Cleanup/Refactor `SmartServo` #14

aentinger · 2022-01-11T12:31:07Z

No description provided.

…the number of motors is known (and fixed).

… it can be safely stored on the stack.

…ease type-safety and readability."

…er error.

This reduces the pollution of 'SmartServo.h'.

…enum automatically default to int.

…is API can only be used with a defined servo operation command.

…nable compiler optimisation.

…ting to a char pointer can backfire badly.

…itor ;( ).

…luded in .h).

github-actions · 2022-01-12T09:05:07Z

Memory usage change @ f564e9f

Board	flash	%	RAM for global variables	%
arduino:mbed_nano:nanorp2040connect	0 - 0	0.0 - 0.0	🔺 +136 - +272	+0.05 - +0.1

Click for full report table

Board	examples/Braccio__Template flash	%	examples/Braccio__Template RAM for global variables	%	examples/Braccio_factory_setID_interactive flash	%	examples/Braccio_factory_setID_interactive RAM for global variables	%	examples/LCD_Custom_Menu flash	%	examples/LCD_Custom_Menu RAM for global variables	%	examples/LCD_Menu_Joystick flash	%	examples/LCD_Menu_Joystick RAM for global variables	%	examples/LCD_Motors flash	%	examples/LCD_Motors RAM for global variables	%	examples/LearnByDoing flash	%	examples/LearnByDoing RAM for global variables	%	examples/New_APIs flash	%	examples/New_APIs RAM for global variables	%	examples/Tools/Check_Inputs flash	%	examples/Tools/Check_Inputs RAM for global variables	%	examples/Tools/Test_Motor_Angular_Control flash	%	examples/Tools/Test_Motor_Angular_Control RAM for global variables	%	examples/Tools/Test_Motor_Communication flash	%	examples/Tools/Test_Motor_Communication RAM for global variables	%
arduino:mbed_nano:nanorp2040connect	0	0.0	136	0.05	0	0.0	272	0.1	0	0.0	136	0.05	0	0.0	136	0.05	0	0.0	136	0.05	0	0.0	136	0.05	0	0.0	136	0.05	0	0.0	136	0.05	0	0.0	136	0.05	0	0.0	136	0.05

Click for full report CSV

Board,examples/Braccio__Template<br>flash,%,examples/Braccio__Template<br>RAM for global variables,%,examples/Braccio_factory_setID_interactive<br>flash,%,examples/Braccio_factory_setID_interactive<br>RAM for global variables,%,examples/LCD_Custom_Menu<br>flash,%,examples/LCD_Custom_Menu<br>RAM for global variables,%,examples/LCD_Menu_Joystick<br>flash,%,examples/LCD_Menu_Joystick<br>RAM for global variables,%,examples/LCD_Motors<br>flash,%,examples/LCD_Motors<br>RAM for global variables,%,examples/LearnByDoing<br>flash,%,examples/LearnByDoing<br>RAM for global variables,%,examples/New_APIs<br>flash,%,examples/New_APIs<br>RAM for global variables,%,examples/Tools/Check_Inputs<br>flash,%,examples/Tools/Check_Inputs<br>RAM for global variables,%,examples/Tools/Test_Motor_Angular_Control<br>flash,%,examples/Tools/Test_Motor_Angular_Control<br>RAM for global variables,%,examples/Tools/Test_Motor_Communication<br>flash,%,examples/Tools/Test_Motor_Communication<br>RAM for global variables,%
arduino:mbed_nano:nanorp2040connect,0,0.0,136,0.05,0,0.0,272,0.1,0,0.0,136,0.05,0,0.0,136,0.05,0,0.0,136,0.05,0,0.0,136,0.05,0,0.0,136,0.05,0,0.0,136,0.05,0,0.0,136,0.05,0,0.0,136,0.05

github-actions · 2022-01-12T09:11:36Z

Memory usage change @ b77ca30

Board	flash	%	RAM for global variables	%
arduino:mbed_nano:nanorp2040connect	0 - 0	0.0 - 0.0	🔺 +136 - +272	+0.05 - +0.1

