Made calibration C++ better match MP

drivers/servo/calibration.cpp

@@ -123,31 +123,79 @@ namespace servo {
     return calibration[index];
   }
 
-  Calibration::Pair &Calibration::first() {
-    assert(calibration_size > 0);
-    return calibration[0];
-  }
-
-  Calibration::Pair &Calibration::last() {
-    assert(calibration_size > 0);
-    return calibration[calibration_size - 1];
-  }
-
   const Calibration::Pair &Calibration::pair(uint8_t index) const {
     assert(index < calibration_size);
     return calibration[index];
   }
 
+  float Calibration::pulse(uint8_t index) const {
+    return pair(index).pulse;
+  }
+
+  void Calibration::pulse(uint8_t index, float pulse) {
+    pair(index).pulse = pulse;
+  }
+
+  float Calibration::value(uint8_t index) const {
+    return pair(index).value;
+  }
+
+  void Calibration::value(uint8_t index, float value) {
+    pair(index).value = value;
+  }
+
+  Calibration::Pair &Calibration::first() {
+    assert(calibration_size > 0);
+    return calibration[0];
+  }
+
   const Calibration::Pair &Calibration::first() const {
     assert(calibration_size > 0);
     return calibration[0];
   }
 
+  float Calibration::first_pulse() const {
+    return first().pulse;
+  }
+
+  void Calibration::first_pulse(float pulse) {
+    first().pulse = pulse;
+  }
+
+  float Calibration::first_value() const {
+    return first().value;
+  }
+
+  void Calibration::first_value(float value) {
+    first().value = value;
+  }
+
+  Calibration::Pair &Calibration::last() {
+    assert(calibration_size > 0);
+    return calibration[calibration_size - 1];
+  }
+
   const Calibration::Pair &Calibration::last() const {
     assert(calibration_size > 0);
     return calibration[calibration_size - 1];
   }
 
+  float Calibration::last_pulse() const {
+    return last().pulse;
+  }
+
+  void Calibration::last_pulse(float pulse) {
+    last().pulse = pulse;
+  }
+
+  float Calibration::last_value() const {
+    return last().value;
+  }
+
+  void Calibration::last_value(float value) {
+    last().value = value;
+  }
+
   bool Calibration::has_lower_limit() const {
     return limit_lower;
   }

drivers/servo/calibration.hpp

@@ -74,13 +74,27 @@ namespace servo {
     void apply_default_pairs(CalibrationType default_type);
 
     uint size() const;
-    Pair &pair(uint8_t index); // Ensure the pairs are assigned in ascending value order
-    Pair &first();
-    Pair &last();
 
+    Pair &pair(uint8_t index); // Ensure the pairs are assigned in ascending value order
     const Pair &pair(uint8_t index) const; // Ensure the pairs are assigned in ascending value order
+    float pulse(uint8_t index) const;
+    void pulse(uint8_t index, float pulse);
+    float value(uint8_t index) const;
+    void value(uint8_t index, float value);
+
+    Pair &first();
     const Pair &first() const;
+    float first_pulse() const;
+    void first_pulse(float pulse);
+    float first_value() const;
+    void first_value(float value);
+
+    Pair &last();
     const Pair &last() const;
+    float last_pulse() const;
+    void last_pulse(float pulse);
+    float last_value() const;
+    void last_value(float value);
 
     bool has_lower_limit() const;
     bool has_upper_limit() const;

examples/servo2040/servo2040_calibration.cpp

@@ -52,8 +52,8 @@ int main() {
   constexpr float WIDE_ANGLE_RANGE = 270.0f;
 
   // Lets modify the calibration to increase its range
-  acal.first().value = -WIDE_ANGLE_RANGE / 2;
-  acal.last().value = WIDE_ANGLE_RANGE / 2;
+  acal.first_value(-WIDE_ANGLE_RANGE / 2);
+  acal.last_value(WIDE_ANGLE_RANGE / 2);
 
   // As the calibration was a reference, the servo has already
   // been updated, but lets access it again to confirm it worked
@@ -73,7 +73,7 @@ int main() {
 
   // Update the linear servo so its max value matches the real distance travelled
   Calibration &lcal = linear_servo.calibration();
-  lcal.last().value = LINEAR_RANGE;
+  lcal.last_value(LINEAR_RANGE);
 
   // As the calibration was a reference, the servo has already
   // been updated, but lets access it again to confirm it worked
@@ -93,8 +93,8 @@ int main() {
 
   // Update the continuous rotation servo so its value matches its real speed
   Calibration &ccal = continuous_servo.calibration();
-  ccal.first().value = -CONTINUOUS_SPEED;
-  ccal.last().value = CONTINUOUS_SPEED;
+  ccal.first_value(-CONTINUOUS_SPEED);
+  ccal.last_value(CONTINUOUS_SPEED);
 
   // As the calibration was a reference, the servo has already
   // been updated, but lets access it again to confirm it worked

micropython/modules/servo/servo.cpp

@@ -338,8 +338,7 @@ mp_obj_t Calibration_pulse(size_t n_args, const mp_obj_t *pos_args, mp_map_t *kw
         if(index < 0 || index >= calibration_size)
             mp_raise_msg_varg(&mp_type_ValueError, MP_ERROR_TEXT("index out of range. Expected 0 to %d"), calibration_size - 1);
         else {
-            const Calibration::Pair &pair = self->calibration->pair((uint)index);
-            return mp_obj_new_float(pair.pulse);
+            return mp_obj_new_float(self->calibration->pulse((uint)index));
         }
     }
     else {
@@ -363,8 +362,7 @@ mp_obj_t Calibration_pulse(size_t n_args, const mp_obj_t *pos_args, mp_map_t *kw
         if(index < 0 || index >= calibration_size)
             mp_raise_msg_varg(&mp_type_ValueError, MP_ERROR_TEXT("index out of range. Expected 0 to %d"), calibration_size - 1);
         else {
-            Calibration::Pair &pair = self->calibration->pair((uint)index);
-            pair.pulse = mp_obj_get_float(args[ARG_pulse].u_obj);
+            self->calibration->pulse((uint)index, mp_obj_get_float(args[ARG_pulse].u_obj));
         }
     }
 
