♻️ (MotionKit): Change all number_of_rotations in degrees

leka · Mar 9, 2023 · 4cf6ce9 · 4cf6ce9
1 parent eee6813
commit 4cf6ce9
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Showing 6 changed files with 18 additions and 16 deletions.
diff --git a/libs/MotionKit/include/RotationControl.hpp b/libs/MotionKit/include/RotationControl.hpp
@@ -12,7 +12,7 @@ class RotationControl
   public:
 	RotationControl() = default;
 
-	void setTarget(EulerAngles starting_angles, float number_of_rotations);
+	void setTarget(EulerAngles starting_angles, float degrees);
 	auto processRotationAngle(EulerAngles current_angles) -> float;
 
   private:

diff --git a/libs/MotionKit/source/RotationControl.cpp b/libs/MotionKit/source/RotationControl.cpp
@@ -9,10 +9,10 @@
 
 using namespace leka;
 
-void RotationControl::setTarget(EulerAngles starting_angle, float number_of_rotations)
+void RotationControl::setTarget(EulerAngles starting_angle, float degrees)
 {
 	_euler_angles_previous = starting_angle;
-	_angle_rotation_target = number_of_rotations * 360.F;
+	_angle_rotation_target = degrees;
 	_angle_rotation_sum	   = 0;
 }
 

diff --git a/libs/MotionKit/tests/MotionKit_test.cpp b/libs/MotionKit/tests/MotionKit_test.cpp
@@ -36,6 +36,7 @@ class MotionKitTest : public ::testing::Test
 	mock::Timeout mock_timeout {};
 
 	const EulerAngles angles {0.F, 0.F, 0.F};
+	const float kOneTurnDegrees = 360.0;
 
 	mock::IMUKit mock_imukit {};
 
@@ -61,7 +62,7 @@ TEST_F(MotionKitTest, rotateClockwise)
 	EXPECT_CALL(mock_motor_left, spin(Rotation::clockwise, _)).Times(AtLeast(1));
 	EXPECT_CALL(mock_motor_right, spin(Rotation::clockwise, _)).Times(AtLeast(1));
 
-	motion.startYawRotation(1, Rotation::clockwise);
+	motion.startYawRotation(kOneTurnDegrees, Rotation::clockwise);
 
 	mock_imukit.call_angles_ready_callback(angles);
 }
@@ -80,7 +81,7 @@ TEST_F(MotionKitTest, rotateCounterClockwise)
 	EXPECT_CALL(mock_motor_left, spin(Rotation::counterClockwise, _)).Times(AtLeast(1));
 	EXPECT_CALL(mock_motor_right, spin(Rotation::counterClockwise, _)).Times(AtLeast(1));
 
-	motion.startYawRotation(1, Rotation::counterClockwise);
+	motion.startYawRotation(kOneTurnDegrees, Rotation::counterClockwise);
 
 	mock_imukit.call_angles_ready_callback(angles);
 }
@@ -99,7 +100,7 @@ TEST_F(MotionKitTest, rotateAndStop)
 	EXPECT_CALL(mock_motor_left, spin(Rotation::clockwise, _)).Times(AtLeast(1));
 	EXPECT_CALL(mock_motor_right, spin(Rotation::clockwise, _)).Times(AtLeast(1));
 
-	motion.startYawRotation(1, Rotation::clockwise);
+	motion.startYawRotation(kOneTurnDegrees, Rotation::clockwise);
 	mock_imukit.call_angles_ready_callback(angles);
 
 	EXPECT_CALL(mock_timeout, stop).Times(1);
@@ -125,7 +126,7 @@ TEST_F(MotionKitTest, rotateAndTimeOutOver)
 	EXPECT_CALL(mock_motor_left, spin(Rotation::clockwise, _)).Times(AtLeast(1));
 	EXPECT_CALL(mock_motor_right, spin(Rotation::clockwise, _)).Times(AtLeast(1));
 
