Change motor settings struct to "control"

src/common/shared_structs.h

@@ -4,7 +4,7 @@
 typedef struct {
     bool enabled = false;
     float desired_speed = 0.0;
-} motor_settings_t;
+} motor_control_t;
 
 typedef struct {
     float kp = 0.5;
@@ -23,9 +23,9 @@ typedef struct {
     float motor_1_duty;
     float motor_2_duty;
     float motor_3_duty;
-    motor_settings_t motor_1_settings;
-    motor_settings_t motor_2_settings;
-    motor_settings_t motor_3_settings;
+    motor_control_t motor_1_control;
+    motor_control_t motor_2_control;
+    motor_control_t motor_3_control;
     motor_parameters_t motor_1_params;
     motor_parameters_t motor_2_params;
     motor_parameters_t motor_3_params;

src/motor-esp32/i2c_comms.cpp

@@ -26,9 +26,9 @@ void on_I2C_request() {
     i2c_reply.motor_1_duty = get_motor_duty(0);
     i2c_reply.motor_2_duty = get_motor_duty(1);
     i2c_reply.motor_3_duty = get_motor_duty(2);
-    i2c_reply.motor_1_settings = get_motor_settings(0);
-    i2c_reply.motor_2_settings = get_motor_settings(1);
-    i2c_reply.motor_3_settings = get_motor_settings(2);
+    i2c_reply.motor_1_control = get_motor_control(0);
+    i2c_reply.motor_2_control = get_motor_control(1);
+    i2c_reply.motor_3_control = get_motor_control(2);
     i2c_reply.motor_1_params = get_motor_parameters(0);
     i2c_reply.motor_2_params = get_motor_parameters(1);
     i2c_reply.motor_3_params = get_motor_parameters(2);

src/motor-esp32/main.cpp

@@ -13,13 +13,13 @@ void setup() {
     i2c_comms_setup();
 }
 
-motor_settings_t m_set;
+motor_control_t m_ctrl;
 
 void loop() {
     delay(500);
     Serial.print("Dsr:");
-    m_set = get_motor_settings(0);
-    Serial.print(m_set.desired_speed);
+    m_ctrl = get_motor_control(0);
+    Serial.print(m_ctrl.desired_speed);
     Serial.print(" Rsp:");
     Serial.print(get_roller_speed(0));
     Serial.print(",");
@@ -40,10 +40,10 @@ void loop() {
     // Serial.print(", ");
     // Serial.println(get_roller_speed(0));
 
-    m_set.enabled = true;
-    m_set.desired_speed = ((millis() % 10000) / 10000.0) * 0.65;
-    set_motor_settings(0,m_set);
-    m_set.desired_speed = 0.3;
-    set_motor_settings(1,m_set);
-    set_motor_settings(2,m_set);
+    m_ctrl.enabled = true;
+    m_ctrl.desired_speed = ((millis() % 10000) / 10000.0) * 0.65;
+    set_motor_control(0,m_ctrl);
+    m_ctrl.desired_speed = 0.3;
+    set_motor_control(1,m_ctrl);
+    set_motor_control(2,m_ctrl);
 }

src/motor-esp32/motor_control.cpp

@@ -14,7 +14,7 @@
 #define MC_TASK_STACK_SIZE 2048
 
 // Like with the speed sensors, use a single-length queue as a way to safely copy data to another non-synchronised task
-static xQueueHandle motor_settings_queue[3];
+static xQueueHandle motor_control_queue[3];
 static xQueueHandle motor_parameters_queue[3];
 
 typedef struct {
@@ -32,7 +32,7 @@ const gpio_num_t motor_en_pins[3] = {GPIO_ROLLER1_EN, GPIO_ROLLER2_EN, GPIO_ROLL
 
