From 74844db93822863d8029b1a572be984771d776f7 Mon Sep 17 00:00:00 2001
From: Doi Yusuke <o111027y@mail.kyutech.jp>
Date: Thu, 3 Nov 2016 14:18:30 +0900
Subject: [PATCH 01/30] Update argument order of castToRaw for uniform

---
 include/ics3/angle.hpp | 8 ++++----
 1 file changed, 4 insertions(+), 4 deletions(-)

diff --git a/include/ics3/angle.hpp b/include/ics3/angle.hpp
index 13aa425..c9f0707 100644
--- a/include/ics3/angle.hpp
+++ b/include/ics3/angle.hpp
@@ -64,7 +64,7 @@ namespace ics {
   }
 
   inline void Angle::set(double angle) {
-    setRaw(castToRaw(angle, rawCalibration)); // throw std::out_of_range
+    setRaw(castToRaw(rawCalibration, angle)); // throw std::out_of_range
   }
 
   inline Angle& Angle::operator=(double angle) {
@@ -81,12 +81,12 @@ namespace ics {
   }
 
   constexpr Angle::Angle(double calibration, double angle)
-  : rawData {checkInvalidAngle(castToRaw(angle, calibration))}, // throw std::out_of_range
+  : rawData {checkInvalidAngle(castToRaw(calibration, angle))}, // throw std::out_of_range
     rawCalibration {calibration}
   {}
 
-  constexpr uint16_t Angle::castToRaw(double angle, double calibration) noexcept {
-    return static_cast<uint16_t>(angle * calibration + MID);
+  constexpr uint16_t Angle::castToRaw(double calibration, double angle) noexcept {
+    return static_cast<uint16_t>((calibration * angle) + MID);
   }
 
   constexpr uint16_t Angle::checkInvalidAngle(uint16_t raw) {

From f32d3783025e9ccd12fe0e92e27f514d9f982060 Mon Sep 17 00:00:00 2001
From: Doi Yusuke <o111027y@mail.kyutech.jp>
Date: Thu, 3 Nov 2016 14:37:25 +0900
Subject: [PATCH 02/30] Update type of Baudrate member and add type alias

---
 include/ics3/baudrate.hpp | 15 ++++++++-------
 src/test.cpp              |  1 +
 2 files changed, 9 insertions(+), 7 deletions(-)

diff --git a/include/ics3/baudrate.hpp b/include/ics3/baudrate.hpp
index c9e2d41..edd7537 100644
--- a/include/ics3/baudrate.hpp
+++ b/include/ics3/baudrate.hpp
@@ -6,16 +6,17 @@
 namespace ics {
   class Baudrate {
   public:
+    using type = uint8_t;
     static constexpr const Baudrate RATE115200() noexcept;
     //static constexpr Baudrate RATE625000() noexcept;
     //static constexpr Baudrate RATE1250000() noexcept;
-    constexpr uint16_t get() const noexcept;
-    constexpr operator uint16_t() const noexcept;
+    constexpr type get() const noexcept;
+    constexpr operator type() const noexcept;
     constexpr speed_t getSpeed() const noexcept;
   private:
-    explicit constexpr Baudrate(uint16_t, speed_t) noexcept;
+    explicit constexpr Baudrate(type, speed_t) noexcept;
 
-    const uint16_t romdata;
+    const type romdata;
     const speed_t baudrate;
   };
 
@@ -23,11 +24,11 @@ namespace ics {
     return Baudrate {10, B115200};
   }
 
-  constexpr uint16_t Baudrate::get() const noexcept {
+  constexpr Baudrate::type Baudrate::get() const noexcept {
     return romdata;
   }
 
-  constexpr Baudrate::operator uint16_t() const noexcept {
+  constexpr Baudrate::operator Baudrate::type() const noexcept {
     return get();
   }
 
