = 0.0 - pos_pid.setpoint;
}
sleep_ms(UPDATE_RATE * 1000.0f);

12
examples/motor2040/motor2040_position_tuning.cpp
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@ -105,9 +105,9 @@ int main() {
// Print out the current motor values and their setpoints,
// but only for the first few updates and only every multiple
if(update < (uint)(PRINT_WINDOW * UPDATES) && print_count == 0) {
printf("Pos = %f, ", capture.degrees());
printf("Pos SP = %f, ", pos_pid.setpoint);
printf("Speed = %f\n", m.speed() * SPD_PRINT_SCALE);
printf("Pos = %f, ", capture.degrees());
printf("Pos SP = %f, ", pos_pid.setpoint);
printf("Speed = %f\n", m.speed() * SPD_PRINT_SCALE);
}
// Increment the print count, and wrap it
@ -117,10 +117,10 @@ int main() {
// Have we reached the end of this time window?
if(update >= (uint)(MOVEMENT_WINDOW * UPDATES)) {
update = 0; // Reset the counter
update = 0; // Reset the counter
// Set the new position setpoint to be the inverse of the current setpoint
pos_pid.setpoint = 0.0f - pos_pid.setpoint;
// Set the new position setpoint to be the inverse of the current setpoint
pos_pid.setpoint = 0.0f - pos_pid.setpoint;
}
sleep_ms(UPDATE_RATE * 1000.0f);

10
examples/motor2040/motor2040_quad_position_wave.cpp
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@ -145,12 +145,12 @@ int main() {
// Have we reached the end of this movement?
if(update >= UPDATES_PER_MOVE) {
update = 0; // Reset the counter
update = 0; // Reset the counter
// Swap the start and end values
float temp = start_value;
start_value = end_value;
end_value = temp;
// Swap the start and end values
float temp = start_value;
start_value = end_value;
end_value = temp;
}
sleep_ms(UPDATE_RATE * 1000.0f);

56
examples/motor2040/motor2040_quad_velocity_sequence.cpp
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@ -163,40 +163,40 @@ int main() {
// Have we reached the end of this movement?
if(update >= UPDATES_PER_MOVE) {
update = 0; // Reset the counter
update = 0; // Reset the counter
// Move on to the next part of the sequence
sequence += 1;
// Move on to the next part of the sequence
sequence += 1;
// Loop the sequence back around
if(sequence >= 7) {
sequence = 0;
}
// Loop the sequence back around
if(sequence >= 7) {
sequence = 0;
}
}
// Set the motor speeds, based on the sequence
switch(sequence) {
case 0:
drive_forward(DRIVING_SPEED);
break;
case 1:
drive_forward(-DRIVING_SPEED);
break;
case 2:
turn_right(DRIVING_SPEED);
break;
case 3:
turn_right(-DRIVING_SPEED);
break;
case 4:
strafe_right(DRIVING_SPEED);
break;
case 5:
strafe_right(-DRIVING_SPEED);
break;
default:
stop();
break;
case 0:
drive_forward(DRIVING_SPEED);
break;
case 1:
drive_forward(-DRIVING_SPEED);
break;
case 2:
turn_right(DRIVING_SPEED);
break;
case 3:
turn_right(-DRIVING_SPEED);
break;
case 4:
strafe_right(DRIVING_SPEED);
break;
case 5:
strafe_right(-DRIVING_SPEED);
break;
default:
stop();
break;
}
sleep_ms(UPDATE_RATE * 1000.0f);