Renamed Thruster Controller Addresses

USU-Robosub · Apr 19, 2017 · 2204bbf · 2204bbf
1 parent 3e296bb
commit 2204bbf
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Showing 2 changed files with 9 additions and 6 deletions.
diff --git a/BoneCentral/Peripherals/Peripherals.SerialAdaptors/include/SerialFactory.h b/BoneCentral/Peripherals/Peripherals.SerialAdaptors/include/SerialFactory.h
@@ -18,6 +18,7 @@ class SerialFactory : public IThrusterFactory {
 private:
     Serial serial_;
 public:
+    SerialFactory();
     std::shared_ptr<IThruster> createLeftForwardThruster();
     std::shared_ptr<IThruster> createRightForwardThruster();
     std::shared_ptr<IThruster> createLeftStrafeThruster();

diff --git a/BoneCentral/Peripherals/Peripherals.SerialAdaptors/src/SerialFactory.cpp b/BoneCentral/Peripherals/Peripherals.SerialAdaptors/src/SerialFactory.cpp
@@ -4,28 +4,30 @@
 
 #include "SerialFactory.h"
 
+SerialFactory::SerialFactory() : serial_("/dev/ttyACM0") {}
+
 std::shared_ptr<IThruster> SerialFactory::createLeftForwardThruster() {
-    return std::make_shared<SerialThruster>(serial_, LEFT_FORWARD);
+    return std::make_shared<SerialThruster>(serial_, MOVE_IDX);
 }
 
 std::shared_ptr<IThruster> SerialFactory::createRightForwardThruster() {
-    return std::make_shared<SerialThruster>(serial_, RIGHT_FORWARD);
+    return std::make_shared<SerialThruster>(serial_, STRAFE_IDX);
 }
 
 std::shared_ptr<IThruster> SerialFactory::createLeftStrafeThruster() {
-    return std::make_shared<SerialThruster>(serial_, LEFT_STRAFE);
+    return std::make_shared<SerialThruster>(serial_, DIVE_IDX);
 }
 
 std::shared_ptr<IThruster> SerialFactory::createRightStrafeThruster() {
-    return std::make_shared<SerialThruster>(serial_, RIGHT_STRAFE);
+    return std::make_shared<SerialThruster>(serial_, YAW_IDX);
 }
 
 std::shared_ptr<IThruster> SerialFactory::createForwardDiveThruster() {
-    return std::make_shared<SerialThruster>(serial_, FRONT_DIVE);
+    return std::make_shared<SerialThruster>(serial_, PITCH_IDX);
 }
 
 std::shared_ptr<IThruster> SerialFactory::createRearDiveThruster() {
-    return std::make_shared<SerialThruster>(serial_, BACK_DIVE);
+    return std::make_shared<SerialThruster>(serial_, ROLL_IDX);
 }
 
 std::shared_ptr<IEscPower> SerialFactory::createEscPower() {