@@ -35,7 +36,7 @@ namespace ics {
     return baudrate;
   }
 
-  constexpr Baudrate::Baudrate(uint16_t romdata, speed_t baudrate) noexcept
+  constexpr Baudrate::Baudrate(type romdata, speed_t baudrate) noexcept
   : romdata {romdata},
     baudrate {baudrate}
   {}
diff --git a/src/test.cpp b/src/test.cpp
index 57e6a60..9a3e7bb 100644
--- a/src/test.cpp
+++ b/src/test.cpp
@@ -86,6 +86,7 @@ void testBaudrate() {
   static_assert(baudrate115200 == 10, "Baudrate: not equal B115200");
   static_assert(baudrate115200.get() == 10, "Baudrate: romdata error");
   static_assert(baudrate115200.getSpeed() == B115200, "Baudrate: getSpeed method error");
+  static_assert(static_cast<uint8_t>(baudrate115200) == 10, "cast to Baudrate::type(uint8_t)");
 }
 
 void testEepParam() {

From 08185e49cca1fe02936b4425570290770ee118b8 Mon Sep 17 00:00:00 2001
From: Doi Yusuke <o111027y@mail.kyutech.jp>
Date: Thu, 3 Nov 2016 14:39:34 +0900
Subject: [PATCH 03/30] Update argument with const, but want move input

---
 include/ics3/check_invalid.hpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/include/ics3/check_invalid.hpp b/include/ics3/check_invalid.hpp
index c418b75..8c058e7 100644
--- a/include/ics3/check_invalid.hpp
+++ b/include/ics3/check_invalid.hpp
@@ -5,7 +5,7 @@
 
 namespace ics {
   template<typename T>
-  constexpr T checkInvalidRange(T input, T min, T max) {
+  constexpr T checkInvalidRange(T input, const T min, const T max) {
     return input < min ? throw std::out_of_range {"Too small argument"} :
            max < input ? throw std::out_of_range {"Too big argument"} :
            input;

From 2f6c171ed04435b8ff7b268073a70f47ff22953c Mon Sep 17 00:00:00 2001
From: Doi Yusuke <o111027y@mail.kyutech.jp>
Date: Thu, 3 Nov 2016 15:01:00 +0900
Subject: [PATCH 04/30] Update to use const iterator

---
 include/ics3/eeprom.hpp | 3 +--
 1 file changed, 1 insertion(+), 2 deletions(-)

diff --git a/include/ics3/eeprom.hpp b/include/ics3/eeprom.hpp
index 79d513b..11e4c7c 100644
--- a/include/ics3/eeprom.hpp
+++ b/include/ics3/eeprom.hpp
@@ -13,7 +13,6 @@ namespace ics {
   public:
     EepParam get(EepParam) const;
     void set(const EepParam&) noexcept;
-
     template<typename Iter>
     void write(Iter&&) const;
   private:
@@ -33,7 +32,7 @@ namespace ics {
 
   template<typename Iter>
   inline void EepRom::write(Iter&& dest) const {
-    std::copy(data.begin(), data.end(), dest);
+    std::copy(data.cbegin(), data.cend(), dest);
   }
 
   inline EepRom::EepRom(const std::array<uint8_t, 64>& src)

From ccb3bcd6a991db458f48f80f87e87c91e0580a9f Mon Sep 17 00:00:00 2001
From: Doi Yusuke <o111027y@mail.kyutech.jp>
Date: Thu, 3 Nov 2016 15:06:07 +0900
Subject: [PATCH 05/30] Add type alias

