From e59ee5cda129397f95d4e1938ebc2fd83e5af9ee Mon Sep 17 00:00:00 2001
From: Aaron de los Santos <hansaaron_d@yahoo.com>
Date: Sun, 13 Jun 2021 17:28:10 -0700
Subject: [PATCH] Replaced old inline enum with autogenerated enum header

Deleted the manually added enum in the ODriveArduino class. Removed the scope resolution operator from the ODriveArduinoTest.ino file to access enums as it can be accessed from the global namespace.
---
 Arduino/ODriveArduino/ODriveArduino.h               | 13 +------------
 .../ODriveArduinoTest/ODriveArduinoTest.ino         |  6 +++---
 2 files changed, 4 insertions(+), 15 deletions(-)

diff --git a/Arduino/ODriveArduino/ODriveArduino.h b/Arduino/ODriveArduino/ODriveArduino.h
index 0824110a..672e9db3 100644
--- a/Arduino/ODriveArduino/ODriveArduino.h
+++ b/Arduino/ODriveArduino/ODriveArduino.h
@@ -3,21 +3,10 @@
 #define ODriveArduino_h
 
 #include "Arduino.h"
+#include "ODriveEnums.h"
 
 class ODriveArduino {
 public:
-    enum AxisState_t {
-        AXIS_STATE_UNDEFINED = 0,           //<! will fall through to idle
-        AXIS_STATE_IDLE = 1,                //<! disable PWM and do nothing
-        AXIS_STATE_STARTUP_SEQUENCE = 2, //<! the actual sequence is defined by the config.startup_... flags
-        AXIS_STATE_FULL_CALIBRATION_SEQUENCE = 3,   //<! run all calibration procedures, then idle
-        AXIS_STATE_MOTOR_CALIBRATION = 4,   //<! run motor calibration
-        AXIS_STATE_SENSORLESS_CONTROL = 5,  //<! run sensorless control
-        AXIS_STATE_ENCODER_INDEX_SEARCH = 6, //<! run encoder index search
-        AXIS_STATE_ENCODER_OFFSET_CALIBRATION = 7, //<! run encoder offset calibration
-        AXIS_STATE_CLOSED_LOOP_CONTROL = 8  //<! run closed loop control
-    };
-
     ODriveArduino(Stream& serial);
 
     // Commands
diff --git a/Arduino/ODriveArduino/examples/ODriveArduinoTest/ODriveArduinoTest.ino b/Arduino/ODriveArduino/examples/ODriveArduinoTest/ODriveArduinoTest.ino
index 186c81d6..190d0c12 100644
--- a/Arduino/ODriveArduino/examples/ODriveArduinoTest/ODriveArduinoTest.ino
+++ b/Arduino/ODriveArduino/examples/ODriveArduinoTest/ODriveArduinoTest.ino
@@ -75,15 +75,15 @@ void loop() {
       int motornum = c-'0';
       int requested_state;
 
-      requested_state = ODriveArduino::AXIS_STATE_MOTOR_CALIBRATION;
+      requested_state = AXIS_STATE_MOTOR_CALIBRATION;
       Serial << "Axis" << c << ": Requesting state " << requested_state << '\n';
       if(!odrive.run_state(motornum, requested_state, true)) return;
 
-      requested_state = ODriveArduino::AXIS_STATE_ENCODER_OFFSET_CALIBRATION;
+      requested_state = AXIS_STATE_ENCODER_OFFSET_CALIBRATION;
       Serial << "Axis" << c << ": Requesting state " << requested_state << '\n';
       if(!odrive.run_state(motornum, requested_state, true, 25.0f)) return;
 
-      requested_state = ODriveArduino::AXIS_STATE_CLOSED_LOOP_CONTROL;
+      requested_state = AXIS_STATE_CLOSED_LOOP_CONTROL;
       Serial << "Axis" << c << ": Requesting state " << requested_state << '\n';
       if(!odrive.run_state(motornum, requested_state, false /*don't wait*/)) return;
     }