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Optimized some encoder functions

motor-and-encoder
ZodiusInfuser 2022-05-12 23:57:22 +01:00
rodzic 51d08bebd9
commit 717ad908cb
1 zmienionych plików z 25 dodań i 47 usunięć
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72
micropython/modules/encoder/encoder.cpp
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@ -228,34 +228,23 @@ extern mp_obj_t Encoder_radians(mp_obj_t self_in) {
}
extern mp_obj_t Encoder_direction(size_t n_args, const mp_obj_t *pos_args, mp_map_t *kw_args) {
enum { ARG_self, ARG_direction };
static const mp_arg_t allowed_args[] = {
{ MP_QSTR_, MP_ARG_REQUIRED | MP_ARG_OBJ },
{ MP_QSTR_direction, MP_ARG_OBJ, { .u_obj = mp_const_none }},
};
// Parse args.
mp_arg_val_t args[MP_ARRAY_SIZE(allowed_args)];
mp_arg_parse_all(n_args, pos_args, kw_args, MP_ARRAY_SIZE(allowed_args), allowed_args, args);
_Encoder_obj_t *self = MP_OBJ_TO_PTR2(args[ARG_self].u_obj, _Encoder_obj_t);
if(n_args <= 1) {
enum { ARG_self };
static const mp_arg_t allowed_args[] = {
{ MP_QSTR_, MP_ARG_REQUIRED | MP_ARG_OBJ },
};
// Parse args.
mp_arg_val_t args[MP_ARRAY_SIZE(allowed_args)];
mp_arg_parse_all(n_args, pos_args, kw_args, MP_ARRAY_SIZE(allowed_args), allowed_args, args);
_Encoder_obj_t *self = MP_OBJ_TO_PTR2(args[ARG_self].u_obj, _Encoder_obj_t);
return mp_obj_new_int(self->encoder->direction());
}
else {
enum { ARG_self, ARG_direction };
static const mp_arg_t allowed_args[] = {
{ MP_QSTR_, MP_ARG_REQUIRED | MP_ARG_OBJ },
{ MP_QSTR_direction, MP_ARG_REQUIRED | MP_ARG_INT },
};
// Parse args.
mp_arg_val_t args[MP_ARRAY_SIZE(allowed_args)];
mp_arg_parse_all(n_args, pos_args, kw_args, MP_ARRAY_SIZE(allowed_args), allowed_args, args);
_Encoder_obj_t *self = MP_OBJ_TO_PTR2(args[ARG_self].u_obj, _Encoder_obj_t);
int direction = args[ARG_direction].u_int;
int direction = mp_obj_get_int(args[ARG_direction].u_obj);
if(direction < 0 || direction > 1) {
mp_raise_ValueError("direction out of range. Expected NORMAL (0) or REVERSED_DIR (1)");
}
@ -265,33 +254,22 @@ extern mp_obj_t Encoder_direction(size_t n_args, const mp_obj_t *pos_args, mp_ma
}
extern mp_obj_t Encoder_counts_per_rev(size_t n_args, const mp_obj_t *pos_args, mp_map_t *kw_args) {
enum { ARG_self, ARG_counts_per_rev };
static const mp_arg_t allowed_args[] = {
{ MP_QSTR_, MP_ARG_REQUIRED | MP_ARG_OBJ },
{ MP_QSTR_counts_per_rev, MP_ARG_OBJ, { .u_obj = mp_const_none }},
};
// Parse args.
mp_arg_val_t args[MP_ARRAY_SIZE(allowed_args)];
mp_arg_parse_all(n_args, pos_args, kw_args, MP_ARRAY_SIZE(allowed_args), allowed_args, args);
_Encoder_obj_t *self = MP_OBJ_TO_PTR2(args[ARG_self].u_obj, _Encoder_obj_t);
if(n_args <= 1) {
enum { ARG_self };
static const mp_arg_t allowed_args[] = {
{ MP_QSTR_, MP_ARG_REQUIRED | MP_ARG_OBJ },
};
// Parse args.
mp_arg_val_t args[MP_ARRAY_SIZE(allowed_args)];
mp_arg_parse_all(n_args, pos_args, kw_args, MP_ARRAY_SIZE(allowed_args), allowed_args, args);
_Encoder_obj_t *self = MP_OBJ_TO_PTR2(args[ARG_self].u_obj, _Encoder_obj_t);
return mp_obj_new_float(self->encoder->counts_per_rev());
}
else {
enum { ARG_self, ARG_counts_per_rev };
static const mp_arg_t allowed_args[] = {
{ MP_QSTR_, MP_ARG_REQUIRED | MP_ARG_OBJ },
{ MP_QSTR_counts_per_rev, MP_ARG_REQUIRED | MP_ARG_OBJ },
};
// Parse args.
mp_arg_val_t args[MP_ARRAY_SIZE(allowed_args)];
mp_arg_parse_all(n_args, pos_args, kw_args, MP_ARRAY_SIZE(allowed_args), allowed_args, args);
_Encoder_obj_t *self = MP_OBJ_TO_PTR2(args[ARG_self].u_obj, _Encoder_obj_t);
float counts_per_rev = mp_obj_get_float(args[ARG_counts_per_rev].u_obj);
if(counts_per_rev < FLT_EPSILON) {
mp_raise_ValueError("counts_per_rev out of range. Expected greater than 0.0");