---
 include/ics3/parameter.hpp | 55 +++++++++++++++++++-------------------
 1 file changed, 28 insertions(+), 27 deletions(-)

diff --git a/include/ics3/parameter.hpp b/include/ics3/parameter.hpp
index 7a3d614..9f988cf 100644
--- a/include/ics3/parameter.hpp
+++ b/include/ics3/parameter.hpp
@@ -6,68 +6,69 @@
 namespace ics {
   class Parameter {
   public:
-    static constexpr Parameter stretch(uint8_t = 30);
-    static constexpr Parameter speed(uint8_t = 127);
-    static constexpr Parameter current(uint8_t = 63);
-    static constexpr Parameter temperature(uint8_t = 80);
-    static constexpr Parameter newParameter(const Parameter&, uint8_t);
-
-    constexpr uint8_t get() const noexcept;
-    constexpr operator uint8_t() const noexcept;
-    void set(uint8_t);
-    Parameter& operator=(uint8_t);
-    constexpr uint8_t getSubcommand() const noexcept;
+    using type = uint8_t;
+    static constexpr Parameter stretch(type = 30);
+    static constexpr Parameter speed(type = 127);
+    static constexpr Parameter current(type = 63);
+    static constexpr Parameter temperature(type = 80);
+    static constexpr Parameter newParameter(const Parameter&, type);
+
+    constexpr type get() const noexcept;
+    constexpr operator type() const noexcept;
+    void set(type);
+    Parameter& operator=(type);
+    constexpr type getSubcommand() const noexcept;
   private:
-    explicit constexpr Parameter(uint8_t, uint8_t, uint8_t, uint8_t);
+    explicit constexpr Parameter(type, type, type, type);
 
-    const uint8_t sc;
-    const uint8_t min;
-    const uint8_t max;
-    uint8_t data;
+    const type sc;
+    const type min;
+    const type max;
+    type data;
   };
 
-  constexpr Parameter Parameter::stretch(uint8_t data) {
+  constexpr Parameter Parameter::stretch(type data) {
     return Parameter {0x01, 1, 127, data};
   }
 
-  constexpr Parameter Parameter::speed(uint8_t data) {
+  constexpr Parameter Parameter::speed(type data) {
     return Parameter {0x02, 1, 127, data};
   }
 
-  constexpr Parameter Parameter::current(uint8_t data) {
+  constexpr Parameter Parameter::current(type data) {
     return Parameter {0x03, 0, 63, data};
   }
 
-  constexpr Parameter Parameter::temperature(uint8_t data) {
+  constexpr Parameter Parameter::temperature(type data) {
     return Parameter {0x04, 1, 127, data};
   }
 
-  constexpr Parameter Parameter::newParameter(const Parameter& base, uint8_t data) {
+  constexpr Parameter Parameter::newParameter(const Parameter& base, type data) {
     return Parameter {base.sc, base.min, base.max, data};
   }
 
-  constexpr uint8_t Parameter::get() const noexcept {
+  constexpr Parameter::type Parameter::get() const noexcept {
     return data;
   }
 
-  constexpr Parameter::operator uint8_t() const noexcept {
+  constexpr Parameter::operator type() const noexcept {
     return get();
   }
 
-  inline void Parameter::set(uint8_t input) {
+  inline void Parameter::set(type input) {
     data = checkInvalidRange(input, min, max);
   }
 
-  inline Parameter& Parameter::operator=(uint8_t rhs) {
+  inline Parameter& Parameter::operator=(type rhs) {
     set(rhs);
     return *this;
   }
 
-  constexpr uint8_t Parameter::getSubcommand() const noexcept {
+  constexpr Parameter::type Parameter::getSubcommand() const noexcept {
     return sc;
   }
 
-  constexpr Parameter::Parameter(uint8_t sc, uint8_t min, uint8_t max, uint8_t defaultData)
+  constexpr Parameter::Parameter(type sc, type min, type max, type defaultData)
   : sc {sc},
     min {min},
     max {max},

From 7249a7deef44480b476b5efc213c351916c4f9be Mon Sep 17 00:00:00 2001
From: Doi Yusuke <o111027y@mail.kyutech.jp>
Date: Thu, 3 Nov 2016 15:19:37 +0900
Subject: [PATCH 06/30] Add alias of raw data

