From e1acfc002bf940d6fdc7ba8ca3953e60eb853df8 Mon Sep 17 00:00:00 2001
From: Malaurie Bernard <mbernard@kinouby>
Date: Wed, 5 Jul 2023 17:14:20 +0200
Subject: [PATCH] Code editting : motor.h in snake case
---
motor.cpp | 18 ++++++++++
motor.h | 100 +++++++++++++++++++++++++++---------------------------
2 files changed, 68 insertions(+), 50 deletions(-)
diff --git a/motor.cpp b/motor.cpp
index e69de29..488c402 100644
--- a/motor.cpp
+++ b/motor.cpp
@@ -0,0 +1,18 @@
+#include "motor.h"
+
+
+
+
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+
diff --git a/motor.h b/motor.h
index 699e019..7bcec1d 100644
--- a/motor.h
+++ b/motor.h
@@ -41,80 +41,80 @@ public:
//CONSTRUCTORS
Motor (MotorHardware_t& stepper): stepper(stepper)
{
- setSpeedMmPerSec(1);
- setAccelMmPerSecPerSec(0.5); // <----- this is not yet configured by user
+ set_speed_mm_per_sec(1);
+ set_accel_mm_per_sec_per_sec(0.5); // <----- this is not yet configured by user
}
- void setMmPerRev (float mmPerRevolution)
+ void set_mm_per_rev (float mm_per_revolution)
{
- _mmPerRevolution = mmPerRevolution;
+ _mm_per_revolution = mm_per_revolution;
}
- float getMmPerRev () const
+ float get_mm_per_rev () const
{
- return _mmPerRevolution;
+ return _mm_per_revolution;
}
- void setPhysical (int stepsPerRevolution, float mmPerRevolution, bool forwardClockwise)
+ void set_physical (int steps_per_revolution, float mm_per_revolution, bool forward_clockwise)
{
- _stepsPerRevolution = stepsPerRevolution;
- setMmPerRev(mmPerRevolution);
- setForwardClockwise(forwardClockwise);
+ _steps_per_revolution = steps_per_revolution;
+ set_mm_per_rev(mm_per_revolution);
+ set_forward_clockwise(forward_clockwise);
}
- void setForwardClockwise (bool clockwise)
+ void set_forward_clockwise (bool forward_clockwise)
{
- _forwardClockwise = clockwise;
+ _forward_clockwise = forward_clockwise;
}
- bool getForwardClockwise ()
+ bool get_forward_clockwise ()
{
- return _forwardClockwise;
+ return _forward_clockwise;
}
- void setSpeedMmPerSec (float mmPerSec)
+ void set_speed_mm_per_sec (float mm_per_sec)
{
#if !CORE_MOCK
- stepper.setMaxSpeed(mmToStep(mmPerSec));
+ stepper.setMaxSpeed(mm_to_step(mm_per_sec));
#endif
}
- bool motorIsRunning () //return true if the motor is currently running
+ bool motor_is_running () //return true if the motor is currently running
{
return (stepper.speed() != 0);
}
- void setAccelMmPerSecPerSec (float mmPerSecPerSec)
+ void set_accel_mm_per_sec_per_sec (float mm_per_sec_per_sec)
{
- if (mmPerSecPerSec == 0)
- mmPerSecPerSec = 1000;
- _retainAccel = mmPerSecPerSec;
+ if (mm_per_sec_per_sec == 0)
+ mm_per_sec_per_sec = 1000;
+ _retain_accel = mm_per_sec_per_sec;
#if !CORE_MOCK
- stepper.setAcceleration(mmToStep(mmPerSecPerSec));
+ stepper.setAcceleration(mm_to_step(mm_per_sec_per_sec));
#endif
}
- float getAccelMmPerSecPerSec () const
+ float get_accel_mm_per_sec_per_sec () const
{
- return _retainAccel;
+ return _retain_accel;
}
- float mmToStep (float mm) const
+ float mm_to_step (float mm) const
{
- return mm * _stepsPerRevolution / _mmPerRevolution;
+ return mm * _steps_per_revolution / _mm_per_revolution;
}
- float stepToMm (int step) const
+ float step_to_mm (int step) const
{
- return step * _mmPerRevolution / _stepsPerRevolution;
+ return step * _mm_per_revolution / _steps_per_revolution;
}
- int whereStep ()
+ int where_step ()
{
#if CORE_MOCK
return 0;
#else
- return stepper.currentPosition() * (_forwardClockwise? 1: -1);
+ return stepper.currentPosition() * (_forward_clockwise? 1: -1);
#endif
}
@@ -122,20 +122,20 @@ public:
{
Serial.printf("# moving to %g mm / %g steps\n",
mm,
- mmToStep(mm));
- moveToStep(mmToStep(mm));
+ mm_to_step(mm));
+ move_to_step(mm_to_step(mm));
}
- void moveToStep (int step)
+ void move_to_step (int step)
{
#if !CORE_MOCK
cli();
- setAccelMmPerSecPerSec(_retainAccel);
- if (_mmPerRevolution > 0 && _stepsPerRevolution > 0)
- stepper.moveTo(_forwardClockwise? step: -step);
+ set_accel_mm_per_sec_per_sec(_retain_accel);
+ if (_mm_per_revolution > 0 && _steps_per_revolution > 0)
+ stepper.moveTo(_forward_clockwise? step: -step);
sei();
#endif
- Serial.printf("# move to: %d step %g mm\n", step, stepToMm(step));
+ Serial.printf("# move to: %d step %g mm\n", step, step_to_mm(step));
}
void stop ()
@@ -147,7 +147,7 @@ public:
#endif
}
- void resetPosition()
+ void reset_position()
{
#if !CORE_MOCK
stop();
@@ -157,40 +157,40 @@ public:
#endif
}
- void stayHere ()
+ void stay_here ()
{
#if !CORE_MOCK
cli();
stepper.setAcceleration(1e20);
stepper.moveTo(stepper.currentPosition()); // change target to here
- setAccelMmPerSecPerSec(_retainAccel);
+ set_accel_mm_per_sec_per_sec(_retain_accel);
sei();
#endif
}
- void showConfiguration ()
+ void show_configuration ()
{
Serial.printf("# %g mm/rev\n"
"# %d steps/rev\n"
"# %g steps/mm\n"
"# max speed: %g steps/s %g mm/s\n"
"# accel: %g steps/s/s %g mm/s/s\n",
- _mmPerRevolution,
- _stepsPerRevolution,
- _stepsPerRevolution / _mmPerRevolution,
+ _mm_per_revolution,
+ _steps_per_revolution,
+ _steps_per_revolution / _mm_per_revolution,
stepper.maxSpeed(),
- stepToMm(stepper.maxSpeed()),
+ step_to_mm(stepper.maxSpeed()),
stepper.acceleration(),
- stepToMm(stepper.acceleration())
+ step_to_mm(stepper.acceleration())
);
}
protected:
- int _stepsPerRevolution = -1;
- float _mmPerRevolution = -1;
- float _retainAccel = -1;
- bool _forwardClockwise;
+ int _steps_per_revolution = -1;
+ float _mm_per_revolution = -1;
+ float _retain_accel = -1;
+ bool _forward_clockwise;
MotorHardware_t& stepper;
};
--
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