 static void motor_control_task(void *pvParameters) {
     TickType_t xLastWakeTime;
-    motor_settings_t m_set;
+    motor_control_t m_ctrl;
     motor_parameters_t m_param;
     float actual_speed;
     float error;
@@ -44,14 +44,14 @@ static void motor_control_task(void *pvParameters) {
     for (;;) {
 
         for (int m_id = 0; m_id < 3; m_id++) {
-            // Get the latest motor settings and parameters
-            xQueuePeek(motor_settings_queue[m_id], &m_set, 0);
+            // Get the latest motor control and parameters
+            xQueuePeek(motor_control_queue[m_id], &m_ctrl, 0);
             xQueuePeek(motor_parameters_queue[m_id], &m_param, 0);
 
-            if (m_set.enabled) {
+            if (m_ctrl.enabled) {
 
                 actual_speed = get_roller_speed(m_id);
-                error = m_set.desired_speed - actual_speed;
+                error = m_ctrl.desired_speed - actual_speed;
                 m_status[m_id].i_error += error * MC_ITERATION_TIME;
                 d_error = (error - m_status[m_id].last_error) / MC_ITERATION_TIME;
                 m_status[m_id].last_error = error;
@@ -101,18 +101,18 @@ static void motor_control_task(void *pvParameters) {
     }
 }
 
-void set_motor_settings(int motor_id, motor_settings_t new_settings) {
-    xQueueOverwrite(motor_settings_queue[motor_id], &new_settings);
+void set_motor_control(int motor_id, motor_control_t new_control) {
+    xQueueOverwrite(motor_control_queue[motor_id], &new_control);
 }
 
 void set_motor_params(int motor_id, motor_parameters_t new_params) {
     xQueueOverwrite(motor_parameters_queue[motor_id], &new_params);
 }
 
-motor_settings_t get_motor_settings(int motor_id) {
-    motor_settings_t current_motor_settings;
-    xQueuePeek(motor_settings_queue[motor_id], &current_motor_settings, 0);
-    return current_motor_settings;
+motor_control_t get_motor_control(int motor_id) {
+    motor_control_t current_motor_control;
+    xQueuePeek(motor_control_queue[motor_id], &current_motor_control, 0);
+    return current_motor_control;
 }
 
 motor_parameters_t get_motor_parameters(int motor_id) {
@@ -132,18 +132,18 @@ void motor_control_setup(void) {
 
     for (int m_id = 0; m_id < 3; m_id++) {
         // Allocate queues
-        motor_settings_queue[m_id] = xQueueCreate(1, sizeof(motor_settings_t));
+        motor_control_queue[m_id] = xQueueCreate(1, sizeof(motor_control_t));
         motor_parameters_queue[m_id] = xQueueCreate(1, sizeof(motor_parameters_t));
         motor_status_queue[m_id] = xQueueCreate(1, sizeof(motor_status_t));
 
         // Prime queues - these are single item queues, and so functions reading from them just
         // assume something is there.
         // TODO - this is where we'd read in the saved motor params from flash.
-        motor_settings_t init_motor_settings;
+        motor_control_t init_motor_control;
         motor_parameters_t init_motor_params;
         motor_status_t blank_motor_status;
 
-        xQueueOverwrite(motor_settings_queue[m_id], &init_motor_settings);
+        xQueueOverwrite(motor_control_queue[m_id], &init_motor_control);
         xQueueOverwrite(motor_parameters_queue[m_id], &init_motor_params);
         xQueueOverwrite(motor_status_queue[m_id], &blank_motor_status);
     }

src/motor-esp32/motor_control.h

@@ -13,11 +13,11 @@
 
 
 
-void set_motor_settings(int motor_id, motor_settings_t new_settings);
+void set_motor_control(int motor_id, motor_control_t new_control);
 
 void set_motor_params(int motor_id, motor_parameters_t new_params);
 
-motor_settings_t get_motor_settings(int motor_id);
+motor_control_t get_motor_control(int motor_id);
 
 motor_parameters_t get_motor_parameters(int motor_id);