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Convert an if-else tree to a switch statement for clarity

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2020-05-07 18:05:40 -04:00
parent 6863507570
commit f635ee85cf
1 changed files with 5 additions and 16 deletions
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Firmware/MotorControl/motor.cpp
+5 -16
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@@ -484,22 +484,11 @@ bool Motor::update(float current_setpoint, float phase, float phase_vel) {
float pwm_phase = phase + 1.5f * current_meas_period * phase_vel;
// Execute current command
// TODO: move this into the mot
if (config_.motor_type == MOTOR_TYPE_HIGH_CURRENT) {
if(!FOC_current(id, iq, phase, pwm_phase)){
return false;
}
} else if (config_.motor_type == MOTOR_TYPE_ACIM) {
if(!FOC_current(id, iq, phase, pwm_phase)){
return false;
}
} else if (config_.motor_type == MOTOR_TYPE_GIMBAL) {
//In gimbal motor mode, current is reinterptreted as voltage.
if(!FOC_voltage(id, iq, pwm_phase))
return false;
} else {
set_error(ERROR_NOT_IMPLEMENTED_MOTOR_TYPE);
return false;
switch(config_.motor_type){
case MOTOR_TYPE_HIGH_CURRENT: return FOC_current(id, iq, phase, pwm_phase); break;
case MOTOR_TYPE_ACIM: return FOC_current(id, iq, phase, pwm_phase); break;
case MOTOR_TYPE_GIMBAL: return FOC_voltage(id, iq, pwm_phase); break;
default: set_error(ERROR_NOT_IMPLEMENTED_MOTOR_TYPE); return false; break;
}
return true;
}