less magic numbers

Firmware/EggbotWireless/include/Config.h

@@ -1,6 +1,9 @@
 #ifndef CONFIG_H
 #define CONFIG_H
 
-constexpr int pin12v {5};
+constexpr int pin12v{5};
+constexpr int i2cTimeout{10}, i2cTimeoutTries{10};
+constexpr int lastStsTTL{1};
+constexpr unsigned long powerTimeout{20000}, powerStartupDelay{100};
 
-#endif // CONFIG_H
+#endif  // CONFIG_H

Firmware/EggbotWireless/include/ConfigManager.h

@@ -0,0 +1,6 @@
+#ifndef CONFIG_MANAGER_H
+#define CONFIG_MANAGER_H
+
+
+
+#endif  // CONFIG_MANAGER_H

Firmware/EggbotWireless/include/Executor.h

@@ -12,7 +12,6 @@ class Executor
 private:
     unsigned long lastStsTime;
     I2CStatusMsg lastSts;
-    static constexpr int lastStsTTL = 1;
 public:
     Executor(/* args */);
     void execCommand(Command command);

Firmware/EggbotWireless/src/Executor.cpp

@@ -1,36 +1,36 @@
 #include "Executor.h"
+#include "Config.h"
+#include "common/Commands.h"
 
 Executor executor;
 
 Executor::Executor() {}
 
 void Executor::execCommand(Command command) {
-    if (command.type != CommandType::unk) {
-        Wire.beginTransmission(8);
-        byte buffer[7][sizeof(float)];
-        command.toBytes(buffer[0]);
-        for (int i = 0; i < 7; i++) {
-            Wire.write(buffer[i], sizeof(float));
-        }
-        Wire.endTransmission();
-    } else {
+    if (command.type == CommandType::unk) {
         Serial.println("OK");
         return;
     }
 
+    Wire.beginTransmission(8);
+    byte buffer[i2cCmdBytes];
+    command.toBytes(buffer);
+    Wire.write(buffer, i2cCmdBytes);
+    Wire.endTransmission();
+
     if (command.type == CommandType::G01 || command.type == CommandType::G00) {
         return;
     }
 
     if (command.type == CommandType::M99) {
         delay(10);
-        Wire.requestFrom(8, 5 * sizeof(float));
+        Wire.requestFrom(8, 5 * i2cFloatSize);
 
         float resp[5];
-        byte buffer[sizeof(float)];
+        byte buffer[i2cFloatSize];
 
         for (int i = 0; i < 5; i++) {
-            for (unsigned int j = 0; j < sizeof(float); j++) {
+            for (unsigned int j = 0; j < i2cFloatSize; j++) {
                 while (!Wire.available()) {
                 }
                 buffer[j] = Wire.read();
@@ -68,7 +68,7 @@ I2CStatusMsg Executor::status() {
 
     Wire.requestFrom(8, 1);
     while (!Wire.available()) {
-        if (millis() - reqTime > 10 && tries < 10) {
+        if (millis() - reqTime > i2cTimeout && tries < i2cTimeoutTries) {
             Wire.requestFrom(8, 1);
             tries++;
             reqTime = millis();

Firmware/EggbotWireless/src/Power.cpp

@@ -1,10 +1,9 @@
 #include "Power.h"
 #include "Globals.h"
+#include "Config.h"
 
 Power power;
 
-constexpr unsigned long commandTimeout = 20000;
-
 Power::Power() {
     pinMode(pin12v, OUTPUT);
     disable12v();
@@ -12,7 +11,7 @@ Power::Power() {
 }
 
 void Power::tickerRoutine() {
-    if (millis() - lastCmdTime > commandTimeout) {
+    if (millis() - lastCmdTime > powerTimeout) {
         disable12v();
     }
 }
@@ -33,6 +32,6 @@ void Power::commandHook() {
     lastCmdTime = millis();
     if (!isEnabled12v()) {
         enable12v();
-        delay(100);
+        delay(powerStartupDelay);
     }
 }

Firmware/MotorControl/src/main.cpp

@@ -41,39 +41,34 @@ Command command;
 bool newCommand = false;
 bool executing = false;
 
-byte rxBuffer[7][sizeof(float)];
+byte rxBuffer[i2cCmdBytes];
 void receiveEvent(int howMany) {
     static int curByte = 0;
-    static int curFloat = 0;
     while (Wire.available() > 0) {
         if (!newCommand) {
             char c = Wire.read();
-            rxBuffer[curFloat][curByte] = c;
+            rxBuffer[curByte] = c;
             curByte++;
-            if (curByte == 4) {
+            if (curByte == i2cCmdBytes) {
                 curByte = 0;
-                curFloat++;
-            }
-            if (curFloat == 7) {
-                curFloat = 0;
-                command.fromBytes(rxBuffer[0]);
+                command.fromBytes(rxBuffer);
                 newCommand = true;
             }
         }
     }
 }
 
