pbio/dcmotor: Simplify settings loader.

Since there is only one setting, it's easier to just have a getter for it.

This way we can use it in the setter to avoid setting a value larger than the maximum.

Author: laurensvalk

lib/pbio/include/pbio/dcmotor.h

@@ -43,7 +43,7 @@ pbio_error_t pbio_dcmotor_brake(pbio_dcmotor_t *dcmotor);
 pbio_error_t pbio_dcmotor_set_voltage(pbio_dcmotor_t *dcmotor, int32_t voltage);
 pbio_error_t pbio_dcmotor_set_voltage_passive(pbio_dcmotor_t *dcmotor, int32_t voltage);
 
-pbio_error_t pbio_dcmotor_load_settings(pbio_dcmotor_t *dcmotor, pbio_iodev_type_id_t id);
+int32_t pbio_dcmotor_get_max_voltage(pbio_iodev_type_id_t id);
 
 void pbio_dcmotor_get_settings(pbio_dcmotor_t *dcmotor, int32_t *max_voltage);
 pbio_error_t pbio_dcmotor_set_settings(pbio_dcmotor_t *dcmotor, int32_t max_voltage);

lib/pbio/platform/motors/settings.c

@@ -331,17 +331,11 @@ pbio_error_t pbio_servo_load_settings(pbio_control_settings_t *control_settings,
     }
 }
 
-pbio_error_t pbio_dcmotor_load_settings(pbio_dcmotor_t *dcmotor, pbio_iodev_type_id_t id) {
-    switch (id) {
-        case PBIO_IODEV_TYPE_ID_NONE:
-            return PBIO_ERROR_NOT_SUPPORTED;
-        case PBIO_IODEV_TYPE_ID_SPIKE_S_MOTOR:
-            dcmotor->max_voltage = 6000;
-            return PBIO_SUCCESS;
-        default:
-            dcmotor->max_voltage = 9000;
-            return PBIO_SUCCESS;
+int32_t pbio_dcmotor_get_max_voltage(pbio_iodev_type_id_t id) {
+    if (id == PBIO_IODEV_TYPE_ID_SPIKE_S_MOTOR) {
+        return 6000;
     }
+    return 9000;
 }
 
 #endif // PBDRV_CONFIG_NUM_MOTOR_CONTROLLER != 0

lib/pbio/src/dcmotor.c

@@ -40,10 +40,7 @@ static pbio_error_t pbio_dcmotor_setup(pbio_dcmotor_t *dcmotor, pbio_direction_t
     }
 
     // Load settings for this motor
-    err = pbio_dcmotor_load_settings(dcmotor, dcmotor->id);
-    if (err != PBIO_SUCCESS) {
-        return err;
-    }
+    dcmotor->max_voltage = pbio_dcmotor_get_max_voltage(dcmotor->id);
 
     // Set direction and state
     dcmotor->direction = direction;