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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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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);