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Make motor indexes definition const int and move them to motors.ino

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Remove motor indexes definitions from flix.ino
Add motors.ino to simulation code and implement required mocks
This commit is contained in:
Oleg Kalachev 2025-01-09 11:14:18 +03:00
parent 72033cdd75
commit 404ceed851
7 changed files with 14 additions and 11 deletions
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1
flix/cli.ino
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@ -8,6 +8,7 @@
extern PID rollRatePID, pitchRatePID, yawRatePID, rollPID, pitchPID;
extern LowPassFilter<Vector> ratesFilter;
extern const int MOTOR_REAR_LEFT, MOTOR_REAR_RIGHT, MOTOR_FRONT_RIGHT, MOTOR_FRONT_LEFT;
const char* motd =
"\nWelcome to\n"

2
flix/control.ino
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@ -50,6 +50,8 @@ Vector ratesTarget;
Vector torqueTarget;
float thrustTarget;
extern const int MOTOR_REAR_LEFT, MOTOR_REAR_RIGHT, MOTOR_FRONT_RIGHT, MOTOR_FRONT_LEFT;
void control() {
interpretRC();
failsafe();

5
flix/flix.ino
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@ -18,11 +18,6 @@
#define RC_CHANNEL_ARMED 4
#define RC_CHANNEL_MODE 5
#define MOTOR_REAR_LEFT 0
#define MOTOR_REAR_RIGHT 1
#define MOTOR_FRONT_RIGHT 2
#define MOTOR_FRONT_LEFT 3
#define ONE_G 9.80665
float t = NAN; // current step time, s

6
flix/motors.ino
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@ -14,6 +14,12 @@
#define PWM_MIN 0
#define PWM_MAX 1000000 / PWM_FREQUENCY
// Motors array indexes:
const int MOTOR_REAR_LEFT = 0;
const int MOTOR_REAR_RIGHT = 1;
const int MOTOR_FRONT_RIGHT = 2;
const int MOTOR_FRONT_LEFT = 3;
void setupMotors() {
Serial.println("Setup Motors");

3
gazebo/Arduino.h
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@ -150,6 +150,9 @@ void delay(uint32_t ms) {
std::this_thread::sleep_for(std::chrono::milliseconds(ms));
}
bool ledcAttach(uint8_t pin, uint32_t freq, uint8_t resolution) { return true; }
bool ledcWrite(uint8_t pin, uint32_t duty) { return true; }
unsigned long __micros;
unsigned long __resetTime = 0;

7
gazebo/flix.h
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@ -12,11 +12,6 @@
#define RC_CHANNELS 16
#define MOTOR_REAR_LEFT 0
#define MOTOR_FRONT_LEFT 3
#define MOTOR_FRONT_RIGHT 2
#define MOTOR_REAR_RIGHT 1
#define WIFI_ENABLED 1
#define ONE_G 9.80665
@ -43,6 +38,7 @@ void controlAttitude();
void controlRate();
void controlTorque();
void showTable();
void sendMotors();
bool motorsActive();
void cliTestMotor(uint8_t n);
String stringToken(char* str, const char* delim);
@ -61,7 +57,6 @@ inline Quaternion FLU2FRD(const Quaternion &q);
void setLED(bool on) {};
void calibrateGyro() { printf("Skip gyro calibrating\n"); };
void calibrateAccel() { printf("Skip accel calibrating\n"); };
void sendMotors() {};
void printIMUCal() { printf("cal: N/A\n"); };
void printIMUInfo() {};
Vector accBias, gyroBias, accScale(1, 1, 1);

1
gazebo/simulator.cpp
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@ -20,6 +20,7 @@
#include "util.ino"
#include "rc.ino"
#include "time.ino"
#include "motors.ino"
#include "estimate.ino"
#include "control.ino"
#include "log.ino"