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less magic numbers

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This commit is contained in:
Stepan Usatiuk
2019-07-23 18:27:05 +03:00
parent 9fbdbda4f1
commit 665bc4b63f
9 changed files with 56 additions and 51 deletions
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27
Firmware/MotorControl/src/main.cpp
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@@ -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));