Add code to servoControler class

Servo/src/ServoController.cpp

@@ -1,6 +1,5 @@
 #include "ServoController.h"
 
-
 ServoController::ServoController()
 {
 }
@@ -15,7 +14,6 @@ ModbusConfig ServoController::initiateConfig()
     _config.stopBits = QSerialPort::OneStop;
     _config.responseTime = 2000;
     return _config;
-
 }
 
 /*************************************************************************************************/
@@ -31,6 +29,7 @@ void ServoController::enableDrive()
     apply();
 }
 
+/*************************************************************************************************/
 void ServoController::setStartStop(bool start)
 {
     if(start)
@@ -57,7 +56,7 @@ void ServoController::setStopAngle(double angle)
 /*************************************************************************************************/
 void ServoController::setSpeed(double speed)
 {
-    _modbusWrapper.setSingleRegister(SRV_AZIMUTH_SPEED_REG, static_cast<quint16>(speed*SRV_SPEED_FACTOR));
+    _modbusWrapper.setSingleRegister(SRV_AZIMUTH_SPEED_REG, static_cast<quint16>(speed * SRV_SPEED_FACTOR));
 }
 
 /*************************************************************************************************/
@@ -76,7 +75,6 @@ void ServoController::init()
 {
     _modbusWrapper.init();
     _modbusWrapper.connectToDevice(initiateConfig());
-
 }
 
 /*************************************************************************************************/
@@ -100,7 +98,7 @@ void ServoController::resetAzimuth()
 /*************************************************************************************************/
 void ServoController::fix(double angle)
 {
-    changeMode(angle, angle, 5/6.0);
+    changeMode(angle, angle, 5 / 6.0);
 }
 
 /*************************************************************************************************/
@@ -112,44 +110,31 @@ void ServoController::sector(double startAngle, double stopAngle, double speed)
 /*************************************************************************************************/
 double ServoController::getSpeed()
 {
-    double speed;
+    auto speedVector = _modbusWrapper.getHoldingRegister(SRV_AZIMUTH_SPEED_REG, 1);
-    QVector<quint16> speedVector;
+    return (speedVector[0] / SRV_SPEED_FACTOR);
-    speedVector = _modbusWrapper.getHoldingRegister(SRV_AZIMUTH_SPEED_REG,1);
-    speed  = speedVector[0] / SRV_SPEED_FACTOR;
-    return speed;
 }
 
 /*************************************************************************************************/
 double ServoController::getStopAngle()
 {
-    double speed;
+    auto speedVector1 = _modbusWrapper.getHoldingRegister(SRV_STOP_ANGLE_INT_PART_REG, 1);
-    QVector<quint16> speedVector1, speedVector2;
+    auto speedVector2 = _modbusWrapper.getHoldingRegister(SRV_STOP_ANGLE_FRAC_PART_REG, 1);
-    speedVector1 = _modbusWrapper.getHoldingRegister(SRV_STOP_ANGLE_INT_PART_REG,1);
+    return ((speedVector1[0] + speedVector2[0]) / SRV_ANGLE_FACTOR);
-    speedVector2 = _modbusWrapper.getHoldingRegister(SRV_STOP_ANGLE_FRAC_PART_REG,1);
-    speed  = (speedVector1[0] + speedVector2[0]) / SRV_ANGLE_FACTOR;
-    return speed;
 }
 
 /*************************************************************************************************/
 double ServoController::getStartAngle()
 {
-    double speed;
+    auto speedVector1 = _modbusWrapper.getHoldingRegister(SRV_START_ANGLE_INT_PART_REG, 1);
-    QVector<quint16> speedVector1, speedVector2;
+    auto speedVector2 = _modbusWrapper.getHoldingRegister(SRV_START_ANGLE_FRAC_PART_REG, 1);
-    speedVector1 = _modbusWrapper.getHoldingRegister(SRV_START_ANGLE_INT_PART_REG,1);
+    return ((speedVector1[0] + speedVector2[0]) / SRV_ANGLE_FACTOR);
-    speedVector2 = _modbusWrapper.getHoldingRegister(SRV_START_ANGLE_FRAC_PART_REG,1);
-    speed  = (speedVector1[0] + speedVector2[0]) / SRV_ANGLE_FACTOR;
-    return speed;
 }
 
 /*************************************************************************************************/
 double ServoController::getAngleOffset()
 {
-    double angleOffset;
+    auto angleOffsetVector = _modbusWrapper.getHoldingRegister(SRV_ZERO_OFFSET_ANGLE, 1);
-    QVector<quint16> angleOffsetVector;
+    return (angleOffsetVector[0] / SRV_ANGLE_FACTOR);
-    angleOffsetVector = _modbusWrapper.getHoldingRegister(SRV_ZERO_OFFSET_ANGLE,1);
-    angleOffset  = angleOffsetVector[0] / SRV_ANGLE_FACTOR;
-    return angleOffset;
-
 }
 
 /*************************************************************************************************/
@@ -161,13 +146,8 @@ void ServoController::setAngleOffset(double offset)
 /*************************************************************************************************/
 double ServoController::getAzimuth()
 {
-    double azimuth;
+    auto azimuthVector = _modbusWrapper.getHoldingRegister(SRV_AZIMUTH_REG,1);
-    QVector<quint16> azimuthVector;
+    return (azimuthVector[0] / SRV_ANGLE_FACTOR);
-    azimuthVector = _modbusWrapper.getHoldingRegister(SRV_AZIMUTH_REG,1);
-    azimuth  = azimuthVector[0] / SRV_ANGLE_FACTOR;
-    return azimuth;
-
 }
 
 
-

Test/MainWindow.h

@@ -38,6 +38,7 @@ private slots:
 	void on_writeSingleRegister_clicked();
 	void on_writeMultiRegister_clicked();
     void on_fix_clicked();
+    void on_pushButton_clicked();
 };
 
 #endif //MAINWINDOW_H

Test/MainWindow.h.autosave

@@ -1,44 +0,0 @@
-#ifndef MAINWINDOW_H
-#define MAINWINDOW_H
-
-#include <QMainWindow>
-
-#include "ModbusWrapper.h"
-#include "ModbusConfig.h"
-#include "ServoController.h"
-
-QT_BEGIN_NAMESPACE
-namespace Ui { class MainWindow;
-}
-QT_END_NAMESPACE
-
-class MainWindow : public QMainWindow
-{
-	Q_OBJECT
-
-private:
-	Ui::MainWindow* ui;
-	ModbusWrapper modbusWrapper;
-	ModbusConfig configDevice;
-    ServoController _servoControler;
-
-public:
-	MainWindow(QWidget* parent = nullptr);
-	~MainWindow();
-	void printCoilsDataFromClient(QBitArray uiCoils);
-	void printRegisterDataFromClient(QVector<quint16> uiHoldingRegisters);
-
-	//uncrustify off
-private slots:
-	void on_connect_clicked();
-	//uncrustify on
-	void on_readButton_clicked();
-	void on_writeSingleCoil_clicked();
-	void on_writeMultiCoil_clicked();
-	void on_writeSingleRegister_clicked();
-	void on_writeMultiRegister_clicked();
-    void on_fix_clicked();
-    void on_pushButton_clicked();
-};
-
-#endif //MAINWINDOW_H