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Cleaned up switch statement. Also put in early returns where possible #272

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Cleaned up switch statement. Also put in early returns where possible #272

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49 changes: 17 additions & 32 deletions src/SUFST/Src/Functions/torque_map.c
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Original file line number Diff line number Diff line change
Expand Up @@ -28,33 +28,23 @@ status_t torque_map_init(torque_map_t *map_ptr, const config_torque_map_t *confi

map_ptr->deadzone_scale = ((float)config_ptr->input_max) /
((float)(config_ptr->input_max - map_ptr->deadzone_end));

// load mapping function
status_t status = STATUS_OK;


map_ptr->output_max = config_ptr->output_max;

switch (config_ptr->function)
{
case TORQUE_MAP_LINEAR:
{
map_ptr->map_func = linear_torque_map;
break;
}

case TORQUE_MAP_EXPONENTIAL:
{
map_ptr->map_func = exponential_torque_map;
break;
}

default:
map_ptr->map_func = null_torque_map;
status = STATUS_ERROR;
break;
case TORQUE_MAP_LINEAR:
map_ptr->map_func = linear_torque_map;
break;
case TORQUE_MAP_EXPONENTIAL:
map_ptr->map_func = exponential_torque_map;
break;
default:
map_ptr->map_func = null_torque_map;
return STATUS_ERROR;
};

map_ptr->output_max = config_ptr->output_max;

return status;
return STATUS_OK;
}

/**
Expand All @@ -65,8 +55,7 @@ status_t torque_map_init(torque_map_t *map_ptr, const config_torque_map_t *confi
*/
uint16_t torque_map_apply(torque_map_t *map_ptr, uint16_t input)
{
const uint16_t input_deadzone = apply_deadzone(map_ptr, input);
return map_ptr->map_func(map_ptr, input_deadzone);
return map_ptr->map_func(map_ptr, apply_deadzone(map_ptr, input));
}

/**
Expand All @@ -89,19 +78,15 @@ void torque_map_set_output_max(torque_map_t *map_ptr, uint16_t output_max)
*/
uint16_t apply_deadzone(const torque_map_t *map_ptr, uint16_t input)
{
uint16_t result = 0;

if (input <= map_ptr->deadzone_end)
{
result = 0;
return 0;
}
else
{
const uint16_t shifted_input = input - map_ptr->deadzone_end;
result = (uint16_t)(shifted_input * map_ptr->deadzone_scale);
return (uint16_t)(shifted_input * map_ptr->deadzone_scale);
}

return result;
}

/**
Expand Down Expand Up @@ -140,4 +125,4 @@ uint16_t exponential_torque_map(torque_map_t *map_ptr, uint16_t input)
const float shaped = powf(fraction, map_ptr->config_ptr->exponent);

return (uint16_t)(shaped * map_ptr->output_max);
}
}