@@ -392,8 +390,7 @@ mp_obj_t Calibration_value(size_t n_args, const mp_obj_t *pos_args, mp_map_t *kw
         if(index < 0 || index >= calibration_size)
             mp_raise_msg_varg(&mp_type_ValueError, MP_ERROR_TEXT("index out of range. Expected 0 to %d"), calibration_size - 1);
         else {
-            const Calibration::Pair &pair = self->calibration->pair((uint)index);
-            return mp_obj_new_float(pair.value);
+            return mp_obj_new_float(self->calibration->value((uint)index));
         }
     }
     else {
@@ -417,8 +414,7 @@ mp_obj_t Calibration_value(size_t n_args, const mp_obj_t *pos_args, mp_map_t *kw
         if(index < 0 || index >= calibration_size)
             mp_raise_msg_varg(&mp_type_ValueError, MP_ERROR_TEXT("index out of range. Expected 0 to %d"), calibration_size - 1);
         else {
-            Calibration::Pair &pair = self->calibration->pair((uint)index);
-            pair.value = mp_obj_get_float(args[ARG_value].u_obj);
+            self->calibration->value((uint)index, mp_obj_get_float(args[ARG_value].u_obj));
         }
     }
 
@@ -513,8 +509,7 @@ mp_obj_t Calibration_first_pulse(size_t n_args, const mp_obj_t *pos_args, mp_map
         if(self->calibration->size() == 0)
             mp_raise_ValueError("this calibration does not have any pairs");
         else {
-            const Calibration::Pair &pair = self->calibration->first();
-            return mp_obj_new_float(pair.pulse);
+            return mp_obj_new_float(self->calibration->first_pulse());
         }
     }
     else {
@@ -533,8 +528,7 @@ mp_obj_t Calibration_first_pulse(size_t n_args, const mp_obj_t *pos_args, mp_map
         if(self->calibration->size() == 0)
             mp_raise_ValueError("this calibration does not have any pairs");
         else {
-            Calibration::Pair &pair = self->calibration->first();
-            pair.pulse = mp_obj_get_float(args[ARG_pulse].u_obj);
+            self->calibration->first_pulse(mp_obj_get_float(args[ARG_pulse].u_obj));
         }
     }
 
@@ -557,8 +551,7 @@ mp_obj_t Calibration_first_value(size_t n_args, const mp_obj_t *pos_args, mp_map
         if(self->calibration->size() == 0)
             mp_raise_ValueError("this calibration does not have any pairs");
         else {
-            const Calibration::Pair &pair = self->calibration->first();
-            return mp_obj_new_float(pair.value);
+            return mp_obj_new_float(self->calibration->first_value());
         }
     }
     else {
@@ -577,8 +570,7 @@ mp_obj_t Calibration_first_value(size_t n_args, const mp_obj_t *pos_args, mp_map
         if(self->calibration->size() == 0)
             mp_raise_ValueError("this calibration does not have any pairs");
         else {
-            Calibration::Pair &pair = self->calibration->first();
-            pair.value = mp_obj_get_float(args[ARG_value].u_obj);
+            self->calibration->first_value(mp_obj_get_float(args[ARG_value].u_obj));
         }
     }
 
@@ -673,8 +665,7 @@ mp_obj_t Calibration_last_pulse(size_t n_args, const mp_obj_t *pos_args, mp_map_
         if(self->calibration->size() == 0)
             mp_raise_ValueError("this calibration does not have any pairs");
         else {
-            const Calibration::Pair &pair = self->calibration->last();
-            return mp_obj_new_float(pair.pulse);
+            return mp_obj_new_float(self->calibration->last_pulse());
         }
     }
     else {
@@ -693,8 +684,7 @@ mp_obj_t Calibration_last_pulse(size_t n_args, const mp_obj_t *pos_args, mp_map_
         if(self->calibration->size() == 0)
             mp_raise_ValueError("this calibration does not have any pairs");
         else {
-            Calibration::Pair &pair = self->calibration->last();
-            pair.pulse = mp_obj_get_float(args[ARG_pulse].u_obj);
+            self->calibration->last_pulse(mp_obj_get_float(args[ARG_pulse].u_obj));
         }
     }
 
@@ -717,8 +707,7 @@ mp_obj_t Calibration_last_value(size_t n_args, const mp_obj_t *pos_args, mp_map_
         if(self->calibration->size() == 0)
             mp_raise_ValueError("this calibration does not have any pairs");
         else {
-            const Calibration::Pair &pair = self->calibration->last();
-            return mp_obj_new_float(pair.value);
+            return mp_obj_new_float(self->calibration->last_value());
         }
     }
     else {
@@ -737,8 +726,7 @@ mp_obj_t Calibration_last_value(size_t n_args, const mp_obj_t *pos_args, mp_map_
         if(self->calibration->size() == 0)
             mp_raise_ValueError("this calibration does not have any pairs");
         else {
-            Calibration::Pair &pair = self->calibration->last();
-            pair.value = mp_obj_get_float(args[ARG_value].u_obj);
+            self->calibration->last_value(mp_obj_get_float(args[ARG_value].u_obj));
         }
     }