[wombat] standardise setters (#49)

* Standerdised setters * run wpiformat --------- Co-authored-by: Paul Hodges <paul.hodges@student.education.wa.edu.au>
CurtinFRC · Jan 1, 2024 · 8831fab · 8831fab
1 parent a3a0ef4
commit 8831fab
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Showing 6 changed files with 19 additions and 24 deletions.
diff --git a/wombat/src/main/cpp/subsystems/Arm.cpp b/wombat/src/main/cpp/subsystems/Arm.cpp
@@ -103,23 +103,20 @@ void wom::subsystems::Arm::SetArmSpeedLimit(double limit) {
 // defines information needed for the functions and connects the states to their
 // respective function
 
-void wom::subsystems::Arm::SetIdle() {
-  _state = ArmState::kIdle;
-}
-
 void wom::subsystems::Arm::SetRaw(units::volt_t voltage) {
-  _state = ArmState::kRaw;
   _voltage = voltage;
 }
 
+void wom::subsystems::Arm::SetVelocity(units::radians_per_second_t velocity) {
+  _velocityPID.SetSetpoint(velocity);
+}
+
 void wom::subsystems::Arm::SetAngle(units::radian_t angle) {
-  _state = ArmState::kAngle;
   _pid.SetSetpoint(angle);
 }
 
-void wom::subsystems::Arm::SetVelocity(units::radians_per_second_t velocity) {
-  _state = ArmState::kVelocity;
-  _velocityPID.SetSetpoint(velocity);
+void wom::subsystems::Arm::SetState(wom::subsystems::ArmState state) {
+  _state = state;
 }
 
 wom::subsystems::ArmConfig& wom::subsystems::Arm::GetConfig() {

diff --git a/wombat/src/main/cpp/subsystems/Elevator.cpp b/wombat/src/main/cpp/subsystems/Elevator.cpp
@@ -92,27 +92,24 @@ void wom::subsystems::Elevator::OnUpdate(units::second_t dt) {
 }
 
 void wom::subsystems::Elevator::SetManual(units::volt_t voltage) {
-  _state = ElevatorState::kManual;
   _setpointManual = voltage;
 }
 
 void wom::subsystems::Elevator::SetPID(units::meter_t height) {
-  _state = ElevatorState::kPID;
   _pid.SetSetpoint(height);
 }
 
-void wom::subsystems::Elevator::SetElevatorSpeedLimit(double limit) {
-  speedLimit = limit;
-}
-
 void wom::subsystems::Elevator::SetVelocity(
     units::meters_per_second_t velocity) {
   _velocityPID.SetSetpoint(velocity);
-  _state = ElevatorState::kVelocity;
 }
 
-void wom::subsystems::Elevator::SetIdle() {
-  _state = ElevatorState::kIdle;
+void wom::subsystems::Elevator::SetState(wom::subsystems::ElevatorState state) {
+  _state = state;
+}
+
+void wom::subsystems::Elevator::SetElevatorSpeedLimit(double limit) {
+  speedLimit = limit;
 }
 
 wom::subsystems::ElevatorConfig& wom::subsystems::Elevator::GetConfig() {

diff --git a/wombat/src/main/cpp/subsystems/Shooter.cpp b/wombat/src/main/cpp/subsystems/Shooter.cpp
@@ -49,7 +49,6 @@ void wom::subsystems::Shooter::OnUpdate(units::second_t dt) {
 }
 
 void wom::subsystems::Shooter::SetManual(units::volt_t voltage) {
-  _state = ShooterState::kManual;
   _setpointManual = voltage;
 }
 
@@ -58,8 +57,8 @@ void wom::subsystems::Shooter::SetPID(units::radians_per_second_t goal) {
   _pid.SetSetpoint(goal);
 }
 
-void wom::subsystems::Shooter::SetIdle() {
-  _state = ShooterState::kIdle;
+void wom::subsystems::Shooter::SetState(ShooterState state) {
+  _state = state;
 }
 
 bool wom::subsystems::Shooter::IsStable() const {

diff --git a/wombat/src/main/include/subsystems/Arm.h b/wombat/src/main/include/subsystems/Arm.h
@@ -52,6 +52,8 @@ class Arm : public behaviour::HasBehaviour {
   void SetRaw(units::volt_t voltage);
   void SetVelocity(units::radians_per_second_t velocity);
 
+  void SetState(wom::subsystems::ArmState state);
+
   void SetArmSpeedLimit(double limit);  // units, what are they??
 
   ArmConfig& GetConfig();

diff --git a/wombat/src/main/include/subsystems/Elevator.h b/wombat/src/main/include/subsystems/Elevator.h
@@ -48,8 +48,8 @@ class Elevator : public behaviour::HasBehaviour {
 
   void SetManual(units::volt_t voltage);
   void SetPID(units::meter_t height);
-  void SetIdle();
-  void SetRaw();
+
+  void SetState(ElevatorState state);
 
   void SetVelocity(units::meters_per_second_t velocity);
 

diff --git a/wombat/src/main/include/subsystems/Shooter.h b/wombat/src/main/include/subsystems/Shooter.h
@@ -32,7 +32,7 @@ class Shooter : public behaviour::HasBehaviour {
 
   void SetManual(units::volt_t voltage);
   void SetPID(units::radians_per_second_t goal);
-  void SetIdle();
+  void SetState(ShooterState state);
 
   void OnUpdate(units::second_t dt);