-byte txBuffer[5][sizeof(float)];
+byte txBuffer[5 * i2cFloatSize];
 void requestEvent() {
     if (command.type == CommandType::M99 && newCommand) {
-        floatToBytes(txBuffer[0], servoStepper.getPos());
-        floatToBytes(txBuffer[1], eggStepper.getPos());
+        floatToBytes(&txBuffer[0 * i2cFloatSize], servoStepper.getPos());
+        floatToBytes(&txBuffer[1 * i2cFloatSize], eggStepper.getPos());
 
-        floatToBytes(txBuffer[2], servoStepper.getPosMm());
-        floatToBytes(txBuffer[3], eggStepper.getPosMm());
+        floatToBytes(&txBuffer[2 * i2cFloatSize], servoStepper.getPosMm());
+        floatToBytes(&txBuffer[3 * i2cFloatSize], eggStepper.getPosMm());
 
-        floatToBytes(txBuffer[4], (float)pen.getEngaged());
-        Wire.write(txBuffer[0], 5 * sizeof(float));
+        floatToBytes(&txBuffer[4 * i2cFloatSize], (float)pen.getEngaged());
+        Wire.write(txBuffer, 5 * i2cFloatSize);
         newCommand = false;
     } else if (executing || newCommand) {
         Wire.write(static_cast<int>(I2CStatusMsg::WAIT));

Firmware/common/Commands.h

@@ -1,6 +1,9 @@
 #ifndef COMMANDS_H
 #define COMMANDS_H
 
+constexpr int i2cFloatSize{4}, i2cCmdFloats{7},
+    i2cCmdBytes{i2cFloatSize * i2cCmdFloats};
+
 enum bcAxis {
     X = 1,
     Y = 2,
@@ -50,12 +53,12 @@ struct Command {
           arg6(arg6){};
 
     Command(float *floats);
-    int fromFloats(float *floats);
-    int toFloats(float *floats);
+    void fromFloats(float *floats);
+    void toFloats(float *floats);
 
     Command(byte *bytes);
-    int fromBytes(byte *bytes);
-    int toBytes(byte *bytes);
+    void fromBytes(byte *bytes);
+    void toBytes(byte *bytes);
 };
 
 void bytesToFloat(float *target, byte *val);

Firmware/commonSrc/Commands.cpp

@@ -4,7 +4,7 @@
 
 Command::Command(float *floats) { fromFloats(floats); }
 
-int Command::fromFloats(float *floats) {
+void Command::fromFloats(float *floats) {
     type = static_cast<CommandType>(floats[0]);
     arg1 = floats[1];
     arg2 = floats[2];
@@ -14,7 +14,7 @@ int Command::fromFloats(float *floats) {
     arg6 = floats[6];
 }
 
-int Command::toFloats(float *floats) {
+void Command::toFloats(float *floats) {
     floats[0] = static_cast<float>(type);
     floats[1] = arg1;
     floats[2] = arg2;
@@ -26,28 +26,28 @@ int Command::toFloats(float *floats) {
 
 Command::Command(byte *bytes) { fromBytes(bytes); }
 
-int Command::fromBytes(byte *bytes) {
-    float floats[7];
-    for (int i = 0; i < 7; i++) {
-        bytesToFloat(&floats[i], &bytes[i * sizeof(float)]);
+void Command::fromBytes(byte *bytes) {
+    float floats[i2cCmdFloats];
+    for (int i = 0; i < i2cCmdFloats; i++) {
+        bytesToFloat(&floats[i], &bytes[i * i2cFloatSize]);
     }
     fromFloats(floats);
 }
 
-int Command::toBytes(byte *bytes) {
-    float floats[7];
+void Command::toBytes(byte *bytes) {
+    float floats[i2cCmdFloats];
     toFloats(floats);
     for (int i = 0; i < 7; i++) {
-        floatToBytes(&bytes[i * sizeof(float)], floats[i]);
+        floatToBytes(&bytes[i * i2cFloatSize], floats[i]);
     }
 }
 
 void bytesToFloat(float *target, byte *val) {
-    memcpy(target, val, sizeof(float));
+    memcpy(target, val, i2cFloatSize);
     return;
 }
 
 void floatToBytes(byte *target, float val) {
-    memcpy(target, &val, sizeof(float));
+    memcpy(target, &val, i2cFloatSize);
     return;
 }