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Better style for null pointer checks

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This commit is contained in:
PAJohnson
2020-07-31 18:09:52 -04:00
parent 5beb3faa83
commit 611d2d5021
1 changed files with 14 additions and 14 deletions
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Firmware/MotorControl/axis.cpp
+14 -14
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@@ -319,21 +319,21 @@ bool Axis::run_closed_loop_control_loop() {
// To avoid any transient on startup, we intialize the setpoint to be the current position
if (controller_.config_.circular_setpoints) {
if (*controller_.pos_estimate_circular_src_) {
if (!controller_.pos_estimate_circular_src_) {
return error_ |= ERROR_CONTROLLER_FAILED, false;
}
else {
controller_.pos_setpoint_ = *controller_.pos_estimate_circular_src_;
controller_.input_pos_ = *controller_.pos_estimate_circular_src_;
}
else {
return error_ |= ERROR_CONTROLLER_FAILED, false;
}
}
else {
if (*controller_.pos_estimate_linear_src_) {
controller_.pos_setpoint_ = *controller_.pos_estimate_linear_src_;
controller_.input_pos_ = *controller_.pos_estimate_linear_src_;
if (!controller_.pos_estimate_linear_src_) {
return error_ |= ERROR_CONTROLLER_FAILED, false;
}
else {
return error_ |= ERROR_CONTROLLER_FAILED, false;
controller_.pos_setpoint_ = *controller_.pos_estimate_linear_src_;
controller_.input_pos_ = *controller_.pos_estimate_linear_src_;
}
}
@@ -387,19 +387,19 @@ bool Axis::run_homing() {
// To avoid any transient on startup, we intialize the setpoint to be the current position
// note - input_pos_ is not set here. It is set to 0 earlier in this method and velocity control is used.
if (controller_.config_.circular_setpoints) {
if (*controller_.pos_estimate_circular_src_) {
controller_.pos_setpoint_ = *controller_.pos_estimate_circular_src_;
if (!controller_.pos_estimate_circular_src_) {
return error_ |= ERROR_CONTROLLER_FAILED, false;
}
else {
return error_ |= ERROR_CONTROLLER_FAILED, false;
controller_.pos_setpoint_ = *controller_.pos_estimate_circular_src_;
}
}
else {
if (*controller_.pos_estimate_linear_src_) {
controller_.pos_setpoint_ = *controller_.pos_estimate_linear_src_;
if (!controller_.pos_estimate_linear_src_) {
return error_ |= ERROR_CONTROLLER_FAILED, false;
}
else {
return error_ |= ERROR_CONTROLLER_FAILED, false;
controller_.pos_setpoint_ = *controller_.pos_estimate_linear_src_;
}
}