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justinnuwinjustinnuwin
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Additional formatting
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‎Apps/FlightSoftware/fprime/CubeRover/MotorControl/MotorControlComponent.cpp‎

Lines changed: 47 additions & 47 deletions
Original file line numberDiff line numberDiff line change
@@ -215,7 +215,7 @@ namespace CubeRover {
215215
err = writeMotorControlRegister(REG_P_CURRENT,
216216
FRONT_LEFT_MC_I2C_ADDR,
217217
(uint8_t*) &P_Value);
218-
if(err != MC_NO_ERROR)
218+
if (err != MC_NO_ERROR)
219219
{
220220
this->cmdResponse_out(opCode,cmdSeq,Fw::COMMAND_EXECUTION_ERROR);
221221
return;
@@ -224,7 +224,7 @@ namespace CubeRover {
224224
err = writeMotorControlRegister(REG_I_CURRENT,
225225
FRONT_LEFT_MC_I2C_ADDR,
226226
(uint8_t*) &I_Value);
227-
if(err != MC_NO_ERROR)
227+
if (err != MC_NO_ERROR)
228228
{
229229
this->cmdResponse_out(opCode,cmdSeq,Fw::COMMAND_EXECUTION_ERROR);
230230
return;
@@ -237,7 +237,7 @@ namespace CubeRover {
237237
err = writeMotorControlRegister(REG_P_CURRENT,
238238
FRONT_RIGHT_MC_I2C_ADDR,
239239
(uint8_t*) &P_Value);
240-
if(err != MC_NO_ERROR)
240+
if (err != MC_NO_ERROR)
241241
{
242242
this->cmdResponse_out(opCode,cmdSeq,Fw::COMMAND_EXECUTION_ERROR);
243243
return;
@@ -246,7 +246,7 @@ namespace CubeRover {
246246
err = writeMotorControlRegister(REG_I_CURRENT,
247247
FRONT_LEFT_MC_I2C_ADDR,
248248
(uint8_t*) &I_Value);
249-
if(err != MC_NO_ERROR)
249+
if (err != MC_NO_ERROR)
250250
{
251251
this->cmdResponse_out(opCode,cmdSeq,Fw::COMMAND_EXECUTION_ERROR);
252252
return;
@@ -259,7 +259,7 @@ namespace CubeRover {
259259
err = writeMotorControlRegister(REG_P_CURRENT,
260260
REAR_RIGHT_MC_I2C_ADDR,
261261
(uint8_t*) &P_Value);
262-
if(err != MC_NO_ERROR)
262+
if (err != MC_NO_ERROR)
263263
{
264264
this->cmdResponse_out(opCode,cmdSeq,Fw::COMMAND_EXECUTION_ERROR);
265265
return;
@@ -268,7 +268,7 @@ namespace CubeRover {
268268
err = writeMotorControlRegister(REG_I_CURRENT,
269269
REAR_RIGHT_MC_I2C_ADDR,
270270
(uint8_t*) &I_Value);
271-
if(err != MC_NO_ERROR)
271+
if (err != MC_NO_ERROR)
272272
{
273273
this->cmdResponse_out(opCode,cmdSeq,Fw::COMMAND_EXECUTION_ERROR);
274274
return;
@@ -281,7 +281,7 @@ namespace CubeRover {
281281
err = writeMotorControlRegister(REG_P_CURRENT,
282282
REAR_LEFT_MC_I2C_ADDR,
283283
(uint8_t*) &P_Value);
284-
if(err != MC_NO_ERROR)
284+
if (err != MC_NO_ERROR)
285285
{
286286
this->cmdResponse_out(opCode,cmdSeq,Fw::COMMAND_EXECUTION_ERROR);
287287
return;
@@ -290,7 +290,7 @@ namespace CubeRover {
290290
err = writeMotorControlRegister(REG_I_CURRENT,
291291
REAR_LEFT_MC_I2C_ADDR,
292292
(uint8_t*) &I_Value);
293-
if(err != MC_NO_ERROR)
293+
if (err != MC_NO_ERROR)
294294
{
295295
this->cmdResponse_out(opCode,cmdSeq,Fw::COMMAND_EXECUTION_ERROR);
296296
return;
@@ -301,15 +301,15 @@ namespace CubeRover {
301301
// TODO again, need to find out how to pass int8*
302302
err = sendAllMotorsData(REG_P_CURRENT,
303303
(uint8_t*) &P_Value);
304-
if(err != MC_NO_ERROR)
304+
if (err != MC_NO_ERROR)
305305
{
306306
this->cmdResponse_out(opCode,cmdSeq,Fw::COMMAND_EXECUTION_ERROR);
307307
return;
308308
}
309309

