added constexpr, removed redundant clamping

vortexntnu · Jan 1, 2024 · 8e7601a · 8e7601a
1 parent 67cc23b
commit 8e7601a
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Showing 2 changed files with 4 additions and 6 deletions.
diff --git a/motion/thruster_interface/src/thruster_interface.cpp b/motion/thruster_interface/src/thruster_interface.cpp
@@ -51,11 +51,8 @@ float ThrusterInterface::interpolate(float force) {
 
   int pwm_signal = std::round(
       pwm1 + ((force - force1) * (pwm2 - pwm1)) / (force2 - force1) + 0.5);
-
-  int clipped_pwm_signal =
-      std::min(std::max(pwm_signal, 1400), 1600); // min 1100, max 1900
-
-  return clipped_pwm_signal;
+
+  return pwm_signal;
 }
 
 std::vector<uint8_t>

diff --git a/motion/thruster_interface/src/thruster_interface_node.cpp b/motion/thruster_interface/src/thruster_interface_node.cpp
@@ -3,7 +3,8 @@
 void ThrusterInterfaceROS::thrust_callback(
     const vortex_msgs::msg::ThrusterForces::SharedPtr msg) {
   // Convert from Newton to grams
-  double newton_to_gram_conversion_factor = 101.97162;
+
+  constexpr double newton_to_gram_conversion_factor = 101.97162;
 
   std::vector<double> forces_in_grams = {
       msg->thrust[0] * newton_to_gram_conversion_factor,