Modify Motor class API to allow dependency injection

Signed-off-by: Javier Balloffet <[email protected]>

andino_firmware/src/app.cpp

@@ -68,6 +68,7 @@
 
 #include "commands.h"
 #include "constants.h"
+#include "digital_out_arduino.h"
 #include "encoder.h"
 #include "hw.h"
 #include "motor.h"
@@ -96,10 +97,17 @@ char argv2[16];
 
 namespace andino {
 
-Motor App::left_motor_(Hw::kLeftMotorEnableGpioPin, Hw::kLeftMotorForwardGpioPin,
-                       Hw::kLeftMotorBackwardGpioPin);
-Motor App::right_motor_(Hw::kRightMotorEnableGpioPin, Hw::kRightMotorForwardGpioPin,
-                        Hw::kRightMotorBackwardGpioPin);
+DigitalOutArduino App::left_motor_enable_digital_out_(Hw::kLeftMotorEnableGpioPin);
+PwmOutArduino App::left_motor_forward_pwm_out_(Hw::kLeftMotorForwardGpioPin);
+PwmOutArduino App::left_motor_backward_pwm_out_(Hw::kLeftMotorBackwardGpioPin);
+Motor App::left_motor_(&left_motor_enable_digital_out_, &left_motor_forward_pwm_out_,
+                       &left_motor_backward_pwm_out_);
+
+DigitalOutArduino App::right_motor_enable_digital_out_(Hw::kRightMotorEnableGpioPin);
+PwmOutArduino App::right_motor_forward_pwm_out_(Hw::kRightMotorForwardGpioPin);
+PwmOutArduino App::right_motor_backward_pwm_out_(Hw::kRightMotorBackwardGpioPin);
+Motor App::right_motor_(&right_motor_enable_digital_out_, &right_motor_forward_pwm_out_,
+                        &right_motor_backward_pwm_out_);
 
 Encoder App::left_encoder_(Hw::kLeftEncoderChannelAGpioPin, Hw::kLeftEncoderChannelBGpioPin);
 Encoder App::right_encoder_(Hw::kRightEncoderChannelAGpioPin, Hw::kRightEncoderChannelBGpioPin);
@@ -118,9 +126,10 @@ void App::setup() {
   left_encoder_.init();
   right_encoder_.init();
 
-  // Enable motors.
-  left_motor_.set_state(true);
-  right_motor_.set_state(true);
+  left_motor_.begin();
+  left_motor_.enable(true);
+  right_motor_.begin();
+  right_motor_.enable(true);
 
   left_pid_controller_.reset(left_encoder_.read());
   right_pid_controller_.reset(right_encoder_.read());

andino_firmware/src/app.h

@@ -29,9 +29,11 @@
 // OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 #pragma once
 
+#include "digital_out_arduino.h"
 #include "encoder.h"
 #include "motor.h"
 #include "pid.h"
+#include "pwm_out_arduino.h"
 
 namespace andino {
 
@@ -88,8 +90,16 @@ class App {
   // TODO(jballoffet): Parse arguments within callback method.
   static void cmd_set_pid_tuning_gains(const char* arg1, const char* arg2);
 
-  /// Motors (one per wheel).
+  /// Left wheel motor.
+  static DigitalOutArduino left_motor_enable_digital_out_;
+  static PwmOutArduino left_motor_forward_pwm_out_;
+  static PwmOutArduino left_motor_backward_pwm_out_;
   static Motor left_motor_;
+
+  /// Right wheel motor.
+  static DigitalOutArduino right_motor_enable_digital_out_;
+  static PwmOutArduino right_motor_forward_pwm_out_;
+  static PwmOutArduino right_motor_backward_pwm_out_;
   static Motor right_motor_;
 
   /// Encoders (one per wheel).

andino_firmware/src/motor.cpp

@@ -64,18 +64,19 @@
 // OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 #include "motor.h"
 
-#include <Arduino.h>
+#include "digital_out.h"
+#include "pwm_out.h"
 
 namespace andino {
 
-void Motor::set_state(bool enabled) {
-  if (enabled) {
-    digitalWrite(enable_gpio_pin_, HIGH);
-  } else {
-    digitalWrite(enable_gpio_pin_, LOW);
-  }
+void Motor::begin() {
+  enable_digital_out_->begin();
+  forward_pwm_out_->begin();
+  backward_pwm_out_->begin();
 }
 
+void Motor::enable(bool enabled) { enable_digital_out_->write(enabled ? 1 : 0); }
+
 void Motor::set_speed(int speed) {
   bool forward = true;
 
@@ -89,11 +90,11 @@ void Motor::set_speed(int speed) {
 
   // The motor speed is controlled by sending a PWM wave to the corresponding pin.
   if (forward) {
-    analogWrite(forward_gpio_pin_, speed);
-    analogWrite(backward_gpio_pin_, 0);
+    forward_pwm_out_->write(speed);
+    backward_pwm_out_->write(0);
   } else {
-    analogWrite(backward_gpio_pin_, speed);
-    analogWrite(forward_gpio_pin_, 0);
+    backward_pwm_out_->write(speed);
+    forward_pwm_out_->write(0);
   }
 }
 

andino_firmware/src/motor.h

@@ -64,6 +64,9 @@
 // OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 #pragma once
 
+#include "digital_out.h"
+#include "pwm_out.h"
+
 namespace andino {
 
 /// @brief This class allows to control a DC motor by enabling it and setting its speed. The
@@ -73,18 +76,22 @@ class Motor {
  public:
   /// @brief Constructs a new Motor object.
   ///
-  /// @param enable_gpio_pin Motor enable GPIO pin.
-  /// @param forward_gpio_pin Motor forward GPIO pin.
-  /// @param backward_gpio_pin Motor backward GPIO pin.
-  Motor(int enable_gpio_pin, int forward_gpio_pin, int backward_gpio_pin)
-      : enable_gpio_pin_(enable_gpio_pin),
-        forward_gpio_pin_(forward_gpio_pin),
-        backward_gpio_pin_(backward_gpio_pin) {}
+  /// @param enable_digital_out Digital output connected to motor enable pin.
+  /// @param forward_pwm_out PWM output connected to motor forward pin.
+  /// @param backward_pwm_out PWM output connected to motor backward pin.
+  Motor(const DigitalOut* enable_digital_out, const PwmOut* forward_pwm_out,
+        const PwmOut* backward_pwm_out)
+      : enable_digital_out_(enable_digital_out),
+        forward_pwm_out_(forward_pwm_out),
+        backward_pwm_out_(backward_pwm_out) {}
+
+  /// @brief Initializes the motor.
+  void begin();
 
-  /// @brief Sets the motor state.
+  /// @brief Enables the motor.
   ///
-  /// @param enabled Motor state.
-  void set_state(bool enabled);
+  /// @param enabled True to enable the motor, false otherwise.
+  void enable(bool enabled);
 
   /// @brief Sets the motor speed.
   ///
@@ -98,14 +105,14 @@ class Motor {
   /// Maximum speed value.
   static constexpr int kMaxSpeed{255};
 
-  /// Motor enable GPIO pin.
-  int enable_gpio_pin_;
+  /// Digital output connected to motor enable pin.
+  const DigitalOut* enable_digital_out_;
 
-  /// Motor forward GPIO pin.
-  int forward_gpio_pin_;
+  /// PWM output connected to motor forward pin.
+  const PwmOut* forward_pwm_out_;
 
-  /// Motor backward GPIO pin.
-  int backward_gpio_pin_;
+  /// PWM output connected to motor backward pin.
+  const PwmOut* backward_pwm_out_;
 };
 
 }  // namespace andino