Replace PIN macro by "constexpr"

Author: Godeffroy

include/pins.h

@@ -5,10 +5,11 @@
 #include <HardwareSerial.h>
 
 //******************** Pins Undefined
-#define PIN_10  10
-#define PIN_11  11
+constexpr size_t PIN_10 = 10;
+constexpr size_t PIN_11 = 11;
 
 //******************** Pins UART - Serial
+/* Do we need this ?
 #undef SOC_RX0
 #define SOC_RX0 44
 #undef SOC_TX0
@@ -18,44 +19,35 @@
 #define RX1 18
 #undef TX1
 #define TX1 17
-
+*/
 //******************** Pins Motors - Drivers
-#define stepPinM1 7
-#define dirPinM1  6
+constexpr size_t PIN_STEP_M1 = 7;
+constexpr size_t PIN_DIR_M1 = 6;
 
-#define stepPinM2 5
-#define dirPinM2  4
+constexpr size_t PIN_STEP_M2 = 5;
+constexpr size_t PIN_DIR_M2 = 4;
 
-#define stepPinM3 2
-#define dirPinM3  1
+constexpr size_t PIN_STEP_M3 = 2;
+constexpr size_t PIN_DIR_M3 = 1;
 
-#define EN_MCU    3
+constexpr size_t PIN_EN_MCU = 3;
 
 //******************** Pins TwoWire I²C - Otos
+/*
 #undef SDA
 #define SDA 8
 #undef SCL
 #define SCL 9
-
+*/
 //******************** Pins LED - RGB
-#define PIN_RGB_LED 38
-#define WS2812_LED  12
-
-#ifdef RGB_BUILTIN
-#undef RGB_BUILTIN
-#endif
-#define RGB_BUILTIN PIN_RGB_LED
-
-#ifdef RGB_BRIGHTNESS
-#undef RGB_BRIGHTNESS
-#endif
-#define RGB_BRIGHTNESS 64
+constexpr size_t PIN_RGB_LED = 38;
+constexpr size_t PIN_WS2812_LED = 12;
 
 //******************** Pins IN
-#define MODE_PIN    14
-#define TEAM_PIN    13
-#define BAU_PIN     15
-#define START_PIN   16
+constexpr size_t PIN_MODE = 14;
+constexpr size_t PIN_TEAM = 13;
+constexpr size_t PIN_BAU = 15;
+constexpr size_t PIN_START = 16;
 
 
 #endif

src/Motor.cpp

@@ -12,33 +12,33 @@ void Motor::Initialisation(MotorBaseType _motorBaseType, float _centerToWheel)
     centerToWheel = _centerToWheel;
 
     // Sets the two pins as Outputs
-    pinMode(stepPinM1, OUTPUT);
-    pinMode(dirPinM1, OUTPUT);
-    digitalWrite(stepPinM1, LOW);
-    digitalWrite(dirPinM1, LOW);
+    pinMode(PIN_STEP_M1, OUTPUT);
+    pinMode(PIN_DIR_M1, OUTPUT);
+    digitalWrite(PIN_STEP_M1, LOW);
+    digitalWrite(PIN_DIR_M1, LOW);
 
-    pinMode(stepPinM2, OUTPUT);
-    pinMode(dirPinM2, OUTPUT);
-    digitalWrite(stepPinM2, LOW);
-    digitalWrite(dirPinM2, LOW);
+    pinMode(PIN_STEP_M2, OUTPUT);
+    pinMode(PIN_DIR_M2, OUTPUT);
+    digitalWrite(PIN_STEP_M2, LOW);
+    digitalWrite(PIN_DIR_M2, LOW);
 
     if (motorBaseType == OMNIDIRECTIONAL_3_MOTORS)
     {
-        pinMode(stepPinM3, OUTPUT);
-        pinMode(dirPinM3, OUTPUT);
-        digitalWrite(stepPinM3, LOW);
-        digitalWrite(dirPinM3, LOW);
+        pinMode(PIN_STEP_M3, OUTPUT);
+        pinMode(PIN_DIR_M3, OUTPUT);
+        digitalWrite(PIN_STEP_M3, LOW);
+        digitalWrite(PIN_DIR_M3, LOW);
     }
     print("Starting ESP32_FAST_PWM: ");
     println(ESP32_FAST_PWM_VERSION);
 
     // pin, frequency = 500 Hz, dutyCycle = 0 %, choose channel with independent timer, resolution to go up to desire frequency
-    stepper1 = new ESP32_FAST_PWM(stepPinM1, 500, 0, 2, BIT_RESOLUTION);
+    stepper1 = new ESP32_FAST_PWM(PIN_STEP_M1, 500, 0, 2, BIT_RESOLUTION);
 
