Updated Controllers to Reflect PinMap Changes

USU-Robosub · Mar 24, 2017 · 7cc6bb3 · 7cc6bb3
1 parent 9cbbbb1
commit 7cc6bb3
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Showing 7 changed files with 25 additions and 25 deletions.
diff --git a/ArduinoController/ArduinoController.ino b/ArduinoController/ArduinoController.ino
@@ -24,12 +24,12 @@ void setup() {
     [](){((KillSwitchController*)controllers[0])->isr(KILLSWITCH_PIN);},
     CHANGE
   );
-  controllers[1]  = new ThrustController(MOVE_PIN);
-  controllers[2]  = new ThrustController(STRAFE_PIN);
-  controllers[3]  = new ThrustController(DIVE_PIN);
-  controllers[4]  = new ThrustController(YAW_PIN);
-  controllers[5]  = new ThrustController(PITCH_PIN);
-  controllers[6]  = new ThrustController(ROLL_PIN);
+  controllers[1]  = new ThrustController(PWM::MOVE_PIN);
+  controllers[2]  = new ThrustController(PWM::STRAFE_PIN);
+  controllers[3]  = new ThrustController(PWM::DIVE_PIN);
+  controllers[4]  = new ThrustController(PWM::YAW_PIN);
+  controllers[5]  = new ThrustController(PWM::PITCH_PIN);
+  controllers[6]  = new ThrustController(PWM::ROLL_PIN);
   controllers[7]  = new EscController();
   controllers[8]  = new LedController();
   controllers[9]  = new PingController();

diff --git a/ArduinoController/EscController.h b/ArduinoController/EscController.h
@@ -6,12 +6,12 @@ class EscController : public IController {
 
 private:
   uint8_t GPIO_PINS[GPIO_CNT] = {
-    ESC_S1_PIN,
-    ESC_S2_PIN,
-    ESC_S3_PIN,
-    ESC_S4_PIN,
-    ESC_S5_PIN,
-    ESC_S6_PIN
+    GPIO::ESC_S1_PIN,
+    GPIO::ESC_S2_PIN,
+    GPIO::ESC_S3_PIN,
+    GPIO::ESC_S4_PIN,
+    GPIO::ESC_S5_PIN,
+    GPIO::ESC_S6_PIN
   };
 public:
   EscController() {

diff --git a/ArduinoController/KillSwitchController.h b/ArduinoController/KillSwitchController.h
@@ -12,7 +12,7 @@ class KillSwitchController : public IController {
   KillSwitchController(IController ** _list_, int _count_) {
     list = _list_;
     count = _count_;
-    pinMode(LED_STAT_PIN, OUTPUT);
+    pinMode(GPIO::LED_STAT_PIN, OUTPUT);
   }
 
   void execute() {
@@ -31,7 +31,7 @@ class KillSwitchController : public IController {
     active = !digitalRead(interrupt);
     if(active)
       kill();
-    digitalWrite(LED_STAT_PIN, active);
+    digitalWrite(GPIO::LED_STAT_PIN, active);
     interrupts();
   }
 };
diff --git a/ArduinoController/LedController.h b/ArduinoController/LedController.h
@@ -4,18 +4,18 @@ class LedController : public IController {
 private:
 public:
   LedController() {
-    pinMode(LED_CTRL_PIN, OUTPUT);
-    digitalWrite(LED_CTRL_PIN, LOW);
+    pinMode(GPIO::LED_CTRL_PIN, OUTPUT);
+    digitalWrite(GPIO::LED_CTRL_PIN, LOW);
   }
   void execute() {
     for(int i = 0; i < 2; i++) {
-      digitalWrite(LED_CTRL_PIN, HIGH);
+      digitalWrite(GPIO::LED_CTRL_PIN, HIGH);
       delay(250);
-      digitalWrite(LED_CTRL_PIN, LOW);
+      digitalWrite(GPIO::LED_CTRL_PIN, LOW);
       delay(250);
     }
   }
   void kill() {
-    digitalWrite(LED_CTRL_PIN, LOW);
+    digitalWrite(GPIO::LED_CTRL_PIN, LOW);
   }
 };
diff --git a/ArduinoController/LightController.h b/ArduinoController/LightController.h
@@ -3,11 +3,11 @@
 class LightController : public IController {
 public:
   LightController() {
-    pinMode(LIGHTS_PIN, OUTPUT);
-    digitalWrite(LIGHTS_PIN, HIGH);
+    pinMode(GPIO::LIGHTS_PIN, OUTPUT);
+    digitalWrite(GPIO::LIGHTS_PIN, HIGH);
   }
   void execute() {
-    digitalWrite(LIGHTS_PIN, !SerialTools::readByte());
+    digitalWrite(GPIO::LIGHTS_PIN, !SerialTools::readByte());
   }
   void kill() { }
 };
diff --git a/ArduinoController/ThrustController.h b/ArduinoController/ThrustController.h
@@ -8,7 +8,7 @@ class ThrustController : public IController {
    const uint16_t REVERSE = 1000;
    Servo servo_;
  public:
-  ThrustController(uint8_t servoPin) {
+  ThrustController(PWM servoPin) {
     servo_.attach(servoPin);
     servo_.writeMicroseconds(IDLE);
   }

diff --git a/ArduinoController/VoltageController.h b/ArduinoController/VoltageController.h
@@ -6,11 +6,11 @@ class VoltageController : public IController {
     const double R2 =  7500.0;
   public:
     VoltageController() {
-      pinMode(VOLT_PIN, INPUT);
+      pinMode(GPIO::VOLT_PIN, INPUT);
     }
 
     void execute() {
-      int value = analogRead(VOLT_PIN);
+      int value = analogRead(GPIO::VOLT_PIN);
       /*
        * Measured Values for Calibration
        * P1 = (11.32, 700); P2 = (8.38, 517)