Removed Magic Number

BlueAndi · Oct 26, 2023 · de6f03c · de6f03c
1 parent 8349e11
commit de6f03c
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Showing 2 changed files with 22 additions and 7 deletions.
diff --git a/lib/SensorFusion/App.cpp b/lib/SensorFusion/App.cpp
@@ -160,12 +160,22 @@ void App::sendSensorData() const
     imu.readMag();
     imu.getMagnetometerValues(magnetometerValues);
 
-    /* Write the values into a Byte Array  */
-    Util::int16ToByteArray(&payload[0 * sizeof(int16_t)], sizeof(int16_t), accelerationValues[0]);      
-    Util::int16ToByteArray(&payload[1 * sizeof(int16_t)], sizeof(int16_t), accelerationValues[1]);
-    Util::int16ToByteArray(&payload[2 * sizeof(int16_t)], sizeof(int16_t), turnRates[2]);
-    Util::int16ToByteArray(&payload[3 * sizeof(int16_t)], sizeof(int16_t), magnetometerValues[0]);
-    Util::int16ToByteArray(&payload[4 * sizeof(int16_t)], sizeof(int16_t), magnetometerValues[1]);
+    /**
+     * Write the values into a Byte Array in this order:
+     * Acceleration in X
+     * Acceleration in Y
+     * TurnRate around Z
+     * Magnetometer value in X 
+     * Magnetometer value in Y 
+     * Angle calculated by Odometry
+     * Position in X calculated by Odometry
+     * Position in Y calculated by Odometry
+     */
+    Util::int16ToByteArray(&payload[0 * sizeof(int16_t)], sizeof(int16_t), accelerationValues[AXIS_INDEX_X]);      
+    Util::int16ToByteArray(&payload[1 * sizeof(int16_t)], sizeof(int16_t), accelerationValues[AXIS_INDEX_Y]);
+    Util::int16ToByteArray(&payload[2 * sizeof(int16_t)], sizeof(int16_t), turnRates[AXIS_INDEX_Z]);
+    Util::int16ToByteArray(&payload[3 * sizeof(int16_t)], sizeof(int16_t), magnetometerValues[AXIS_INDEX_X]);
+    Util::int16ToByteArray(&payload[4 * sizeof(int16_t)], sizeof(int16_t), magnetometerValues[AXIS_INDEX_Y]);
     Util::int16ToByteArray(&payload[5 * sizeof(int16_t)], sizeof(int16_t), orientationOdometryInt16);
     Util::int16ToByteArray(&payload[6 * sizeof(int16_t)], sizeof(int16_t), positionXOdometryInt16);
     Util::int16ToByteArray(&payload[7 * sizeof(int16_t)], sizeof(int16_t), positionYOdometryInt16);

diff --git a/lib/SensorFusion/App.h b/lib/SensorFusion/App.h
@@ -92,6 +92,11 @@ class App
     /** Differential drive control period in ms. */
     static const uint32_t DIFFERENTIAL_DRIVE_CONTROL_PERIOD = 5U;
 
+    /** Indices of axis x, y and z. */
+    static const uint8_t AXIS_INDEX_X = 0U;
+    static const uint8_t AXIS_INDEX_Y = 1U;
+    static const uint8_t AXIS_INDEX_Z = 2U;
+
     /** Sending Data period in ms. */
     static const uint32_t SEND_SENSORS_DATA_PERIOD = 20;
 
@@ -128,7 +133,7 @@ class App
      * Send the following Sensor data via SerialMuxProt:
      * Acceleration in X
      * Acceleration in Y
-     * turnRateZ around Z
+     * TurnRate around Z
      * Magnetometer value in X 
      * Magnetometer value in Y 
      * Angle calculated by Odometry