-    stepper2 = new ESP32_FAST_PWM(stepPinM2, 500, 0, 4, BIT_RESOLUTION);
+    stepper2 = new ESP32_FAST_PWM(PIN_STEP_M2, 500, 0, 4, BIT_RESOLUTION);
     if (motorBaseType == OMNIDIRECTIONAL_3_MOTORS)
     {
-        stepper3 = new ESP32_FAST_PWM(stepPinM3, 500, 0, 6, BIT_RESOLUTION);
+        stepper3 = new ESP32_FAST_PWM(PIN_STEP_M3, 500, 0, 6, BIT_RESOLUTION);
     }
 }
 
@@ -137,7 +137,7 @@ void Motor::SetMotorSpeed(int motor_ID, float speed_mms)
         else
         {
             //  Set the frequency of the PWM output and a duty cycle of 50%
-            digitalWrite(dirPinM1, direction);
+            digitalWrite(PIN_DIR_M1, direction);
             stepper1->setPWM(freq, 50);
         }
     }
@@ -150,7 +150,7 @@ void Motor::SetMotorSpeed(int motor_ID, float speed_mms)
         else
         {
             //  Set the frequency of the PWM output and a duty cycle of 50%
-            digitalWrite(dirPinM2, direction);
+            digitalWrite(PIN_DIR_M2, direction);
             stepper2->setPWM(freq, 50);
         }
     }
@@ -163,7 +163,7 @@ void Motor::SetMotorSpeed(int motor_ID, float speed_mms)
         else
         {
             //  Set the frequency of the PWM output and a duty cycle of 50%
-            digitalWrite(dirPinM3, direction);
+            digitalWrite(PIN_DIR_M3, direction);
             stepper3->setPWM(freq, 50);
         }
     }
@@ -183,7 +183,7 @@ float Motor::GetMotorSpeed(int motor_ID)
     {
         if (stepper1->getActualDutyCycle() == 0)
             return 0;
-        direction = digitalRead(dirPinM1);
+        direction = digitalRead(PIN_DIR_M1);
         if (direction)
             return stepper1->getActualFreq() * MM_PER_STEP_MOTOR;
         else
@@ -193,7 +193,7 @@ float Motor::GetMotorSpeed(int motor_ID)
     {
         if (stepper1->getActualDutyCycle() == 0)
             return 0;
-        direction = digitalRead(dirPinM2);
+        direction = digitalRead(PIN_DIR_M2);
         if (direction)
             return stepper2->getActualFreq() * MM_PER_STEP_MOTOR;
         else
@@ -203,7 +203,7 @@ float Motor::GetMotorSpeed(int motor_ID)
     {
         if (stepper1->getActualDutyCycle() == 0)
             return 0;
-        direction = digitalRead(dirPinM3);
+        direction = digitalRead(PIN_DIR_M3);
         if (direction)
             return stepper3->getActualFreq() * MM_PER_STEP_MOTOR;
         else

src/main.cpp

@@ -46,17 +46,17 @@ void setup()
   println("Robot Holonome Firmware");
 
   // Init IHM
-  pinMode(MODE_PIN, INPUT);
-  pinMode(TEAM_PIN, INPUT);
-  pinMode(BAU_PIN, INPUT);
-  pinMode(START_PIN, INPUT);
+  pinMode(PIN_MODE, INPUT);
+  pinMode(PIN_TEAM, INPUT);
+  pinMode(PIN_BAU, INPUT);
+  pinMode(PIN_START, INPUT);
 
   // TODO : boucle de lecture dans la loop de démarrage
-  digitalRead(MODE_PIN) == LOW ? mode = Mode::Match : mode = Mode::Test;
-  digitalRead(TEAM_PIN) == LOW ? team = Team::Jaune : team = Team::Bleue;
+  digitalRead(PIN_MODE) == LOW ? mode = Mode::Match : mode = Mode::Test;
+  digitalRead(PIN_TEAM) == LOW ? team = Team::Jaune : team = Team::Bleue;
 
-  led_builtin.Initialisation(1, RGB_BUILTIN);
-  //led_ring.Initialisation(36, WS2812_LED);
+  led_builtin.Initialisation(1, PIN_RGB_LED);
+  //led_ring.Initialisation(36, PIN_WS2812_LED);
 
   // Init sensors
   otos.Initialisation();