---
 include/ics3/angle.hpp | 27 ++++++++++++++-------------
 1 file changed, 14 insertions(+), 13 deletions(-)

diff --git a/include/ics3/angle.hpp b/include/ics3/angle.hpp
index c9f0707..d9f636c 100644
--- a/include/ics3/angle.hpp
+++ b/include/ics3/angle.hpp
@@ -8,13 +8,14 @@ namespace ics {
   class Angle {
     friend ICS3; // for touch setRaw
   public:
+    using rawType = uint16_t;
     static constexpr Angle newDegree(double = 0.0);
     static constexpr Angle newRadian(double = 0.0);
     static constexpr Angle newSameUnit(const Angle&, double = 0.0);
     static constexpr Angle newCalibration(double, double = 0.0);
-    static constexpr uint16_t MIN {3500};
-    static constexpr uint16_t MID {7500};
-    static constexpr uint16_t MAX {11500};
+    static constexpr rawType MIN {3500};
+    static constexpr rawType MID {7500};
+    static constexpr rawType MAX {11500};
     static constexpr double PI {3.141592653589793};
 
     Angle(const Angle&) noexcept = default;
@@ -23,14 +24,14 @@ namespace ics {
     constexpr operator double() const noexcept;
     void set(double);
     Angle& operator=(double);
-    constexpr uint16_t getRaw() const noexcept;
-    void setRaw(uint16_t);
+    constexpr rawType getRaw() const noexcept;
+    void setRaw(rawType);
   private:
     constexpr explicit Angle(double, double);
-    static constexpr uint16_t castToRaw(double, double) noexcept;
-    static constexpr uint16_t checkInvalidAngle(uint16_t);
+    static constexpr rawType castToRaw(double, double) noexcept;
+    static constexpr rawType checkInvalidAngle(rawType);
 
-    uint16_t rawData;
+    rawType rawData;
     const double rawCalibration;
   };
 
@@ -72,11 +73,11 @@ namespace ics {
     return *this;
   }
 
-  constexpr uint16_t Angle::getRaw() const noexcept {
+  constexpr Angle::rawType Angle::getRaw() const noexcept {
     return rawData;
   }
 
-  inline void Angle::setRaw(uint16_t raw) {
+  inline void Angle::setRaw(rawType raw) {
     rawData = checkInvalidAngle(raw); // throw std::out_of_range
   }
 
@@ -85,11 +86,11 @@ namespace ics {
     rawCalibration {calibration}
   {}
 
-  constexpr uint16_t Angle::castToRaw(double calibration, double angle) noexcept {
-    return static_cast<uint16_t>((calibration * angle) + MID);
+  constexpr Angle::rawType Angle::castToRaw(double calibration, double angle) noexcept {
+    return static_cast<rawType>((calibration * angle) + MID);
   }
 
-  constexpr uint16_t Angle::checkInvalidAngle(uint16_t raw) {
+  constexpr Angle::rawType Angle::checkInvalidAngle(rawType raw) {
     return checkInvalidRange(raw, MIN, MAX);
   }
 }

From 05c16dfc648e20cc4e3e0feb5a7e14816f28ce82 Mon Sep 17 00:00:00 2001
From: Doi Yusuke <o111027y@mail.kyutech.jp>
Date: Thu, 3 Nov 2016 15:22:20 +0900
Subject: [PATCH 07/30] Add alias of interface type

---
 include/ics3/angle.hpp | 45 +++++++++++++++++++++---------------------
 1 file changed, 23 insertions(+), 22 deletions(-)

