From 2cfd7aa5ead339fc64878972035d67f4e42c0671 Mon Sep 17 00:00:00 2001
From: Emilio Corigliano <emilio.corigliano@skywarder.eu>
Date: Mon, 7 Aug 2023 17:59:57 +0000
Subject: [PATCH] [Stepper] Updated StepperData struct
---
src/shared/actuators/stepper/Stepper.cpp | 9 ++-------
src/shared/actuators/stepper/StepperData.h | 22 +++++++++++++++-------
2 files changed, 17 insertions(+), 14 deletions(-)
diff --git a/src/shared/actuators/stepper/Stepper.cpp b/src/shared/actuators/stepper/Stepper.cpp
index d76f6dfeb..52804e9fa 100644
--- a/src/shared/actuators/stepper/Stepper.cpp
+++ b/src/shared/actuators/stepper/Stepper.cpp
@@ -166,13 +166,8 @@ bool Stepper::isEnabled() { return enabled; }
StepperData Stepper::getState(float moveDeg)
{
- return {TimestampTimer::getTimestamp(),
- static_cast<unsigned int>(stepPin.getPort()),
- stepPin.getNumber(),
- enabled,
- getCurrentDegPosition(),
- speed,
- moveDeg};
+ return {TimestampTimer::getTimestamp(), enabled, getCurrentDegPosition(),
+ speed, moveDeg};
}
} // namespace Boardcore
\ No newline at end of file
diff --git a/src/shared/actuators/stepper/StepperData.h b/src/shared/actuators/stepper/StepperData.h
index 096f48f2c..8dab2c050 100644
--- a/src/shared/actuators/stepper/StepperData.h
+++ b/src/shared/actuators/stepper/StepperData.h
@@ -30,24 +30,32 @@ namespace Boardcore
struct StepperData
{
uint64_t timestamp;
- unsigned int pulsePinPort;
- unsigned int pulsePinNumber;
bool enabled;
float positionDeg;
float speed;
float moveDeg;
+ StepperData()
+ : timestamp(0), enabled(0), positionDeg(0), speed(0), moveDeg(0)
+ {
+ }
+
+ StepperData(uint64_t timestamp, bool enabled, float positionDeg,
+ float speed, float moveDeg)
+ : timestamp(timestamp), enabled(enabled), positionDeg(positionDeg),
+ speed(speed), moveDeg(moveDeg)
+ {
+ }
+
static std::string header()
{
- return "timestamp,pulsePinPort,pulsePinNumber,enabled,positionDeg,"
- "speed,moveDeg\n";
+ return "timestamp,enabled,positionDeg,speed,moveDeg\n";
}
void print(std::ostream& os) const
{
- os << timestamp << "," << pulsePinPort << "," << pulsePinNumber << ","
- << enabled << "," << positionDeg << "," << speed << "," << moveDeg
- << "\n";
+ os << timestamp << "," << enabled << "," << positionDeg << "," << speed
+ << "," << moveDeg << "\n";
}
};
--
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