Devel

[sfranzyshen]

I figured I needed to clean up the original source before trying to fit it into the FreeRTOS environment ...

Otto::_execute:

• Removed unnecessary braces and simplified the if condition.
• Renamed the variable cycles to completeCycles for clarity.
• Removed the check cycles >= 1 because the loop will not execute if cycles is less than 1.
• Combined the execution of complete cycles and the final incomplete cycle into one loop.
• Used static_cast for converting steps to an integer for complete cycles to make the type conversion clearer.
• Calculated remainingSteps outside of the if condition for better readability.
• Simplified the condition for executing the final incomplete cycle to check if remainingSteps is greater than 0.

Otto::oscillateServos:

• Combined the initialization of x and ref into a single declaration double ref = millis();.
• Changed the termination condition of the outer loop to currentTime <= endTime for clarity and to avoid recalculating T * cycle + ref in each iteration.
• Used currentTime = millis() inside the loop declaration for updating the current time.
• Adjusted indentation and spacing for readability.

Otto::_moveSingle:

• Combined the checks for position being out of range into a single if condition.
• Removed unnecessary variable servoNumber.
• Simplified the condition for checking if the servo_number is valid.
• Used >= and < in the condition to ensure that only valid servo_number values are processed.
• Adjusted indentation and spacing for readability.

Otto::_moveServos:

• Moved common initialization code outside of conditional blocks.
• Removed unnecessary variable declarations and assignments.
• Adjusted loop structures for better readability.
• Used static_cast for the increment calculation to ensure floating-point division.
• Updated comments for clarity.
• flag variable f has been renamed to servoPositionsMatch, which makes its purpose clearer: it indicates whether the current servo positions match their target positions.

much much more to come ...