Issue #14-2: Fixing code style

Author: taketook34

src/kpi_rover_ecu/include/PIDRegulator.h

@@ -3,12 +3,11 @@
 
 #pragma once
 
-#include <chrono>
 #include <array>
+#include <chrono>
 
 #define SECONDSTOMINUTE 60
 #define MILISECONDSTOSECOND 1000
-#define SPEEDINDEXMULTIPLIER 100
 
 class PIDRegulator {
    public:
@@ -22,8 +21,9 @@ class PIDRegulator {
     float kd_;
     int previousError_ = 0;
     int integral_ = 0;
-    const int integralLimit_ = 26500;
-    const int outputLimit_ = 26500;
+    const int kintegralLimit_ = 26500;
+    const int koutputLimit_ = 26500;
+    const int kSpeedIndexMultipler_ = 100;
     int loopsTicks_;
     int maxRPM_;
 

src/kpi_rover_ecu/include/motor.h

@@ -2,6 +2,7 @@
 #define MOTOR_H
 
 #include <array>
+
 #include "PIDRegulator.h"
 
 class Motor {

src/kpi_rover_ecu/src/PIDRegulator.cpp

@@ -19,27 +19,27 @@ void PIDRegulator::Init(std::array<float, 3> _coeficients, int _loopsTicks, int
 
 int PIDRegulator::Run(int setpoint, int ticks_value) {
     const auto kCurrentTimePoint = std::chrono::high_resolution_clock::now();
-    const std::chrono::duration<double, std::milli> kElapsedMilliseconds =
-        kCurrentTimePoint - lastTimePoint_;
+    const std::chrono::duration<double, std::milli> kElapsedMilliseconds = kCurrentTimePoint - lastTimePoint_;
     lastTimePoint_ = kCurrentTimePoint;
     const auto kTimeDt = static_cast<float>(kElapsedMilliseconds.count());
 
     const float kRevolutions = static_cast<float>(ticks_value) / static_cast<float>(loopsTicks_);
 
-    const float kInputPoint = static_cast<float>(
-        std::round((kRevolutions * SECONDSTOMINUTE * MILISECONDSTOSECOND) / kTimeDt)) *
-                            SPEEDINDEXMULTIPLIER;
-    const float kError = static_cast<float>(setpoint) - kInputPoint; // get rid of abs() !!!
+    const float kInputPoint =
+        static_cast<float>(std::round((kRevolutions * SECONDSTOMINUTE * MILISECONDSTOSECOND) / kTimeDt)) *
+        kSpeedIndexMultipler_;
+
+    const float kError = static_cast<float>(setpoint) - kInputPoint;
     std::cout << "set point " << setpoint << " current point " << kInputPoint << " error " << kError << '\n';
 
     const float kPTerm = kp_ * kError;
 
     integral_ += kError * kTimeDt;
-    if (integral_ > integralLimit_) {
-        integral_ = integralLimit_;
+    if (integral_ > kintegralLimit_) {
+        integral_ = kintegralLimit_;
     }
-    if (integral_ < -integralLimit_) {
-        integral_ = -integralLimit_;
+    if (integral_ < -kintegralLimit_) {
+        integral_ = -kintegralLimit_;
     }
 
     const float kITerm = ki_ * integral_;

src/kpi_rover_ecu/src/main.cpp

@@ -58,7 +58,7 @@ int main(int argc, char* argv[]) {
         MotorConfig(3, false, {1.5, 0.056, 1.5}),
         MotorConfig(4, false, {1.5, 0.056, 1.5}),
         MotorConfig(1, true, {1.5, 0.056, 1.5}),
-        MotorConfig(2, true, {1.5, 0.056, 1.5})
+        MotorConfig(2, true, {1.5, 0.056, 1.5}),
     };
 
     motors_processor.Init(kShassisVector, kMotorNumber);

src/kpi_rover_ecu/src/motor.cpp

@@ -1,11 +1,12 @@
 #include "motor.h"
-#include "PIDRegulator.h"
 
 #include <rc/encoder.h>
 #include <rc/motor.h>
 
 #include <iostream>
 
+#include "PIDRegulator.h"
+
 Motor::Motor(int assigned_number, bool is_inverted, std::array<float, 3> _coeficients)
     : motorNumber_(assigned_number), inverted_(is_inverted), currentDutyCycle_(0), currentRpm_(0) {
     pidRegulator_.Init(_coeficients, kLoopTicks, kMaxRpm);
@@ -22,7 +23,6 @@ int Motor::MotorGo(int newRPM) {
         newRPM = -kMaxRpm;
     }
 
-
     if (MotorSet(newRPM) == -1) {
         return -1;
     }