Click for full report table

Board	examples/Braccio__Template flash	%	examples/Braccio__Template RAM for global variables	%	examples/Braccio_factory_setID_interactive flash	%	examples/Braccio_factory_setID_interactive RAM for global variables	%	examples/LCD_Custom_Menu flash	%	examples/LCD_Custom_Menu RAM for global variables	%	examples/LCD_Menu_Joystick flash	%	examples/LCD_Menu_Joystick RAM for global variables	%	examples/LCD_Motors flash	%	examples/LCD_Motors RAM for global variables	%	examples/LearnByDoing flash	%	examples/LearnByDoing RAM for global variables	%	examples/New_APIs flash	%	examples/New_APIs RAM for global variables	%	examples/Tools/Check_Inputs flash	%	examples/Tools/Check_Inputs RAM for global variables	%	examples/Tools/Test_Motor_Angular_Control flash	%	examples/Tools/Test_Motor_Angular_Control RAM for global variables	%	examples/Tools/Test_Motor_Communication flash	%	examples/Tools/Test_Motor_Communication RAM for global variables	%
arduino:mbed_nano:nanorp2040connect	0	0.0	136	0.05	0	0.0	272	0.1	0	0.0	136	0.05	0	0.0	136	0.05	0	0.0	136	0.05	0	0.0	136	0.05	0	0.0	136	0.05	0	0.0	136	0.05	0	0.0	136	0.05	0	0.0	136	0.05

Click for full report CSV

Board,examples/Braccio__Template<br>flash,%,examples/Braccio__Template<br>RAM for global variables,%,examples/Braccio_factory_setID_interactive<br>flash,%,examples/Braccio_factory_setID_interactive<br>RAM for global variables,%,examples/LCD_Custom_Menu<br>flash,%,examples/LCD_Custom_Menu<br>RAM for global variables,%,examples/LCD_Menu_Joystick<br>flash,%,examples/LCD_Menu_Joystick<br>RAM for global variables,%,examples/LCD_Motors<br>flash,%,examples/LCD_Motors<br>RAM for global variables,%,examples/LearnByDoing<br>flash,%,examples/LearnByDoing<br>RAM for global variables,%,examples/New_APIs<br>flash,%,examples/New_APIs<br>RAM for global variables,%,examples/Tools/Check_Inputs<br>flash,%,examples/Tools/Check_Inputs<br>RAM for global variables,%,examples/Tools/Test_Motor_Angular_Control<br>flash,%,examples/Tools/Test_Motor_Angular_Control<br>RAM for global variables,%,examples/Tools/Test_Motor_Communication<br>flash,%,examples/Tools/Test_Motor_Communication<br>RAM for global variables,%
arduino:mbed_nano:nanorp2040connect,0,0.0,136,0.05,0,0.0,272,0.1,0,0.0,136,0.05,0,0.0,136,0.05,0,0.0,136,0.05,0,0.0,136,0.05,0,0.0,136,0.05,0,0.0,136,0.05,0,0.0,136,0.05,0,0.0,136,0.05

github-actions · 2022-01-12T09:22:39Z

Memory usage change @ 6a000cb

Board	flash	%	RAM for global variables	%
arduino:mbed_nano:nanorp2040connect	0 - 0	0.0 - 0.0	🔺 +136 - +272	+0.05 - +0.1

Click for full report table

Board	examples/Braccio__Template flash	%	examples/Braccio__Template RAM for global variables	%	examples/Braccio_factory_setID_interactive flash	%	examples/Braccio_factory_setID_interactive RAM for global variables	%	examples/LCD_Custom_Menu flash	%	examples/LCD_Custom_Menu RAM for global variables	%	examples/LCD_Menu_Joystick flash	%	examples/LCD_Menu_Joystick RAM for global variables	%	examples/LCD_Motors flash	%	examples/LCD_Motors RAM for global variables	%	examples/LearnByDoing flash	%	examples/LearnByDoing RAM for global variables	%	examples/New_APIs flash	%	examples/New_APIs RAM for global variables	%	examples/Tools/Check_Inputs flash	%	examples/Tools/Check_Inputs RAM for global variables	%	examples/Tools/Test_Motor_Angular_Control flash	%	examples/Tools/Test_Motor_Angular_Control RAM for global variables	%	examples/Tools/Test_Motor_Communication flash	%	examples/Tools/Test_Motor_Communication RAM for global variables	%
arduino:mbed_nano:nanorp2040connect	0	0.0	136	0.05	0	0.0	272	0.1	0	0.0	136	0.05	0	0.0	136	0.05	0	0.0	136	0.05	0	0.0	136	0.05	0	0.0	136	0.05	0	0.0	136	0.05	0	0.0	136	0.05	0	0.0	136	0.05

