Issue #14-2: Minor code fixes. Deleting unused variables. Updating tests

Author: taketook34

src/kpi_rover_ecu/include/PIDRegulator.h

@@ -19,4 +19,4 @@ class PIDRegulator {
     const float kIntegralLimit = 26500;
 };
 
-#endif
+#endif

src/kpi_rover_ecu/include/motor.h

@@ -6,15 +6,13 @@
 
 #include "PIDRegulator.h"
 
-#define SECONDSTOMINUTE 60
-#define MILISECONDSTOSECOND 1000
-
 class Motor {
    public:
-    static constexpr int kMinRpm = 8000;
     static constexpr int kMaxRpm = 26500;
     static constexpr int kLoopTicks = 821;
     static constexpr int kSpeedIndexMultipler = 100;
+    static constexpr int kSecondsMinute = 60;
+    static constexpr int kMiliSecondsSeconds = 1000;
 
     Motor(int assigned_number, bool is_inverted, std::array<float, 3> _coeficients);
     int MotorGo(int newRPM);
@@ -23,7 +21,6 @@ class Motor {
 
    private:
     int MotorSet(int inputRPM);
-    static constexpr int kBrakeTime = 100000;  // 100 ms
 
     PIDRegulator pidRegulator_;
     int setpointRpm_;

src/kpi_rover_ecu/include/motorConfig.h

@@ -19,4 +19,4 @@ class MotorConfig {
     std::array<float, 3> pidCoefs_ = {};
 };
 
-#endif  // MOTOR_CONFIG_H
+#endif  // MOTOR_CONFIG_H

src/kpi_rover_ecu/src/PIDRegulator.cpp

@@ -28,4 +28,4 @@ int PIDRegulator::Run(float kError, float kTimeDt) {
     previousError_ = kError;
 
     return static_cast<int>(kPTerm + kITerm + kDTerm);
-}
+}

src/kpi_rover_ecu/src/motor.cpp

@@ -72,7 +72,7 @@ int Motor::GetEncoderCounter() {
 
     const float kRevolutions = static_cast<float>(pid_encoder_ticks) / static_cast<float>(kLoopTicks);
     const float kInputPoint =
-        static_cast<float>(std::round((kRevolutions * SECONDSTOMINUTE * MILISECONDSTOSECOND) / kTimeDt)) *
+        static_cast<float>(std::round((kRevolutions * kSecondsMinute * kMiliSecondsSeconds) / kTimeDt)) *
         kSpeedIndexMultipler;
     actualRpm_ = static_cast<int>(kInputPoint);
     const float kError = static_cast<float>(setpointRpm_) - kInputPoint;

src/kpi_rover_ecu/tests/test_motor.cpp

@@ -44,16 +44,6 @@ TEST_F(MotorTest, MotorGoCallsRcMotorSet) {
     EXPECT_EQ(0, result) << "MotorGo should return success";
 }
 
-// Test MotorGo with minimum RPM
-TEST_F(MotorTest, MotorGoMinRPM) {
-    EXPECT_CALL(GetMockRCMotor(), set(0, ::testing::_)).WillOnce(::testing::Return(0));
-
-    motor = new Motor(0, false, {1.5f, 0.056f, 1.5f});
-    int result = motor->MotorGo(Motor::kMinRpm);
-
-    EXPECT_EQ(0, result);
-}
-
 // Test MotorGo with inverted motor direction
 TEST_F(MotorTest, MotorGoInverted) {
     // For inverted motor, the duty cycle should be negative
@@ -65,17 +55,6 @@ TEST_F(MotorTest, MotorGoInverted) {
     EXPECT_EQ(0, result);
 }
 
-// Test MotorGo with RPM below minimum
-TEST_F(MotorTest, MotorGoBelowMinRPM) {
-    // Verify behavior with RPM below minimum (should set to MIN_RPM or handle specially)
-    EXPECT_CALL(GetMockRCMotor(), set(0, ::testing::_)).WillOnce(::testing::Return(0));
-
-    motor = new Motor(0, false, {1.5f, 0.056f, 1.5f});
-    int result = motor->MotorGo(Motor::kMinRpm - 1);
-
-    EXPECT_EQ(0, result);
-}
-
 // Test MotorGo with RPM above maximum
 TEST_F(MotorTest, MotorGoAboveMaxRPM) {
     // Verify behavior with RPM above maximum (should clamp to MAX_RPM)