RSDK 1020 Part I - refactor base, encoded motor struct and tests. #2227
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viambot
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randhid
requested review from
penguinland,
a team and
martha-johnston
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penguinland and
a team
randhid
commented
Apr 19, 2023
| @@ -33,6 +35,7 @@ func (f *fakeDirectionAware) DirectionMoving() int64 { | |||
| } | |||
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| func TestMotorEncoder1(t *testing.T) { | |||
| t.Skip() | |||
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@penguinland skips here will unblock you for Digital interrupts.
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| if rdkutils.Float64AlmostEqual(em.ticksPerRotation, 0, 0.01) { | ||
| em.ticksPerRotation = 1 | ||
| } | ||
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[q] why does this need to use Float64AlmostEqual but mc.TicksPerRotation on line 64 can be directly compared to 0?
| @@ -399,17 +405,18 @@ func (m *EncodedMotor) rpmMonitorPass(pos, lastPos, now, lastTime int64, rpmDebu | |||
| // slow down so we don't overshoot | |||
| // halve and quarter rpm values based on seconds remaining in move | |||
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| desiredRPM := m.state.desiredRPM | |||
| // desiredRPM := m.state.desiredRPM | |||
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[nit] maybe remove unless you want to keep it for future reference since this is only part 1
martha-johnston
approved these changes
Apr 19, 2023
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bazile-clyde
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Jan 5, 2024
…amrobotics#2227) This PR: - removes some driver-level logic from the base client - removes unused functions from wheeled base - reactors motor setup - skips tests that are meant to be refactored because of leaky goroutines
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Original PR: #2211