Click for full report CSV

Board,examples/Braccio__Template<br>flash,%,examples/Braccio__Template<br>RAM for global variables,%,examples/Braccio_factory_setID_interactive<br>flash,%,examples/Braccio_factory_setID_interactive<br>RAM for global variables,%,examples/LCD_Custom_Menu<br>flash,%,examples/LCD_Custom_Menu<br>RAM for global variables,%,examples/LCD_Menu_Joystick<br>flash,%,examples/LCD_Menu_Joystick<br>RAM for global variables,%,examples/LCD_Motors<br>flash,%,examples/LCD_Motors<br>RAM for global variables,%,examples/LearnByDoing<br>flash,%,examples/LearnByDoing<br>RAM for global variables,%,examples/New_APIs<br>flash,%,examples/New_APIs<br>RAM for global variables,%,examples/Tools/Check_Inputs<br>flash,%,examples/Tools/Check_Inputs<br>RAM for global variables,%,examples/Tools/Test_Motor_Angular_Control<br>flash,%,examples/Tools/Test_Motor_Angular_Control<br>RAM for global variables,%,examples/Tools/Test_Motor_Communication<br>flash,%,examples/Tools/Test_Motor_Communication<br>RAM for global variables,%
arduino:mbed_nano:nanorp2040connect,0,0.0,136,0.05,0,0.0,272,0.1,0,0.0,136,0.05,0,0.0,136,0.05,0,0.0,136,0.05,0,0.0,136,0.05,0,0.0,136,0.05,0,0.0,136,0.05,0,0.0,136,0.05,0,0.0,136,0.05

aentinger added type: enhancement Proposed improvement topic: code Related to content of the project itself labels Jan 11, 2022

aentinger self-assigned this Jan 11, 2022

aentinger marked this pull request as ready for review January 12, 2022 06:28

aentinger requested a review from facchinm January 12, 2022 06:28

aentinger added 20 commits January 12, 2022 09:48

Deleting superfluous file ArduinoRS485.h.

5007a37

Turning SmartServo from a template class in a normal C++ class since …

20e1d00

…the number of motors is known (and fixed).

Moving member variable initialisation from class body to constructor.

f6e6be7

There's no need to create an instance of SmartServoClass on the heap,…

f1f6f77

… it can be safely stored on the stack.

Replacing enum 'positionMode' with enum class 'PositionMode' for incr…

8bccedd

…ease type-safety and readability."

Inline short functions.

d555e32

Applying const-correctness is a first step towards detecting programm…

7dcae14

…er error.

Extracting enum SERVO_REG into separate file 'SmartServoConst.h'.

0be3119

This reduces the pollution of 'SmartServo.h'.

Turning SmartServoConstants into an enum class prevents misusage, as …

7e4fd4c

…enum automatically default to int.

Extract servo operation commands into enum class.

2b39743

Replacing uint8_t with enum class SmartServoOperation ensures that th…

49263cb

…is API can only be used with a defined servo operation command.

Extract PositionMode into header file 'SmartServoConst.h'.

0771846

Turning const MAX_MOTORS private, replacing const with constexpr to e…

02a4559

…nable compiler optimisation.

Add separators for better readability.

8f5f632

Initialize private member 'errors' within constructor, prefix with '_'.

4dde2a6

Prefix private member 'onError' with '_', initialise within constructor.

2232b99

Deleting superfluous variable 'timestamps'.

acbe869

The struct needs to be packed, otherwise the little trick with conver…

ef93888

…ting to a char pointer can backfire badly.

Replace tabs with spaces (why does anyone still uses tabs in their ed…

7f7378c

…itor ;( ).

Remove superfluous inclusion of 'Arduino.h' in .cpp file (already inc…

f564e9f

…luded in .h).

aentinger force-pushed the simplify-smart-motor-logic branch from c304345 to f564e9f Compare January 12, 2022 08:48

Provide REG/CMD macros to hide 'ugly' conversion function 'toVal'.

6a000cb

aentinger force-pushed the simplify-smart-motor-logic branch from b77ca30 to 6a000cb Compare January 12, 2022 09:04

aentinger merged commit 3365ff6 into master Jan 12, 2022

aentinger deleted the simplify-smart-motor-logic branch January 12, 2022 09:20

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Cleanup/Refactor `SmartServo` #14

Cleanup/Refactor `SmartServo` #14

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aentinger commented Jan 11, 2022 •

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Cleanup/Refactor SmartServo #14

Cleanup/Refactor SmartServo #14

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Cleanup/Refactor `SmartServo` #14

Cleanup/Refactor `SmartServo` #14

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