310310
err = sendAllMotorsData(REG_I_CURRENT,
311311
(uint8_t*) &I_Value);
312-
if(err != MC_NO_ERROR)
312+
if (err != MC_NO_ERROR)
313313
{
314314
this->cmdResponse_out(opCode,cmdSeq,Fw::COMMAND_EXECUTION_ERROR);
315315
return;
@@ -353,7 +353,7 @@ namespace CubeRover {
353353
err = writeMotorControlRegister(REG_P_SPEED,
354354
FRONT_LEFT_MC_I2C_ADDR,
355355
(uint8_t*) &P_Value);
356-
if(err != MC_NO_ERROR)
356+
if (err != MC_NO_ERROR)
357357
{
358358
this->cmdResponse_out(opCode,cmdSeq,Fw::COMMAND_EXECUTION_ERROR);
359359
return;
@@ -362,7 +362,7 @@ namespace CubeRover {
362362
err = writeMotorControlRegister(REG_I_SPEED,
363363
FRONT_LEFT_MC_I2C_ADDR,
364364
(uint8_t*) &I_Value);
365-
if(err != MC_NO_ERROR)
365+
if (err != MC_NO_ERROR)
366366
{
367367
this->cmdResponse_out(opCode,cmdSeq,Fw::COMMAND_EXECUTION_ERROR);
368368
return;
@@ -375,7 +375,7 @@ namespace CubeRover {
375375
err = writeMotorControlRegister(REG_P_SPEED,
376376
FRONT_RIGHT_MC_I2C_ADDR,
377377
(uint8_t*) &P_Value);
378-
if(err != MC_NO_ERROR)
378+
if (err != MC_NO_ERROR)
379379
{
380380
this->cmdResponse_out(opCode,cmdSeq,Fw::COMMAND_EXECUTION_ERROR);
381381
return;
@@ -384,7 +384,7 @@ namespace CubeRover {
384384
err = writeMotorControlRegister(REG_I_SPEED,
385385
FRONT_LEFT_MC_I2C_ADDR,
386386
(uint8_t*) &I_Value);
387-
if(err != MC_NO_ERROR)
387+
if (err != MC_NO_ERROR)
388388
{
389389
this->cmdResponse_out(opCode,cmdSeq,Fw::COMMAND_EXECUTION_ERROR);
390390
return;
@@ -397,7 +397,7 @@ namespace CubeRover {
397397
err = writeMotorControlRegister(REG_P_SPEED,
398398
REAR_RIGHT_MC_I2C_ADDR,
399399
(uint8_t*) &P_Value);
400-
if(err != MC_NO_ERROR)
400+
if (err != MC_NO_ERROR)
401401
{
402402
this->cmdResponse_out(opCode,cmdSeq,Fw::COMMAND_EXECUTION_ERROR);
403403
return;
@@ -406,7 +406,7 @@ namespace CubeRover {
406406
err = writeMotorControlRegister(REG_I_SPEED,
407407
REAR_RIGHT_MC_I2C_ADDR,
408408
(uint8_t*) &I_Value);
409-
if(err != MC_NO_ERROR)
409+
if (err != MC_NO_ERROR)
410410
{
411411
this->cmdResponse_out(opCode,cmdSeq,Fw::COMMAND_EXECUTION_ERROR);
412412
return;
@@ -419,7 +419,7 @@ namespace CubeRover {
419419
err = writeMotorControlRegister(REG_P_SPEED,
420420
REAR_LEFT_MC_I2C_ADDR,
421421
(uint8_t*) &P_Value);
422-
if(err != MC_NO_ERROR)
422+
if (err != MC_NO_ERROR)
423423
{
424424
this->cmdResponse_out(opCode,cmdSeq,Fw::COMMAND_EXECUTION_ERROR);
425425
return;
@@ -428,7 +428,7 @@ namespace CubeRover {
428428
err = writeMotorControlRegister(REG_I_SPEED,
429429
REAR_LEFT_MC_I2C_ADDR,
430430
(uint8_t*) &I_Value);
431-
if(err != MC_NO_ERROR)
431+
if (err != MC_NO_ERROR)
432432
{
433433
this->cmdResponse_out(opCode,cmdSeq,Fw::COMMAND_EXECUTION_ERROR);
434434
return;
@@ -439,15 +439,15 @@ namespace CubeRover {
439439
// TODO again, need to find out how to pass int8*
440440
err = sendAllMotorsData(REG_P_SPEED,
441441
(uint8_t*) &P_Value);
442-
if(err != MC_NO_ERROR)
442+
if (err != MC_NO_ERROR)
443443
{
444444
this->cmdResponse_out(opCode,cmdSeq,Fw::COMMAND_EXECUTION_ERROR);
445445
return;
446446
}
447447

