cleanup

Author: gbr1

src/Arduino_AlvikCarrier.cpp

@@ -515,7 +515,7 @@ int Arduino_AlvikCarrier::beginImu(){
 
     ipKnobs->output_type = MFX_ENGINE_OUTPUT_ENU;
     ipKnobs->LMode = 1;
-    ipKnobs->modx = DECIMATION;
+    ipKnobs->modx = MOTION_FX_DECIMATION;
 
     MotionFX_setKnobs(mfxstate, ipKnobs);
     MotionFX_enable_6X(mfxstate, MFX_ENGINE_ENABLE);
@@ -534,7 +534,7 @@ void Arduino_AlvikCarrier::updateImu(){
     imu_data.acc[1] = (float)accelerometer[1] * FROM_MG_TO_G;
     imu_data.acc[2] = (float)accelerometer[2] * FROM_MG_TO_G;
 
-    if (sample_to_discard>SAMPLETODISCARD){
+    if (sample_to_discard>MOTION_FX_SAMPLETODISCARD){
         MotionFX_propagate(mfxstate, &filter_data, &imu_data, &imu_delta_time);
         MotionFX_update(mfxstate, &filter_data, &imu_data, &imu_delta_time, NULL);
     }else{

src/Arduino_AlvikCarrier.h

@@ -89,16 +89,14 @@ class Arduino_AlvikCarrier{
 
 
 
-        Arduino_Alvik_Firmware();
+        Arduino_AlvikCarrier();
 
         int begin();
 
 
         void getVersion(uint8_t &high_byte, uint8_t &mid_byte, uint8_t &low_byte);
 
 
-        //custom class????
-
         // Color sensor, APDS9960
         int beginAPDS();                            // initialize all components required by color detection
         void updateAPDS();                          // refresh data
@@ -161,7 +159,7 @@ class Arduino_AlvikCarrier{
 
         // Leds
         int beginLeds();
-        void setLedBuiltin(const uint8_t value);
+        void setLed_Builtin(const uint8_t value);
         void setLedLeft(const uint32_t color);
         void setLedLeft(const uint32_t red, const uint32_t green, const uint32_t blue);
         void setLedLeftRed(const uint32_t red);

src/definitions/robot_definitions.h

@@ -39,16 +39,16 @@ const float MOTOR_RATIO = MOTOR_CPR*MOTOR_GEAR_RATIO;
 #define MOTION_FX_FREQ  100U
 const float MOTION_FX_PERIOD = (1000U / MOTION_FX_FREQ);
 #define MOTION_FX_ENGINE_DELTATIME  0.01f
-#define STATE_SIZE                      (size_t)(2432)
-#define SAMPLETODISCARD                 15
+//#define STATE_SIZE                      (size_t)(2432)
+#define MOTION_FX_SAMPLETODISCARD                 15
 #define GBIAS_ACC_TH_SC                 (2.0f*0.000765f)
 #define GBIAS_GYRO_TH_SC                (2.0f*0.002f)
-#define DECIMATION                      1U
-#define STATE_SIZE                      (size_t)(2432)
+#define MOTION_FX_DECIMATION                      1U
+//#define STATE_SIZE                      (size_t)(2432)
 
 #define VERSION_BYTE_HIGH 0
-#define VERSION_BYTE_MID 0
-#define VERSION_BYTE_LOW 6
+#define VERSION_BYTE_MID 1
+#define VERSION_BYTE_LOW 0