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tutrobo · Oct 29, 2024 · 8b25825 · 8b25825
1 parent 34b58c5
commit 8b25825
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Showing 6 changed files with 16 additions and 13 deletions.
diff --git a/include/tutrc_harurobo_lib/encoder.hpp b/include/tutrc_harurobo_lib/encoder.hpp
@@ -8,7 +8,7 @@ namespace tutrc_harurobo_lib {
 
 class Encoder {
 public:
-  Encoder(TIM_HandleTypeDef *htim, uint16_t ppr, float period);
+  bool init(TIM_HandleTypeDef *htim, uint16_t ppr, float period);
   void update();
   float get_rps();
   float get_rpm();

diff --git a/include/tutrc_harurobo_lib/gpio.hpp b/include/tutrc_harurobo_lib/gpio.hpp
@@ -10,7 +10,7 @@ namespace tutrc_harurobo_lib {
 
 class GPIO {
 public:
-  GPIO(GPIO_TypeDef *port, uint16_t pin);
+  bool init(GPIO_TypeDef *port, uint16_t pin);
   void write(bool state);
   bool read();
   void toggle();

diff --git a/include/tutrc_harurobo_lib/ps3.hpp b/include/tutrc_harurobo_lib/ps3.hpp
@@ -37,7 +37,10 @@ class PS3 {
     SELECT,
   };
 
-  PS3(UART *uart) : uart_(uart) {}
+  bool init(UART *uart) {
+    uart_ = uart;
+    return true;
+  }
 
   void update() {
     keys_prev_ = keys_;

diff --git a/src/encoder.cpp b/src/encoder.cpp
@@ -6,11 +6,11 @@
 
 namespace tutrc_harurobo_lib {
 
-Encoder::Encoder(TIM_HandleTypeDef *htim, uint16_t ppr, float period)
-    : htim_(htim), ppr_(ppr), period_(period) {
-  if (HAL_TIM_Encoder_Start(htim_, TIM_CHANNEL_ALL) != HAL_OK) {
-    Error_Handler();
-  }
+bool Encoder::init(TIM_HandleTypeDef *htim, uint16_t ppr, float period) {
+  htim_ = htim;
+  ppr_ = ppr;
+  period_ = period;
+  return HAL_TIM_Encoder_Start(htim_, TIM_CHANNEL_ALL) == HAL_OK;
 }
 
 void Encoder::update() {

diff --git a/src/fdcan.cpp b/src/fdcan.cpp
@@ -25,10 +25,7 @@ bool FDCAN::init(FDCAN_HandleTypeDef *hfdcan, size_t rx_queue_size) {
     return false;
   }
 
-  if (HAL_FDCAN_Start(hfdcan_) != HAL_OK) {
-    return false;
-  }
-  return true;
+  return HAL_FDCAN_Start(hfdcan_) == HAL_OK;
 }
 
 bool FDCAN::transmit(const CANMessage *msg) {

diff --git a/src/gpio.cpp b/src/gpio.cpp
@@ -9,8 +9,11 @@ namespace tutrc_harurobo_lib {
 std::unordered_map<uint16_t, tutrc_harurobo_lib::GPIO *>
     tutrc_harurobo_lib::GPIO::instances_;
 
-GPIO::GPIO(GPIO_TypeDef *port, uint16_t pin) : port_(port), pin_(pin) {
+bool GPIO::init(GPIO_TypeDef *port, uint16_t pin) {
+  port_ = port;
+  pin_ = pin;
   instances_[pin_] = this;
+  return true;
 }
 
 void GPIO::write(bool state) {