fix style

diff --git a/otto_controller/.settings/language.settings.xml b/otto_controller/.settings/language.settings.xml
index c07f012c3dd9a3142e3c270e7d17eefd05a2153e..b57f6016e43a63d95135121adc78da0d2fd1b535 100644 (file)
--- a/otto_controller/.settings/language.settings.xml
+++ b/otto_controller/.settings/language.settings.xml
@@ -6,7 +6,7 @@
                        <provider-reference id="org.eclipse.cdt.core.ReferencedProjectsLanguageSettingsProvider" ref="shared-provider"/>
                        <provider-reference id="org.eclipse.cdt.managedbuilder.core.MBSLanguageSettingsProvider" ref="shared-provider"/>
                        <provider copy-of="extension" id="org.eclipse.cdt.managedbuilder.core.GCCBuildCommandParser"/>
-                       <provider class="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" console="false" env-hash="1052066115134395671" id="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" keep-relative-paths="false" name="MCU ARM GCC Built-in Compiler Settings" parameter="${COMMAND} ${FLAGS} -E -P -v -dD &quot;${INPUTS}&quot;" prefer-non-shared="true">
+                       <provider class="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" console="false" env-hash="-977709318318761742" id="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" keep-relative-paths="false" name="MCU ARM GCC Built-in Compiler Settings" parameter="${COMMAND} ${FLAGS} -E -P -v -dD &quot;${INPUTS}&quot;" prefer-non-shared="true">
                                <language-scope id="org.eclipse.cdt.core.gcc"/>
                                <language-scope id="org.eclipse.cdt.core.g++"/>
                        </provider>
@@ -18,7 +18,7 @@
                        <provider-reference id="org.eclipse.cdt.core.ReferencedProjectsLanguageSettingsProvider" ref="shared-provider"/>
                        <provider-reference id="org.eclipse.cdt.managedbuilder.core.MBSLanguageSettingsProvider" ref="shared-provider"/>
                        <provider copy-of="extension" id="org.eclipse.cdt.managedbuilder.core.GCCBuildCommandParser"/>
-                       <provider class="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" console="false" env-hash="1052066115134395671" id="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" keep-relative-paths="false" name="MCU ARM GCC Built-in Compiler Settings" parameter="${COMMAND} ${FLAGS} -E -P -v -dD &quot;${INPUTS}&quot;" prefer-non-shared="true">
+                       <provider class="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" console="false" env-hash="-977709318318761742" id="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" keep-relative-paths="false" name="MCU ARM GCC Built-in Compiler Settings" parameter="${COMMAND} ${FLAGS} -E -P -v -dD &quot;${INPUTS}&quot;" prefer-non-shared="true">
                                <language-scope id="org.eclipse.cdt.core.gcc"/>
                                <language-scope id="org.eclipse.cdt.core.g++"/>
                        </provider>

diff --git a/otto_controller/Core/Inc/control/encoder.h b/otto_controller/Core/Inc/control/encoder.h
index 50004a68f054b2f9e557a5fd92d1d0f83add9f42..8a262dea608503e19e049e5a66596eb7deaeb2ed 100644 (file)
--- a/otto_controller/Core/Inc/control/encoder.h
+++ b/otto_controller/Core/Inc/control/encoder.h
@@ -4,7 +4,7 @@
 #include "main.h"
 
 class Encoder {
- public:
+ private:
   TIM_HandleTypeDef *timer_;
   uint32_t previous_millis_;
   uint32_t current_millis_;
@@ -12,6 +12,7 @@ class Encoder {
   float wheel_circumference_;
   int ticks_per_revolution_;
 
+ public:
   Encoder() {
     timer_ = NULL;
     wheel_circumference_ = 0;

diff --git a/otto_controller/Core/Inc/control/motor_controller.h b/otto_controller/Core/Inc/control/motor_controller.h
index 19d283bbafe87c5a02be724dc4a4c4aaa8d3eaa0..dd87ba8f5ca033039e90aa1244ed685f85eecb30 100644 (file)
--- a/otto_controller/Core/Inc/control/motor_controller.h
+++ b/otto_controller/Core/Inc/control/motor_controller.h
@@ -4,7 +4,7 @@
 #include "main.h"
 
 class MotorController {
- public:
+ private:
   GPIO_TypeDef *sleep_gpio_port_;
   uint16_t sleep_pin_;
   GPIO_TypeDef *dir_gpio_port_;
@@ -13,6 +13,7 @@ class MotorController {
   uint32_t pwm_channel_;
   int32_t max_dutycycle_;
 
+ public:
   MotorController(GPIO_TypeDef *sleep_gpio_port, uint16_t sleep_pin,
                   GPIO_TypeDef *dir_gpio_port, uint16_t dir_pin,
                   TIM_HandleTypeDef *pwm_timer, uint32_t pwm_channel) {
@@ -25,12 +26,12 @@ class MotorController {
     this->max_dutycycle_ = 0;
   }
 
-  void setup() {
+  void Setup() {
     HAL_TIM_PWM_Start(pwm_timer_, pwm_channel_);
     this->max_dutycycle_ = pwm_timer_->Instance->ARR;
   }
 
