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ready to move state machine to cpp

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Oskar Weigl
2017-09-19 19:00:30 -07:00
parent 097452eb99
commit 96fdb97d18
3 changed files with 20 additions and 9 deletions
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MotorControl/axis.cpp
+10 -2
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@@ -17,13 +17,17 @@ void axis_thread_entry(void const* temp_motor_ptr) {
while(&motors[ax_number] != motor)
++ax_number;
Axis axis(ax_number, motor);
static const AxisConfig default_config;
Axis axis(default_config, ax_number, motor);
axis.StateMachineLoop();
}
} // extern "C"
Axis::Axis(uint8_t axis_number, Motor_t* legacy_motor_ref)
Axis::Axis(const AxisConfig& config, uint8_t axis_number, Motor_t* legacy_motor_ref)
: axis_number_(axis_number),
enable_control_(config.enable_control_at_start),
do_calibration_(config.do_calibration_at_start),
legacy_motor_ref_(legacy_motor_ref) {}
void Axis::StateMachineLoop() {
@@ -32,5 +36,9 @@ void Axis::StateMachineLoop() {
exposed_bools[4*axis_number_ + 1] = &enable_control_;
exposed_bools[4*axis_number_ + 2] = &do_calibration_;
// for (;;) {
// }
motor_thread(legacy_motor_ref_);
}