-	motion.startYawRotation(1, Rotation::clockwise);
+	motion.startYawRotation(kOneTurnDegrees, Rotation::clockwise);
 	mock_imukit.call_angles_ready_callback(angles);
 
 	EXPECT_CALL(mock_timeout, stop).Times(1);

diff --git a/libs/ReinforcerKit/include/ReinforcerKit.h b/libs/ReinforcerKit/include/ReinforcerKit.h
@@ -40,6 +40,7 @@ class ReinforcerKit
 	interface::LedKit &_ledkit;
 	MotionKit &_motionkit;
 	Reinforcer _default_reinforcer = Reinforcer::Rainbow;
+	const float kThreeTurnDegrees  = 1080.F;
 
 	void playBlinkGreen();
 	void playSpinBlink();

diff --git a/libs/ReinforcerKit/source/ReinforcerKit.cpp b/libs/ReinforcerKit/source/ReinforcerKit.cpp
@@ -52,14 +52,14 @@ void ReinforcerKit::playBlinkGreen()
 {
 	_videokit.playVideoOnce("/fs/home/vid/system/robot-system-reinforcer-happy-no_eyebrows.avi");
 	_ledkit.start(&led::animation::blink_green);
-	_motionkit.startYawRotation(3, Rotation::clockwise, [this] { _ledkit.stop(); });
+	_motionkit.startYawRotation(kThreeTurnDegrees, Rotation::clockwise, [this] { _ledkit.stop(); });
 }
 
 void ReinforcerKit::playSpinBlink()
 {
 	_videokit.playVideoOnce("/fs/home/vid/system/robot-system-reinforcer-happy-no_eyebrows.avi");
 	_ledkit.start(&led::animation::spin_blink);
-	_motionkit.startYawRotation(3, Rotation::counterClockwise, [this] { _ledkit.stop(); });
+	_motionkit.startYawRotation(kThreeTurnDegrees, Rotation::counterClockwise, [this] { _ledkit.stop(); });
 }
 
 void ReinforcerKit::playFire()

diff --git a/spikes/lk_motion_kit/main.cpp b/spikes/lk_motion_kit/main.cpp
@@ -94,25 +94,25 @@ void onMagicCardAvailable(const MagicCard &card)
 {
 	switch (card.getId()) {
 		case (MagicCard::number_1.getId()):
-			motionkit.startYawRotation(1, Rotation::counterClockwise, [] { log_debug("Callback end of rotation"); });
+			motionkit.startYawRotation(90, Rotation::counterClockwise, [] { log_debug("Callback end of rotation"); });
 			break;
 		case (MagicCard::number_2.getId()):
-			motionkit.startYawRotation(2, Rotation::clockwise);
+			motionkit.startYawRotation(180, Rotation::clockwise);
 			break;
 		case (MagicCard::number_3.getId()):
-			motionkit.startYawRotation(3, Rotation::counterClockwise);
+			motionkit.startYawRotation(360, Rotation::counterClockwise);
 			break;
 		case (MagicCard::number_4.getId()):
-			motionkit.startYawRotation(4, Rotation::clockwise);
+			motionkit.startYawRotation(540, Rotation::clockwise);
 			break;
 		case (MagicCard::number_5.getId()):
-			motionkit.startYawRotation(5, Rotation::counterClockwise);
+			motionkit.startYawRotation(720, Rotation::counterClockwise);
 			break;
 		case (MagicCard::number_6.getId()):
-			motionkit.startYawRotation(6, Rotation::clockwise);
+			motionkit.startYawRotation(1080, Rotation::clockwise);
 			break;
 		case (MagicCard::number_7.getId()):
-			motionkit.startYawRotation(7, Rotation::counterClockwise);
+			motionkit.startYawRotation(1080, Rotation::counterClockwise);
 			break;
 		case (MagicCard::number_10.getId()):
 			motionkit.stop();