Issue #14. Fixing some errors after rebasing

Author: taketook34

src/kpi_rover_ecu/include/motor.h

@@ -9,15 +9,16 @@
 
 #include "PIDRegulator.h"
 
-#define MIN_RPM 8000
-#define MAX_RPM 26500
-#define BRAKE_TIME 100000  // 100 ms
-#define LOOP_TICKS 821
 
 using namespace std;
 
 class Motor {
    public:
+    static constexpr int kMinRpm = 8000;
+    static constexpr int kMaxRpm = 26500;
+    static constexpr int kLoopTicks = 821;
+
+
     Motor(int assignedNumber, bool isInverted, array<float, 3> _coeficients);
     int MotorGo(int newRPM);
     int MotorStop();

src/kpi_rover_ecu/src/CMakeLists.txt

@@ -6,6 +6,7 @@ add_library(kpi_rover_ecu_core STATIC
     TCPTransport.cpp
     motorConfig.cpp
     messageQueue.cpp
+    PIDRegulator.cpp
 )
 
 # Include public headers

src/kpi_rover_ecu/src/main.cpp

@@ -53,8 +53,8 @@ int main(int argc, char* argv[]) {
     // sem_init(&stopProgramSem, 0, 0);
     // 4.42, 0.162
     MotorController motors_processor;
-    const uint8_t kMotorNumber = MOTORS_NUMBER;
-    MotorConfig shassis_array[] = {MotorConfig(1, false, {1.5, 0.056, 1.5}), MotorConfig(2, false, {1.5, 0.056, 1.5}),
+    const uint8_t kMotorNumber = 4;
+    const std::vector<MotorConfig> kShassisVector = {MotorConfig(1, false, {1.5, 0.056, 1.5}), MotorConfig(2, false, {1.5, 0.056, 1.5}),
                                    MotorConfig(3, true, {1.5, 0.056, 1.5}), MotorConfig(4, true, {1.5, 0.056, 1.5})};
 
     motors_processor.Init(kShassisVector, kMotorNumber);

src/kpi_rover_ecu/src/motor.cpp

@@ -2,7 +2,7 @@
 
 Motor::Motor(int assignedNumber, bool isInverted, array<float, 3> _coeficients)
     : motorNumber_(assignedNumber), inverted_(isInverted), currentDutyCycle_(0), currentRPM_(0) {
-    pidRegulator_.Init(_coeficients, LOOP_TICKS, MAX_RPM);
+    pidRegulator_.Init(_coeficients, kLoopTicks, kMaxRpm);
 }
 
 int Motor::MotorGo(int newRPM) {
@@ -34,7 +34,7 @@ int Motor::MotorStop() {
         return -1;
     }
 
-    rc_usleep(BRAKE_TIME);
+    rc_usleep(kBrakeTime);
 
     if (rc_motor_free_spin(motorNumber_) != 0) {
         std::cout << "[ERROR][RC] rc_motor_free_spin" << '\n';