jetson_script cleanup, removed old includes

Author: jacobdma

jetson_script/Arm.cpp

@@ -18,7 +18,7 @@
 ODrive or Solo. As of 2/8/26, no specific decision has been made yet*/
 
 #include "Arm.h"
-#include "MotorControl.h"
+#include "Dynamixel.h"
 
 const long SERIAL_BAUD_RATE = 38400;
 const uint8_t RUN_CURRENT_PERCENT = 100;
@@ -27,10 +27,6 @@ const uint8_t HOLD_CURRENT_STANDSTILL = 0;
 const int32_t RUN_VELOCITY = 40000;
 const int32_t STOP_VELOCITY = 0;
 
-const long SERIAL_BAUD_RATE = 38400;
-const uint8_t RUN_CURRENT_PERCENT = 100;
-const uint8_t HOLD_CURRENT_STANDSTILL = 0;
-
 // variables
 qindesign::network::EthernetUDP udp;
 TMC2209 stepper_driver;

jetson_script/Arm.h

@@ -1,3 +1,6 @@
+#ifndef ARM_H
+#define ARM_H
+
 /**************************GENERAL LIBRARIES**************************/
 /*******************TO BE UTILIZED FOR ALL MOTORS*******************/
 
@@ -18,4 +21,6 @@ int kbhit(void); // Dynamixel SDK function
 void test_stepper();
 void test_stepper_2();
 void run_stepper();
-void run_stepper_2();
+void run_stepper_2();
+
+#endif

jetson_script/Motors.cpp

@@ -1,4 +1,4 @@
-#include "MotorControl.h"
+#include "Dynamixel.h"
 
 // Data about each motor to be sent to SOLO
 enum class CAN_Send_State {
@@ -27,8 +27,8 @@ int clampDriveRequest(int speedReference) {
 
 // Reads Ethernet message and sets motor points in array
 void handleDriveRequest(DrivetrainRequest newMessage) {
-    motorSetpoints[MOTOR_IDS[0]] = clampDriveRequest(message.m1Setpoint);
-    motorSetpoints[MOTOR_IDS[1]] = clampDriveRequest(message.m2Setpoint);
-    motorSetpoints[MOTOR_IDS[2]] = clampDriveRequest(message.m3Setpoint);
-    motorSetpoints[MOTOR_IDS[3]] = clampDriveRequest(message.m4Setpoint);
+    motorSetpoints[MOTOR_IDS[0]] = clampDriveRequest(newMessage.m1Setpoint);
+    motorSetpoints[MOTOR_IDS[1]] = clampDriveRequest(newMessage.m2Setpoint);
+    motorSetpoints[MOTOR_IDS[2]] = clampDriveRequest(newMessage.m3Setpoint);
+    motorSetpoints[MOTOR_IDS[3]] = clampDriveRequest(newMessage.m4Setpoint);
 }

jetson_script/Motors.h

@@ -4,7 +4,7 @@ all the general motor functions that will be used across different
 subsystems (arm, science, drivetrain)
 */
 
-#ifdef MOTORS_H
+#ifndef MOTORS_H
 #define MOTORS_H
 
 class Motor {
@@ -16,6 +16,9 @@ class Motor {
         Motor(const Motor&) = delete;
         Motor& operator = (const Motor&) = delete;
 
+    protected:
+        Motor() = default;
+
         // General motor methods that each motor in every subsystem may need
         // UPDATE AS WE GO ALONG
         virtual void setSpeed() = 0;