448448
err = sendAllMotorsData(REG_I_SPEED,
449449
(uint8_t*) &I_Value);
450-
if(err != MC_NO_ERROR)
450+
if (err != MC_NO_ERROR)
451451
{
452452
this->cmdResponse_out(opCode,cmdSeq,Fw::COMMAND_EXECUTION_ERROR);
453453
return;
@@ -521,9 +521,9 @@ namespace CubeRover {
521521

522522
if (Value == 4)
523523
{
524-
for(int i = 0; i < 4; i++)
524+
for (int i = 0; i < 4; i++)
525525
{
526-
if(Value == 0xFF)
526+
if (Value == 0xFF)
527527
m_stallDetectectionEnabled[i] = true;
528528
else
529529
m_stallDetectectionEnabled[i] = false;
@@ -532,7 +532,7 @@ namespace CubeRover {
532532

533533
else
534534
{
535-
if(Value == 0xFF)
535+
if (Value == 0xFF)
536536
m_stallDetectectionEnabled[Motor_ID] = true;
537537
else
538538
m_stallDetectectionEnabled[Motor_ID] = false;
@@ -612,7 +612,7 @@ namespace CubeRover {
612612
// Forward Spin
613613
case 0:
614614
err = moveAllMotorsStraight(MAX_SPIN_DISTANCE, 0);
615-
if(err != MC_NO_ERROR)
615+
if (err != MC_NO_ERROR)
616616
{
617617
this->cmdResponse_out(opCode,cmdSeq,Fw::COMMAND_EXECUTION_ERROR);
618618
return;
@@ -622,7 +622,7 @@ namespace CubeRover {
622622
// Backwards Spin
623623
case 1:
624624
err = moveAllMotorsStraight(-1*MAX_SPIN_DISTANCE, 0);
625-
if(err != MC_NO_ERROR)
625+
if (err != MC_NO_ERROR)
626626
{
627627
this->cmdResponse_out(opCode,cmdSeq,Fw::COMMAND_EXECUTION_ERROR);
628628
return;
@@ -632,7 +632,7 @@ namespace CubeRover {
632632
// Stop
633633
case 2:
634634
err = moveAllMotorsStraight(0, 0);
635-
if(err != MC_NO_ERROR)
635+
if (err != MC_NO_ERROR)
636636
{
637637
this->cmdResponse_out(opCode,cmdSeq,Fw::COMMAND_EXECUTION_ERROR);
638638
return;
@@ -706,7 +706,7 @@ namespace CubeRover {
706706
void MotorControlComponentImpl :: MC_UpdateTelemetry_cmdHandler(const FwOpcodeType opCode,
707707
const U32 cmdSeq)
708708
{
709-
if(updateTelemetry())
709+
if (updateTelemetry())
710710
this->cmdResponse_out(opCode,cmdSeq,Fw::COMMAND_OK);
711711

712712
else
@@ -830,25 +830,25 @@ namespace CubeRover {
830830
err = writeMotorControlRegister(reg,
831831
FRONT_LEFT_MC_I2C_ADDR,
832832
data);
833-
if(err != MC_NO_ERROR)
833+
if (err != MC_NO_ERROR)
834834
return err;
835835

836836
err = writeMotorControlRegister(reg,
837837
FRONT_RIGHT_MC_I2C_ADDR,
838838
data);
839-
if(err != MC_NO_ERROR)
839+
if (err != MC_NO_ERROR)
840840
return err;
841841

842842
err = writeMotorControlRegister(reg,
843843
REAR_LEFT_MC_I2C_ADDR,
844844
data);
845-
if(err != MC_NO_ERROR)
845+
if (err != MC_NO_ERROR)
846846
return err;
847847

848848
err = writeMotorControlRegister(reg,
849849
REAR_RIGHT_MC_I2C_ADDR,
850850
data);
851-
if(err != MC_NO_ERROR)
851+
if (err != MC_NO_ERROR)
852852
return err;
853853

854854
return MC_NO_ERROR;
@@ -877,7 +877,7 @@ namespace CubeRover {
877877
// Required to send this before the setpoint (or else the MC will start spinning before speed was set)
878878
err = sendAllMotorsData(REG_TARGET_SPEED,
879879
(uint8_t*) &motor_speed);
880-
if(err != MC_NO_ERROR)
880+
if (err != MC_NO_ERROR)
881881
return err;
882882
}
883883

@@ -902,19 +902,19 @@ namespace CubeRover {
902902
err = writeMotorControlRegister(REG_RELATIVE_TARGET_POSITION,
903903
FRONT_LEFT_MC_I2C_ADDR,
904904
(uint8_t*) &Left_Wheels_Relative_ticks);
905-
if(err != MC_NO_ERROR)
905+
if (err != MC_NO_ERROR)
906906
return err;
907907

