From 4fe97c1e7bf5c6370bc873d9349741a0482ac4d1 Mon Sep 17 00:00:00 2001 From: uncrustify Date: Thu, 16 Aug 2012 23:20:27 -0700 Subject: [PATCH] uncrustify libraries/AP_Motors/AP_MotorsMatrix.h --- libraries/AP_Motors/AP_MotorsMatrix.h | 107 ++++++++++++++------------ 1 file changed, 56 insertions(+), 51 deletions(-) diff --git a/libraries/AP_Motors/AP_MotorsMatrix.h b/libraries/AP_Motors/AP_MotorsMatrix.h index 0384ccf3ed..dc0671a753 100644 --- a/libraries/AP_Motors/AP_MotorsMatrix.h +++ b/libraries/AP_Motors/AP_MotorsMatrix.h @@ -19,73 +19,78 @@ #define AP_MOTORS_MATRIX_MOTOR_CW -1 #define AP_MOTORS_MATRIX_MOTOR_CCW 1 -/// @class AP_MotorsMatrix -class AP_MotorsMatrix : public AP_Motors { -public: +/// @class AP_MotorsMatrix +class AP_MotorsMatrix : public AP_Motors { +public: - /// Constructor - AP_MotorsMatrix( uint8_t APM_version, APM_RC_Class* rc_out, RC_Channel* rc_roll, RC_Channel* rc_pitch, RC_Channel* rc_throttle, RC_Channel* rc_yaw, uint16_t speed_hz = AP_MOTORS_SPEED_DEFAULT) : - AP_Motors(APM_version, rc_out, rc_roll, rc_pitch, rc_throttle, rc_yaw, speed_hz), - instant_pwm_force01(false), - instant_pwm_force23(false), - instant_pwm_force67(false), - _num_motors(0) {}; + /// Constructor + AP_MotorsMatrix( uint8_t APM_version, APM_RC_Class* rc_out, RC_Channel* rc_roll, RC_Channel* rc_pitch, RC_Channel* rc_throttle, RC_Channel* rc_yaw, uint16_t speed_hz = AP_MOTORS_SPEED_DEFAULT) : + AP_Motors(APM_version, rc_out, rc_roll, rc_pitch, rc_throttle, rc_yaw, speed_hz), + instant_pwm_force01(false), + instant_pwm_force23(false), + instant_pwm_force67(false), + _num_motors(0) { + }; - // init - virtual void Init(); + // init + virtual void Init(); - // set update rate to motors - a value in hertz or AP_MOTORS_SPEED_INSTANT_PWM for instant pwm - // you must have setup_motors before calling this - virtual void set_update_rate( uint16_t speed_hz ); + // set update rate to motors - a value in hertz or AP_MOTORS_SPEED_INSTANT_PWM for instant pwm + // you must have setup_motors before calling this + virtual void set_update_rate( uint16_t speed_hz ); - // set frame orientation (normally + or X) - virtual void set_frame_orientation( uint8_t new_orientation ); + // set frame orientation (normally + or X) + virtual void set_frame_orientation( uint8_t new_orientation ); - // enable - starts allowing signals to be sent to motors - virtual void enable(); + // enable - starts allowing signals to be sent to motors + virtual void enable(); - // get basic information about the platform - virtual uint8_t get_num_motors() { return _num_motors; }; + // get basic information about the platform + virtual uint8_t get_num_motors() { + return _num_motors; + }; - // motor test - virtual void output_test(); - - // output_min - sends minimum values out to the motors - virtual void output_min(); + // motor test + virtual void output_test(); - // add_motor using just position and prop direction - virtual void add_motor(int8_t motor_num, float angle_degrees, int8_t direction, int8_t opposite_motor_num = AP_MOTORS_MATRIX_MOTOR_UNDEFINED, int8_t testing_order = AP_MOTORS_MATRIX_ORDER_UNDEFINED); + // output_min - sends minimum values out to the motors + virtual void output_min(); - // remove_motor - virtual void remove_motor(int8_t motor_num); + // add_motor using just position and prop direction + virtual void add_motor(int8_t motor_num, float angle_degrees, int8_t direction, int8_t opposite_motor_num = AP_MOTORS_MATRIX_MOTOR_UNDEFINED, int8_t testing_order = AP_MOTORS_MATRIX_ORDER_UNDEFINED); - // remove_all_motors - removes all motor definitions - virtual void remove_all_motors(); + // remove_motor + virtual void remove_motor(int8_t motor_num); - // setup_motors - configures the motors for a given frame type - should be overwritten by child classes - virtual void setup_motors() { remove_all_motors(); }; + // remove_all_motors - removes all motor definitions + virtual void remove_all_motors(); - // matrix - AP_Int8 opposite_motor[AP_MOTORS_MAX_NUM_MOTORS]; // motor number of the opposite motor - AP_Int8 test_order[AP_MOTORS_MAX_NUM_MOTORS]; // order of the motors in the test sequence + // setup_motors - configures the motors for a given frame type - should be overwritten by child classes + virtual void setup_motors() { + remove_all_motors(); + }; - // used for instant_pwm only - bool instant_pwm_force01; - bool instant_pwm_force23; - bool instant_pwm_force67; + // matrix + AP_Int8 opposite_motor[AP_MOTORS_MAX_NUM_MOTORS]; // motor number of the opposite motor + AP_Int8 test_order[AP_MOTORS_MAX_NUM_MOTORS]; // order of the motors in the test sequence + + // used for instant_pwm only + bool instant_pwm_force01; + bool instant_pwm_force23; + bool instant_pwm_force67; protected: - // output - sends commands to the motors - virtual void output_armed(); - virtual void output_disarmed(); + // output - sends commands to the motors + virtual void output_armed(); + virtual void output_disarmed(); - // add_motor using raw roll, pitch, throttle and yaw factors - virtual void add_motor_raw(int8_t motor_num, float roll_fac, float pitch_fac, float yaw_fac, int8_t opposite_motor_num = AP_MOTORS_MATRIX_MOTOR_UNDEFINED, int8_t testing_order = AP_MOTORS_MATRIX_ORDER_UNDEFINED); + // add_motor using raw roll, pitch, throttle and yaw factors + virtual void add_motor_raw(int8_t motor_num, float roll_fac, float pitch_fac, float yaw_fac, int8_t opposite_motor_num = AP_MOTORS_MATRIX_MOTOR_UNDEFINED, int8_t testing_order = AP_MOTORS_MATRIX_ORDER_UNDEFINED); - int8_t _num_motors; // not a very useful variable as you really need to check the motor_enabled array to see which motors are enabled - float _roll_factor[AP_MOTORS_MAX_NUM_MOTORS]; // each motors contribution to roll - float _pitch_factor[AP_MOTORS_MAX_NUM_MOTORS]; // each motors contribution to pitch - float _yaw_factor[AP_MOTORS_MAX_NUM_MOTORS]; // each motors contribution to yaw (normally 1 or -1) -}; + int8_t _num_motors; // not a very useful variable as you really need to check the motor_enabled array to see which motors are enabled + float _roll_factor[AP_MOTORS_MAX_NUM_MOTORS]; // each motors contribution to roll + float _pitch_factor[AP_MOTORS_MAX_NUM_MOTORS]; // each motors contribution to pitch + float _yaw_factor[AP_MOTORS_MAX_NUM_MOTORS]; // each motors contribution to yaw (normally 1 or -1) +}; #endif // AP_MOTORSMATRIX \ No newline at end of file