-  void set_speed(int duty_cycle) {
+  void SetSpeed(int duty_cycle) {
     if (duty_cycle >= 0) {
       //set direction to forward
       HAL_GPIO_WritePin(dir_gpio_port_, dir_pin_, GPIO_PIN_SET);
@@ -57,12 +58,12 @@ class MotorController {
 
   }
 
-  void brake() {
+  void Brake() {
     HAL_GPIO_WritePin(sleep_gpio_port_, sleep_pin_, GPIO_PIN_SET);
     __HAL_TIM_SET_COMPARE(pwm_timer_, pwm_channel_, 0);
   }
 
-  void coast() {
+  void Coast() {
     HAL_GPIO_WritePin(sleep_gpio_port_, sleep_pin_, GPIO_PIN_RESET);
   }
 };

diff --git a/otto_controller/Core/Inc/control/pid.h b/otto_controller/Core/Inc/control/pid.h
index ee067fe7fddf128ded67aa9dd3c05f7437ba13eb..a47c0e73f0d408f348ae409abcdfd2bb01cacf6c 100644 (file)
--- a/otto_controller/Core/Inc/control/pid.h
+++ b/otto_controller/Core/Inc/control/pid.h
@@ -2,7 +2,7 @@
 #define PID_H
 
 class Pid {
- public:
+ private:
   //PID constants
   float kp_;
   float ki_;
@@ -20,6 +20,7 @@ class Pid {
   int min_;
   int max_;
 
+ public:
   Pid(float kp, float ki, float kd, int min, int max) {
     this->kp_ = kp;
     this->ki_ = ki;
@@ -36,7 +37,7 @@ class Pid {
 
   }
 
-  void config(float kp, float ki, float kd, int min, int max) {
+  void Config(float kp, float ki, float kd, int min, int max) {
     this->kp_ = kp;
     this->ki_ = ki;
     this->kd_ = kd;
@@ -52,11 +53,11 @@ class Pid {
 
   }
 
-  void set(float setpoint) {
+  void Set(float setpoint) {
     this->setpoint_ = setpoint;
   }
 
-  int update(float measure) {
+  int Update(float measure) {
 
     this->error_ = this->setpoint_ - measure;
 

diff --git a/utils/pid_tuning/otto_pid_tuning/.settings/language.settings.xml b/utils/pid_tuning/otto_pid_tuning/.settings/language.settings.xml
index c67809ccb246f94bb5b89677e9a972080f6cfd7f..b57f6016e43a63d95135121adc78da0d2fd1b535 100644 (file)
--- a/utils/pid_tuning/otto_pid_tuning/.settings/language.settings.xml
+++ b/utils/pid_tuning/otto_pid_tuning/.settings/language.settings.xml
@@ -6,7 +6,7 @@
                        <provider-reference id="org.eclipse.cdt.core.ReferencedProjectsLanguageSettingsProvider" ref="shared-provider"/>
                        <provider-reference id="org.eclipse.cdt.managedbuilder.core.MBSLanguageSettingsProvider" ref="shared-provider"/>
                        <provider copy-of="extension" id="org.eclipse.cdt.managedbuilder.core.GCCBuildCommandParser"/>
-                       <provider class="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" console="false" env-hash="1436046405535356377" id="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" keep-relative-paths="false" name="MCU ARM GCC Built-in Compiler Settings" parameter="${COMMAND} ${FLAGS} -E -P -v -dD &quot;${INPUTS}&quot;" prefer-non-shared="true">
+                       <provider class="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" console="false" env-hash="-977709318318761742" id="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" keep-relative-paths="false" name="MCU ARM GCC Built-in Compiler Settings" parameter="${COMMAND} ${FLAGS} -E -P -v -dD &quot;${INPUTS}&quot;" prefer-non-shared="true">
                                <language-scope id="org.eclipse.cdt.core.gcc"/>
                                <language-scope id="org.eclipse.cdt.core.g++"/>
                        </provider>
@@ -18,7 +18,7 @@
                        <provider-reference id="org.eclipse.cdt.core.ReferencedProjectsLanguageSettingsProvider" ref="shared-provider"/>
                        <provider-reference id="org.eclipse.cdt.managedbuilder.core.MBSLanguageSettingsProvider" ref="shared-provider"/>
                        <provider copy-of="extension" id="org.eclipse.cdt.managedbuilder.core.GCCBuildCommandParser"/>
-                       <provider class="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" console="false" env-hash="1436046405535356377" id="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" keep-relative-paths="false" name="MCU ARM GCC Built-in Compiler Settings" parameter="${COMMAND} ${FLAGS} -E -P -v -dD &quot;${INPUTS}&quot;" prefer-non-shared="true">
+                       <provider class="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" console="false" env-hash="-977709318318761742" id="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" keep-relative-paths="false" name="MCU ARM GCC Built-in Compiler Settings" parameter="${COMMAND} ${FLAGS} -E -P -v -dD &quot;${INPUTS}&quot;" prefer-non-shared="true">
                                <language-scope id="org.eclipse.cdt.core.gcc"/>
                                <language-scope id="org.eclipse.cdt.core.g++"/>
                        </provider>