908908
err = writeMotorControlRegister(REG_RELATIVE_TARGET_POSITION,
909909
FRONT_RIGHT_MC_I2C_ADDR,
910910
(uint8_t*) &Right_Wheels_Relative_ticks);
911-
if(err != MC_NO_ERROR)
911+
if (err != MC_NO_ERROR)
912912
return err;
913913

914914
err = writeMotorControlRegister(REG_RELATIVE_TARGET_POSITION,
915915
REAR_RIGHT_MC_I2C_ADDR,
916916
(uint8_t*) &Right_Wheels_Relative_ticks);
917-
if(err != MC_NO_ERROR)
917+
if (err != MC_NO_ERROR)
918918
return err;
919919

920920
err = writeMotorControlRegister(REG_RELATIVE_TARGET_POSITION,
@@ -947,7 +947,7 @@ namespace CubeRover {
947947
// Send the speed to all the motors
948948
err = sendAllMotorsData(REG_CURRENT_SPEED,
949949
(uint8_t*) &motor_speed);
950-
if(err != MC_NO_ERROR)
950+
if (err != MC_NO_ERROR)
951951
return err;
952952
}
953953

@@ -957,19 +957,19 @@ namespace CubeRover {
957957
err = writeMotorControlRegister(REG_CURRENT_POSITION,
958958
FRONT_LEFT_MC_I2C_ADDR,
959959
(uint8_t*) &Relative_ticks);
960-
if(err != MC_NO_ERROR)
960+
if (err != MC_NO_ERROR)
961961
return err;
962962

963963
err = writeMotorControlRegister(REG_CURRENT_POSITION,
964964
FRONT_RIGHT_MC_I2C_ADDR,
965965
(uint8_t*) &Relative_ticks);
966-
if(err != MC_NO_ERROR)
966+
if (err != MC_NO_ERROR)
967967
return err;
968968

969969
err = writeMotorControlRegister(REG_CURRENT_POSITION,
970970
REAR_RIGHT_MC_I2C_ADDR,
971971
(uint8_t*) &Relative_ticks);
972-
if(err != MC_NO_ERROR)
972+
if (err != MC_NO_ERROR)
973973
return err;
974974

975975
err = writeMotorControlRegister(REG_CURRENT_POSITION,
@@ -1004,19 +1004,19 @@ namespace CubeRover {
10041004
err = writeMotorControlRegister(REG_CURRENT_POSITION,
10051005
FRONT_LEFT_MC_I2C_ADDR,
10061006
(uint8_t*) &Left_Wheels_Relative_ticks);
1007-
if(err != MC_NO_ERROR)
1007+
if (err != MC_NO_ERROR)
10081008
return err;
10091009

10101010
err = writeMotorControlRegister(REG_CURRENT_POSITION,
10111011
FRONT_RIGHT_MC_I2C_ADDR,
10121012
(uint8_t*) &Right_Wheels_Relative_ticks);
1013-
if(err != MC_NO_ERROR)
1013+
if (err != MC_NO_ERROR)
10141014
return err;
10151015

10161016
err = writeMotorControlRegister(REG_CURRENT_POSITION,
10171017
REAR_RIGHT_MC_I2C_ADDR,
10181018
(uint8_t*) &Right_Wheels_Relative_ticks);
1019-
if(err != MC_NO_ERROR)
1019+
if (err != MC_NO_ERROR)
10201020
return err;
10211021

10221022
err = writeMotorControlRegister(REG_CURRENT_POSITION,
@@ -1046,15 +1046,15 @@ namespace CubeRover {
10461046
uint8_t reg_buffer[1];
10471047
reg_buffer[0] = (uint8_t)reg;
10481048

1049-
if(dataLength <= 0)
1049+
if (dataLength <= 0)
10501050
return MC_UNEXPECTED_ERROR;
10511051

10521052
// Inform the MSP of the desired register
10531053
i2cMasterTransmit(m_i2c, addr, 1, reg_buffer);
10541054
// TODO: If error on above (currently returns void) return
10551055

10561056
// If we want something, receive
1057-
if(expectingReturnMessage(reg))
1057+
if (expectingReturnMessage(reg))
10581058
i2cMasterReceive(m_i2c, addr, dataLength, data);
10591059

10601060
// Else, tell the data you have
@@ -1160,11 +1160,11 @@ namespace CubeRover {
11601160
// Update all of them
11611161
else
11621162
{
1163-
if(!updateSpeed())
1163+
if (!updateSpeed())
11641164
return false;
1165-
if(!updateCurrent())
1165+
if (!updateCurrent())
11661166
return false;
1167-
if(updateEncoder())
1167+
if (updateEncoder())
11681168
return false;
11691169
}
11701170

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