From ac8662dae5b5866f3d89953dd0ce6e4dbe0e62bd Mon Sep 17 00:00:00 2001 From: ahiuchingau <20424172+ahiuchingau@users.noreply.github.com> Date: Mon, 11 Dec 2023 12:19:24 -0500 Subject: [PATCH] format --- .../core/brushed_motor/brushed_motion_controller.hpp | 3 ++- .../core/tasks/brushed_motion_controller_task.hpp | 3 +-- include/motor-control/core/tasks/messages.hpp | 3 ++- 3 files changed, 5 insertions(+), 4 deletions(-) diff --git a/include/motor-control/core/brushed_motor/brushed_motion_controller.hpp b/include/motor-control/core/brushed_motor/brushed_motion_controller.hpp index eac08ca9a..471fad2a0 100644 --- a/include/motor-control/core/brushed_motor/brushed_motion_controller.hpp +++ b/include/motor-control/core/brushed_motor/brushed_motion_controller.hpp @@ -131,7 +131,8 @@ class MotionController { S15Q16_RADIX)); } - void set_idle_holdoff(const can::messages::SetGripperJawHoldoffRequest& can_msg) { + void set_idle_holdoff( + const can::messages::SetGripperJawHoldoffRequest& can_msg) { error_config.update_idle_holdoff_ticks(can_msg.holdoff_ticks); } diff --git a/include/motor-control/core/tasks/brushed_motion_controller_task.hpp b/include/motor-control/core/tasks/brushed_motion_controller_task.hpp index 321fe1a15..99c2511cb 100644 --- a/include/motor-control/core/tasks/brushed_motion_controller_task.hpp +++ b/include/motor-control/core/tasks/brushed_motion_controller_task.hpp @@ -133,8 +133,7 @@ class MotionControllerMessageHandler { void handle(const can::messages::GripperJawHoldoffRequest& m) { auto ticks = controller.get_idle_holdoff(); can::messages::GripperJawHoldoffResponse msg{ - .message_index = m.message_index, - .holdoff_ticks = ticks}; + .message_index = m.message_index, .holdoff_ticks = ticks}; can_client.send_can_message(can::ids::NodeId::host, msg); } diff --git a/include/motor-control/core/tasks/messages.hpp b/include/motor-control/core/tasks/messages.hpp index da02c75cf..9feb1ce19 100644 --- a/include/motor-control/core/tasks/messages.hpp +++ b/include/motor-control/core/tasks/messages.hpp @@ -46,7 +46,8 @@ using BrushedMotionControllerTaskMessage = std::variant< can::messages::ReadLimitSwitchRequest, can::messages::MotorPositionRequest, can::messages::SetGripperErrorToleranceRequest, can::messages::GetMotorUsageRequest, can::messages::GripperJawStateRequest, - can::messages::SetGripperJawHoldoffRequest, can::messages::GripperJawHoldoffRequest>; + can::messages::SetGripperJawHoldoffRequest, + can::messages::GripperJawHoldoffRequest>; using BrushedMoveGroupTaskMessage = std::variant< std::monostate, can::messages::ClearAllMoveGroupsRequest,