From 4b362fffa80eda84eb904ecfb0741852701513a2 Mon Sep 17 00:00:00 2001
From: Pascal Serrarens <pse@pale.blue>
Date: Fri, 2 Aug 2024 08:54:00 +0200
Subject: [PATCH] Extend Angle type usage

---
 AbsoluteEncoder.h |  8 ++++----
 ServoMotor.cpp    |  8 ++++----
 ServoMotor.h      | 22 +++++++++++-----------
 3 files changed, 19 insertions(+), 19 deletions(-)

diff --git a/AbsoluteEncoder.h b/AbsoluteEncoder.h
index bcc643e..796fc90 100644
--- a/AbsoluteEncoder.h
+++ b/AbsoluteEncoder.h
@@ -6,12 +6,12 @@ namespace Passer {
 namespace RoboidContol {
 
 class AbsoluteEncoder {
-public:
+ public:
   AbsoluteEncoder() {}
 
-  virtual float GetActualAngle() = 0;
+  virtual Angle GetActualAngle() = 0;
   virtual float GetActualVelocity() = 0;
 };
 
-} // namespace RoboidContol
-} // namespace Passer
\ No newline at end of file
+}  // namespace RoboidContol
+}  // namespace Passer
\ No newline at end of file
diff --git a/ServoMotor.cpp b/ServoMotor.cpp
index 070b06a..639d200 100644
--- a/ServoMotor.cpp
+++ b/ServoMotor.cpp
@@ -10,7 +10,7 @@ ServoMotor::ServoMotor()
   this->hasTargetAngle = false;
 }
 
-void ServoMotor::SetTargetAngle(float angle) {
+void ServoMotor::SetTargetAngle(Angle angle) {
   angle = Float::Clamp(angle, minAngle, maxAngle);
 
   if (maxVelocity == 0.0F || hasTargetAngle == false) {
@@ -23,7 +23,7 @@ void ServoMotor::SetTargetAngle(float angle) {
   this->hasTargetAngle = true;
 }
 
-float ServoMotor::GetTargetAngle() {
+Angle ServoMotor::GetTargetAngle() {
   return this->targetAngle;
 }
 
@@ -76,9 +76,9 @@ void ServoMotor::Update(unsigned long currentTimeMs) {
         SetAngle(targetAngle);
       } else {
         if (deltaAngle < 0)
-          limitedTargetAngle -= angleStep;
+          limitedTargetAngle = limitedTargetAngle - angleStep;
         else
-          limitedTargetAngle += angleStep;
+          limitedTargetAngle = limitedTargetAngle + angleStep;
       }
       SetAngle(limitedTargetAngle);
 
diff --git a/ServoMotor.h b/ServoMotor.h
index eb0d1e1..f44b5b5 100644
--- a/ServoMotor.h
+++ b/ServoMotor.h
@@ -6,18 +6,18 @@ namespace Passer {
 namespace RoboidContol {
 
 class ServoMotor : public Thing {
-public:
+ public:
   ServoMotor();
 
   Vector3 rotationAxis = Vector3::up;
-  float minAngle = -90.0F;
-  float maxAngle = 90.0F;
+  Angle minAngle = -90.0F;
+  Angle maxAngle = 90.0F;
 
   enum ControlMode { Position, Velocity };
   ControlMode controlMode = ControlMode::Position;
 
-  virtual void SetTargetAngle(float angle);
-  virtual float GetTargetAngle();
+  virtual void SetTargetAngle(Angle angle);
+  virtual Angle GetTargetAngle();
 
   virtual void SetMaximumVelocity(float maxVelocity);
 
@@ -26,20 +26,20 @@ public:
 
   virtual void Update(unsigned long currentTimeMs) override;
 
-protected:
+ protected:
   bool hasTargetAngle = false;
-  float targetAngle = 0.0F;
+  Angle targetAngle = 0.0F;
 
   float maxVelocity = 0.0F;
 
   float targetVelocity = 0.0F;
-  float limitedTargetAngle = 0.0F;
+  Angle limitedTargetAngle = 0.0F;
 
   float lastUpdateTimeMs = 0.0F;
 
-  virtual void SetAngle(float angle) = 0;
+  virtual void SetAngle(Angle angle) = 0;
 };
 
-} // namespace RoboidContol
-} // namespace Passer
+}  // namespace RoboidContol
+}  // namespace Passer
 using namespace Passer::RoboidContol;
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