diff --git a/include/ics3/angle.hpp b/include/ics3/angle.hpp
index d9f636c..fe660cf 100644
--- a/include/ics3/angle.hpp
+++ b/include/ics3/angle.hpp
@@ -9,45 +9,46 @@ namespace ics {
     friend ICS3; // for touch setRaw
   public:
     using rawType = uint16_t;
-    static constexpr Angle newDegree(double = 0.0);
-    static constexpr Angle newRadian(double = 0.0);
-    static constexpr Angle newSameUnit(const Angle&, double = 0.0);
-    static constexpr Angle newCalibration(double, double = 0.0);
+    using type = double;
+    static constexpr Angle newDegree(type = 0.0);
+    static constexpr Angle newRadian(type = 0.0);
+    static constexpr Angle newSameUnit(const Angle&, type = 0.0);
+    static constexpr Angle newCalibration(type, type = 0.0);
     static constexpr rawType MIN {3500};
     static constexpr rawType MID {7500};
     static constexpr rawType MAX {11500};
-    static constexpr double PI {3.141592653589793};
+    static constexpr type PI {3.141592653589793};
 
     Angle(const Angle&) noexcept = default;
     Angle& operator=(const Angle&) noexcept;
-    constexpr double get() const noexcept;
-    constexpr operator double() const noexcept;
-    void set(double);
-    Angle& operator=(double);
+    constexpr type get() const noexcept;
+    constexpr operator type() const noexcept;
+    void set(type);
+    Angle& operator=(type);
     constexpr rawType getRaw() const noexcept;
     void setRaw(rawType);
   private:
-    constexpr explicit Angle(double, double);
-    static constexpr rawType castToRaw(double, double) noexcept;
+    constexpr explicit Angle(type, type);
+    static constexpr rawType castToRaw(type, type) noexcept;
     static constexpr rawType checkInvalidAngle(rawType);
 
     rawType rawData;
-    const double rawCalibration;
+    const type rawCalibration;
   };
 
-  constexpr Angle Angle::newDegree(double angle) {
+  constexpr Angle Angle::newDegree(type angle) {
     return Angle {800.0 / 27.0, angle};
   }
 
-  constexpr Angle Angle::newRadian(double angle) {
+  constexpr Angle Angle::newRadian(type angle) {
     return Angle {16000.0 / 3.0 / PI, angle};
   }
 
-  constexpr Angle Angle::newSameUnit(const Angle& unit, double angle) {
+  constexpr Angle Angle::newSameUnit(const Angle& unit, type angle) {
     return Angle {unit.rawCalibration, angle};
   }
 
-  constexpr Angle Angle::newCalibration(double calibration, double angle) {
+  constexpr Angle Angle::newCalibration(type calibration, type angle) {
     return Angle {calibration, angle};
   }
 
@@ -56,19 +57,19 @@ namespace ics {
     return *this;
   }
 
-  constexpr double Angle::get() const noexcept {
+  constexpr Angle::type Angle::get() const noexcept {
     return (rawData - MID) / rawCalibration;
   }
 
-  constexpr Angle::operator double() const noexcept {
+  constexpr Angle::operator type() const noexcept {
     return get();
   }
 
-  inline void Angle::set(double angle) {
+  inline void Angle::set(type angle) {
     setRaw(castToRaw(rawCalibration, angle)); // throw std::out_of_range
   }
 
-  inline Angle& Angle::operator=(double angle) {
+  inline Angle& Angle::operator=(type angle) {
     set(angle);
     return *this;
   }
@@ -81,12 +82,12 @@ namespace ics {
     rawData = checkInvalidAngle(raw); // throw std::out_of_range
   }
 
-  constexpr Angle::Angle(double calibration, double angle)
+  constexpr Angle::Angle(type calibration, type angle)
   : rawData {checkInvalidAngle(castToRaw(calibration, angle))}, // throw std::out_of_range
     rawCalibration {calibration}
   {}
 
-  constexpr Angle::rawType Angle::castToRaw(double calibration, double angle) noexcept {
+  constexpr Angle::rawType Angle::castToRaw(type calibration, type angle) noexcept {
     return static_cast<rawType>((calibration * angle) + MID);
   }
 

From f5ead26e45c7093b851aea32b865ae5fd30395ce Mon Sep 17 00:00:00 2001
From: Doi Yusuke <o111027y@mail.kyutech.jp>
Date: Thu, 3 Nov 2016 15:39:02 +0900
Subject: [PATCH 08/30] Add alias of inclusive type

