refact: use define instead of const

Signed-off-by: Thomas Lambert <t.lambert@uliege.be>

controller/controller.ino

@@ -21,37 +21,36 @@
 // Include Servo library to generate the PWM signal to control the motors
 #include <Servo.h>
 
-// Declare pins
-byte servoPin1 = 10; // ESC 1
-byte servoPin2 = 9;  // ESC 2
-byte switchPin = 7;  // ON/OFF switch (safety feature)
+// Constants
+#define SERVO_PIN_1 10 // ESC 1
+#define SERVO_PIN_2 9  // ESC 2
+#define SWITCH_PIN 7   // ON/OFF switch (mode control)
+#define MAX_SIG 2000   // Max signal to the ESC [ms]
+#define MIN_SIG 1000   // Min signal to the ESC [ms]
+
+#define MAX_FREQ 10.0  // Maximum frequency
+#define MIN_FREQ 1.0   // Minimum frequency
+#define MAX_RPM 6000   // Motor maximum RPM (set in ESC)
+#define MIN_RPM 1000   // Motor minimum RPM (set in ESC)
 
 // Create servo objects to control the ESC
 Servo ESC1;
 Servo ESC2;
 
-// Declare constants
-const float maxFreq = 10.0;  // Maximum frequency
-const float minFreq = 1.0;   // Minimum frequency
-const int maxRPM = 6000; // Motor maximum RPM (set in ESC)
-const int minRPM = 1000; // Motor minimum RPM (set in ESC)
-
 // Declare global variables
 float freq = 0;
 String mode;
 
 void setup() {
-  // Initialize components
-  Serial.begin(9600);
+  Serial.begin(9600); //115200 when we will use angle sensors
 
-  ESC1.attach(servoPin1, 1000, 2000); // (pin, min pulse width, max pulse width)
-  ESC2.attach(servoPin2, 1000, 2000); // (pin, min pulse width, max pulse width)
-  pinMode(switchPin,INPUT);
+  ESC1.attach(SERVO_PIN_1, 1000, 2000); // (pin, min pulse width, max pulse width)
+  ESC2.attach(SERVO_PIN_2, 1000, 2000); // (pin, min pulse width, max pulse width)
+  pinMode(SWITCH_PIN,INPUT);
 
   delay(1000); // Ensure proper initialization
 
-  // Set type of operation and related parameters if applicable
-  int switchState = digitalRead(switchPin);
+  int switchState = digitalRead(SWITCH_PIN);
   if(switchState == LOW){
     mode = "MANUAL";
     Serial.println("<MANUAL MODE>: Control motors using potentiometer");
@@ -102,8 +101,7 @@ void loop() {
   Serial.print(",");
   Serial.print(angleR);              // %6, Right wing angle [deg]
   Serial.println("*/");              // Frame finish sequence [*/]
-  //delay(1); // Reduce number of data to output
-
+  //delay(5); // Reduce number of data to output
 }
 
 
@@ -112,23 +110,23 @@ float promptfreq() {
   float input;
 
   Serial.print("Input a flapping frequency between ");
-  Serial.print(minFreq);
+  Serial.print(MIN_FREQ);
   Serial.print(" and ");
-  Serial.print(maxFreq);
+  Serial.print(MAX_FREQ);
   Serial.println(" [Hz]");
 
-  while (input>maxFreq or input<minFreq){
+  while (input>MAX_FREQ or input<MIN_FREQ){
     while(Serial.available() == 0)
     {
       // Loop indefinitely while waiting for serial input
     }
 
     input = Serial.parseFloat();
-    if (input > maxFreq or input < minFreq) {
+    if (input > MAX_FREQ or input < MIN_FREQ) {
       Serial.print("Frequency must be between ");
-      Serial.print(minFreq);
+      Serial.print(MIN_FREQ);
       Serial.print(" and ");
-      Serial.print(maxFreq);
+      Serial.print(MAX_FREQ);
       Serial.print(" [Hz]. You entered: ");
       Serial.println(input);
     }