Issue #11: Changing Motor and MotorController function names on correct

Author: taketook34

src/kpi_rover_ecu/include/motor.h

@@ -15,7 +15,7 @@ class Motor {
     Motor(int assignedNumber, bool isInverted);
     int MotorGo(int newRPM);
     int MotorStop() const ;
-    int GetRPM() const ;
+    int GetEncoderCounter() const ;
 
    private:
     int motorNumber_;

src/kpi_rover_ecu/include/motorsController.h

@@ -15,7 +15,7 @@ class MotorController {
     int SetMotorRPM(int channel, int newRPM);
     int StopMotor(int channel);
 
-    int GetMotorRPM(int channel);
+    int GetEncoderCounter(int channel);
     int GetMotorsNumber();
     void Destroy();
 

src/kpi_rover_ecu/src/motor.cpp

@@ -33,7 +33,7 @@ int Motor::MotorStop() const  {
     return 0;
 }
 
-int Motor::GetRPM() const {
+int Motor::GetEncoderCounter() const {
     const int kEncoderTicks = rc_encoder_read(motorNumber_);
     rc_encoder_write(motorNumber_, 0);
     return kEncoderTicks;

src/kpi_rover_ecu/src/motorsController.cpp

@@ -80,7 +80,7 @@ void MotorController::Destroy() {
     rc_encoder_cleanup();
 }
 
-int MotorController::GetMotorRPM(int channel) { return motors_[channel].GetRPM(); }
+int MotorController::GetEncoderCounter(int channel) { return motors_[channel].GetEncoderCounter(); }
 
 int MotorController::GetMotorsNumber() { return motor_number_; }
 

src/kpi_rover_ecu/src/protocolHandler.cpp

@@ -69,7 +69,7 @@ vector<uint8_t> ProtocolHanlder::HandleGetEncoder(vector<uint8_t> message) {
     vector<uint8_t> ret_val;
     std::cout << "[COMMAND] get motor " << static_cast<int>(kMotorId) << " encoder " << '\n';
 
-    const int32_t kMotorRpm = main_controller_->GetMotorRPM(kMotorId);
+    const int32_t kMotorRpm = main_controller_->GetEncoderCounter(kMotorId);
 
     ret_val.push_back(ID_GET_ENCODER);
 
@@ -85,7 +85,7 @@ vector<uint8_t> ProtocolHanlder::HandleGetAllEncoders(vector<uint8_t> message) c
     ret_val.push_back(ID_GET_ALL_ENCODERS);
 
     for (int i = 0; i < main_controller_->GetMotorsNumber(); i++) {
-        int32_t encoder_rpm = static_cast<int32_t>(htonl(main_controller_->GetMotorRPM(i)));
+        int32_t encoder_rpm = static_cast<int32_t>(htonl(main_controller_->GetEncoderCounter(i)));
         ret_val.insert(ret_val.end(), reinterpret_cast<uint8_t*>(&encoder_rpm),
                        reinterpret_cast<uint8_t*>(&encoder_rpm) + sizeof(int32_t));
     }