---
 include/ics3/eepparam.hpp | 151 +++++++++++++++++++-------------------
 1 file changed, 76 insertions(+), 75 deletions(-)

diff --git a/include/ics3/eepparam.hpp b/include/ics3/eepparam.hpp
index 576cb10..cecf016 100644
--- a/include/ics3/eepparam.hpp
+++ b/include/ics3/eepparam.hpp
@@ -9,7 +9,8 @@
 namespace ics {
   class EepParam {
   public:
-    enum Flag : uint16_t {
+    using type = uint16_t;
+    enum Flag : type {
       REVERSE =   0x01,
       FREE =      0x02,
       PWMINH =    0x08,
@@ -17,152 +18,152 @@ namespace ics {
       SLAVE =     0x80
     };
     static constexpr int byteSize {4};
-    static constexpr uint16_t mask {0xF};
-
-    static constexpr EepParam stretch(uint16_t = 60);
-    static constexpr EepParam speed(uint16_t = 127);
-    static constexpr EepParam punch(uint16_t = 1);
-    static constexpr EepParam deadBand(uint16_t = 2);
-    static constexpr EepParam dumping(uint16_t = 40);
-    static constexpr EepParam selfTimer(uint16_t = 250);
-    static constexpr EepParam flag(uint16_t = 0x8C);
-    static constexpr EepParam pulseMax(uint16_t = 11500);
-    static constexpr EepParam pulseMin(uint16_t = 3500);
-    static constexpr EepParam baudrate(uint16_t = 10);
-    static constexpr EepParam temperature(uint16_t = 80);
-    static constexpr EepParam current(uint16_t = 63);
-    static constexpr EepParam response(uint16_t = 0);
-    static constexpr EepParam userOffset(uint16_t = 0);
-    static constexpr EepParam id(uint16_t = 0);
-    static constexpr EepParam strech1(uint16_t = 60);
-    static constexpr EepParam strech2(uint16_t = 60);
-    static constexpr EepParam strech3(uint16_t = 60);
-    static constexpr EepParam newEepParam(const EepParam&, uint16_t);
-
-    constexpr uint16_t get() const noexcept;
-    constexpr operator uint16_t() const noexcept;
-    void set(uint16_t);
-    EepParam& operator=(uint16_t);
+    static constexpr type mask {0xF};
+
+    static constexpr EepParam stretch(type = 60);
+    static constexpr EepParam speed(type = 127);
+    static constexpr EepParam punch(type = 1);
+    static constexpr EepParam deadBand(type = 2);
+    static constexpr EepParam dumping(type = 40);
+    static constexpr EepParam selfTimer(type = 250);
+    static constexpr EepParam flag(type = 0x8C);
+    static constexpr EepParam pulseMax(type = 11500);
+    static constexpr EepParam pulseMin(type = 3500);
+    static constexpr EepParam baudrate(type = 10);
+    static constexpr EepParam temperature(type = 80);
+    static constexpr EepParam current(type = 63);
+    static constexpr EepParam response(type = 0);
+    static constexpr EepParam userOffset(type = 0);
+    static constexpr EepParam id(type = 0);
+    static constexpr EepParam strech1(type = 60);
+    static constexpr EepParam strech2(type = 60);
+    static constexpr EepParam strech3(type = 60);
+    static constexpr EepParam newEepParam(const EepParam&, type);
+
+    constexpr type get() const noexcept;
+    constexpr operator type() const noexcept;
+    void set(type);
+    EepParam& operator=(type);
     void write(std::array<uint8_t, 64>&) const noexcept;
     void read(const std::array<uint8_t, 64>&);
   private:
     constexpr explicit EepParam(
         size_t,
         size_t,
-        uint16_t,
-        uint16_t,
-        uint16_t (*)(uint16_t, uint16_t, uint16_t),
-        uint16_t
+        type,
+        type,
+        type (*)(type, type, type),
+        type
     );
-    static constexpr uint16_t checkInvalidRange(uint16_t, uint16_t, uint16_t);
-    static constexpr uint16_t checkInvalidEvenRange(uint16_t, uint16_t, uint16_t);
-    static constexpr uint16_t checkInvalidFlag(uint16_t, uint16_t, uint16_t);
-    static constexpr uint16_t checkInvalidBaudrate(uint16_t, uint16_t, uint16_t);
-    static constexpr uint16_t checkInvalidOffset(uint16_t, uint16_t, uint16_t);
+    static constexpr type checkInvalidRange(type, type, type);
+    static constexpr type checkInvalidEvenRange(type, type, type);
+    static constexpr type checkInvalidFlag(type, type, type);
+    static constexpr type checkInvalidBaudrate(type, type, type);
+    static constexpr type checkInvalidOffset(type, type, type);
 
