During summer I worked on refactoring the DJIMotor class as part of a larger project to refactor the entire codebase. Reason for this was to make the code more efficient, readable, faster, and safer. There were a lot of small changes such as renaming variables and functions to new static and time conventions, deleting lot of unused variables, changing a lot from public to private, etc. The biggest changes were as listed below:
Extremely important:
Fixed a major issue that was calling setOutput() and thus calculating a PID TWICE per loop instead of once. This happened everytime we called a motor.setFunction() and everytime we called s_sendValues()
Rest:
Added motor names to the DJIMotor class. Constructor has default parameter "NO_NAME"
Optimized s_sendValues() to only send bit array if there is at least one motor in such row
Created a smart calculateDeltaTicks() to return the position error that takes into account the periodicity of an angle
Refactored s_getFeedback() to make it more readable
Added an isConnected() motor function
Added power limits for 15 and 16 bit variables
Changed #define "constants" to constexprs
Created all neccesary motor constants: ticks, ratios, max power
Removed all non-static global variables
All function boolean debug variables are now default false parameters instead of global
Use structs instead of array for default PID motor setting
GioByte10
commented
11 months ago
During summer I worked on refactoring the DJIMotor class as part of a larger project to refactor the entire codebase. Reason for this was to make the code more efficient, readable, faster, and safer. There were a lot of small changes such as renaming variables and functions to new static and time conventions, deleting lot of unused variables, changing a lot from public to private, etc. The biggest changes were as listed below:
Extremely important:
Rest:
#define"constants" toconstexprsdebugvariables are now defaultfalseparameters instead of globalstructs instead of array for default PID motor settingYet to fix: