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pull in configs and enum into class for Axis and Motor, for consistency

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Oskar Weigl
2018-09-24 22:59:36 -07:00
parent 327ac51abf
commit e88abb56eb
6 changed files with 113 additions and 112 deletions
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Firmware/MotorControl/main.cpp
+6 -6
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@@ -12,8 +12,8 @@ BoardConfig_t board_config;
Encoder::Config_t encoder_configs[AXIS_COUNT];
SensorlessEstimator::Config_t sensorless_configs[AXIS_COUNT];
Controller::Config_t controller_configs[AXIS_COUNT];
MotorConfig_t motor_configs[AXIS_COUNT];
AxisConfig_t axis_configs[AXIS_COUNT];
Motor::Config_t motor_configs[AXIS_COUNT];
Axis::Config_t axis_configs[AXIS_COUNT];
TrapezoidalTrajectory::Config_t trap_configs[AXIS_COUNT];
bool user_config_loaded_;
@@ -26,9 +26,9 @@ typedef Config<
Encoder::Config_t[AXIS_COUNT],
SensorlessEstimator::Config_t[AXIS_COUNT],
Controller::Config_t[AXIS_COUNT],
MotorConfig_t[AXIS_COUNT],
Motor::Config_t[AXIS_COUNT],
TrapezoidalTrajectory::Config_t[AXIS_COUNT],
AxisConfig_t[AXIS_COUNT]> ConfigFormat;
Axis::Config_t[AXIS_COUNT]> ConfigFormat;
void save_configuration(void) {
if (ConfigFormat::safe_store_config(
@@ -62,9 +62,9 @@ void load_configuration(void) {
encoder_configs[i] = Encoder::Config_t();
sensorless_configs[i] = SensorlessEstimator::Config_t();
controller_configs[i] = Controller::Config_t();
motor_configs[i] = MotorConfig_t();
motor_configs[i] = Motor::Config_t();
trap_configs[i] = TrapezoidalTrajectory::Config_t();
axis_configs[i] = AxisConfig_t();
axis_configs[i] = Axis::Config_t();
}
} else {
user_config_loaded_ = true;