refactoring

Core/Inc/modelec.h

@@ -30,10 +30,10 @@ extern TIM_HandleTypeDef htim2;
 
 class DiffBot {
 public:
-	Point target;
+	Point pose;
+
 	Point targets[10];
 	uint8_t index = 0;
-	Point pose;
 
     Motor motor;
 
@@ -64,8 +64,6 @@ public:
 
 	void setup();
 
-	void setTarget(Point new_target);
-
     void update(float dt);
 
     void addTarget(int id, int type, float x, float y, float theta);

Core/Inc/pid.h

@@ -7,7 +7,8 @@
 
 #ifndef INC_PID_H_
 #define INC_PID_H_
-#include "point.h"
+
+#include <algorithm>
 
 class PID {
 protected:

Core/Inc/point.h

@@ -2,50 +2,30 @@
  * point.h
  *
  *  Created on: Mar 24, 2025
- *      Author: CHAUVEAU Maxime
+ *      Author: Modelec
  */
 
 #ifndef INC_POINT_H_
 #define INC_POINT_H_
 
-#include <array>
 #include <cstdint>
 
-typedef enum StatePoint {
-    INTERMEDIAIRE,
-    FINAL,
-    NONDETERMINE
-}StatePoint;
+enum StatePoint {
+    INTERMEDIAIRE = 0,
+    FINAL = 1,
+    NONDETERMINE = 2
+};
 
 class Point {
-private:
-    uint32_t id;
+public:
+    uint8_t id;
     StatePoint state;
 
-public:
     float x;
     float y;
     float theta;
 
-    // Constructeur
-    Point(float x = 0.0, float y = 0.0, float theta = 0.0, StatePoint state = StatePoint::INTERMEDIAIRE);
-
-    // Setters
-    void setX(float x);
-    void setY(float y);
-    void setTheta(float theta);
-    void setState(StatePoint s);
-    void setID(uint32_t id);
-
-    // Getters
-    float getX();
-    float getY();
-    float getTheta();
-    std::array<float, 3> getPoint();
-    StatePoint getState();
-    uint32_t getID();
+    Point(uint8_t id = 0, StatePoint state = StatePoint::INTERMEDIAIRE, float x = 0.0, float y = 0.0, float theta = 0.0);
 };
 
-
-
 #endif /* INC_POINT_H_ */

Core/Src/modelec.cpp

@@ -47,10 +47,6 @@ void DiffBot::setup() {
 	pidTheta = PID(0.5, 0.0, 0.01, -M_PI_2, M_PI_2);
 }
 
-void DiffBot::setTarget(Point new_target) {
-	target = new_target;
-}
-
 void DiffBot::stop(bool stop) {
 	odo_active = !stop;
 	motor.stop(stop);
@@ -78,7 +74,7 @@ void DiffBot::update(float dt) {
     while (angleError >  M_PI) angleError -= 2*M_PI;
     while (angleError < -M_PI) angleError += 2*M_PI;
 
-    switch (targets[index].getState()) {
+    switch (targets[index].state) {
     case StatePoint::FINAL:
 
     	if (fabs(dx) < 0.005 && fabs(dy) < 0.005 && fabs(angleError) < 0.08 /* 5deg */) {
@@ -135,13 +131,9 @@ DiffBot::DiffBot(Point pose, float dt) : pose(pose), dt(dt) {
 };
 
 void DiffBot::addTarget(int id, int type, float x, float y, float theta) {
-	targets[id].setX(x);
-	targets[id].setY(y);
-	targets[id].setTheta(theta);
-	targets[id].setID(id);
-	targets[id].setState(type == 1 ? StatePoint::FINAL : StatePoint::INTERMEDIAIRE);
 
-	// if (type == StatePoint::FINAL) index = 0;
+	targets[id] = Point(id, static_cast<StatePoint>(type), x, y, theta);
+
 	if (id <= index) index = 0;
 
     arrive = false;

Core/Src/point.cpp

@@ -2,54 +2,6 @@
 
 #include "point.h"
 
-Point::Point(float x, float y, float theta, StatePoint state){
-	this->x = x;
-	this->y = y;
-	this->theta = theta;
-	this->state = state;
-}
+Point::Point(uint8_t id, StatePoint state, float x, float y, float theta) : id(id), state(state), x(x), y(y), theta(theta) {
 
-void Point::setX(float x){
-	this->x = x;
-}
-
-void Point::setY(float y){
-	this->y = y;
-}
-
-void Point::setTheta(float theta){
-	this->theta = theta;
-}
-
-void Point::setState(StatePoint s){
-	this->state = s;
-}
-
-void Point::setID(uint32_t id){
-	this->id = id;
-}
-
-
-float Point::getX(){
-	return x;
-}
-
-float Point::getY(){
-	return y;
-}
-
-float Point::getTheta(){
-	return theta;
-}
-
-std::array<float, 3> Point::getPoint(){
-	return {this->x, this->y, this->theta};
-}
-
-StatePoint Point::getState(){
-	return state;
-}
-
-uint32_t Point::getID(){
-	return id;
 }

Core/Src/setup.cpp

@@ -12,7 +12,7 @@
 extern "C" {
 #endif
 
-DiffBot bot(Point(0.0f,0.0f,0.0f), 0.01f);
+DiffBot bot(Point(), 0.01f);
 
 void ModelecOdometrySetup() {
 	bot.setup();