philip/Hexapod
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Small refactoring

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This commit is contained in:
Mattias Lasersköld 2020-04-05 18:04:39 +02:00
parent c9c87ae704
commit 8bc7a5242f
2 changed files with 13 additions and 10 deletions
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18
src/OSCRemote.cpp
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@ -1,5 +1,7 @@
#include "OSCRemote.h"
#include <array>
//! --- Start of onfiguration ---
//#define DEBUG // Enables CM prints if commented
@ -25,25 +27,25 @@ const float vyFactor = 0.1;
const float wFactor = 10;
void remoteMsgParser(OSCMessage &msg, int offset) {
char topic[20];
msg.getAddress(topic);
Serial.println(topic);
std::array<char, 20> topic;
msg.getAddress(topic.data());
Serial.println(topic.data());
if (!strcmp(topic, "/att/xy")) {
if (!strcmp(topic.data(), "/att/xy")) {
pOutput->attitude.pitch = msg.getFloat(0) * pitchFactor;
pOutput->attitude.roll = msg.getFloat(1) * rollFactor;
}
else if (!strcmp(topic, "/att/z")) {
else if (!strcmp(topic.data(), "/att/z")) {
pOutput->attitude.yaw = msg.getFloat(0) * yawFactor;
}
else if (!strcmp(topic, "/att/e")) {
else if (!strcmp(topic.data(), "/att/e")) {
pOutput->attitude.elevator = msg.getFloat(0) * elevatorFactor;
}
else if (!strcmp(topic, "/mov/xy")) {
else if (!strcmp(topic.data(), "/mov/xy")) {
pOutput->movement.vy = msg.getFloat(0) * vxFactor;
pOutput->movement.vx = msg.getFloat(1) * vyFactor;
}
else if (!strcmp(topic, "/mov/z")) {
else if (!strcmp(topic.data(), "/mov/z")) {
pOutput->movement.w = msg.getFloat(0) * wFactor;
}
else {

5
src/main.cpp
View File

@ -6,6 +6,7 @@
#include "body.h"
#include "config.h"
#include <memory>
//! --- Start of onfiguration ---
const char *hostname = "Hexapod";
@ -13,7 +14,7 @@ const char *hostname = "Hexapod";
Body body = Body::instance();
Config config;
IRemote *remote;
std::unique_ptr<IRemote> remote;
Vbat vbat;
void servoTest() {
@ -71,7 +72,7 @@ void setup() {
Serial.printf("SSID: %s\n", config.data().wifiSSID);
Serial.printf("pass: %s\n", config.data().wifiPass);
connectWiFi();
remote = new OSCRemote(vbat);
remote.reset(new OSCRemote(vbat));
remote->registerCallback(testRemoteCallback);
// remote->init();