     const size_t offset;
     const size_t length;
-    const uint16_t min;
-    const uint16_t max;
-    uint16_t (*const setFunc)(uint16_t, uint16_t, uint16_t);
-    uint16_t data;
+    const type min;
+    const type max;
+    type (*const setFunc)(type, type, type);
+    type data;
   };
 
-  constexpr EepParam EepParam::stretch(uint16_t data) {
+  constexpr EepParam EepParam::stretch(type data) {
     return EepParam {2, 2, 2, 254, &EepParam::checkInvalidEvenRange, data};
   }
 
-  constexpr EepParam EepParam::speed(uint16_t data) {
+  constexpr EepParam EepParam::speed(type data) {
     return EepParam {4, 2, 1, 127, &EepParam::checkInvalidRange, data};
   }
 
-  constexpr EepParam EepParam::punch(uint16_t data) {
+  constexpr EepParam EepParam::punch(type data) {
     return EepParam {6, 2, 0, 10, &EepParam::checkInvalidRange, data};
   }
 
-  constexpr EepParam EepParam::deadBand(uint16_t data) {
+  constexpr EepParam EepParam::deadBand(type data) {
     return EepParam {8, 2, 0, 5, &EepParam::checkInvalidRange, data};
   }
 
-  constexpr EepParam EepParam::dumping(uint16_t data) {
+  constexpr EepParam EepParam::dumping(type data) {
     return EepParam {10, 2, 1, 255, &EepParam::checkInvalidRange, data};
   }
 
-  constexpr EepParam EepParam::selfTimer(uint16_t data) {
+  constexpr EepParam EepParam::selfTimer(type data) {
     return EepParam {12, 2, 10, 255, &EepParam::checkInvalidRange, data};
   }
 
-  constexpr EepParam EepParam::flag(uint16_t data) {
+  constexpr EepParam EepParam::flag(type data) {
     return EepParam {14, 2, 0, 255, &EepParam::checkInvalidFlag, data};
   }
 
-  constexpr EepParam EepParam::pulseMax(uint16_t data) {
+  constexpr EepParam EepParam::pulseMax(type data) {
     return EepParam {16, 4, 3500, 11500, &EepParam::checkInvalidRange, data};
   }
 
-  constexpr EepParam EepParam::pulseMin(uint16_t data) {
+  constexpr EepParam EepParam::pulseMin(type data) {
     return EepParam {20, 4, 3500, 11500, &EepParam::checkInvalidRange, data};
   }
 
-  constexpr EepParam EepParam::baudrate(uint16_t data) {
+  constexpr EepParam EepParam::baudrate(type data) {
     return EepParam {26, 2, 0, 10, &EepParam::checkInvalidBaudrate, data};
   }
 
-  constexpr EepParam EepParam::temperature(uint16_t data) {
+  constexpr EepParam EepParam::temperature(type data) {
     return EepParam {28, 2, 1, 127, &EepParam::checkInvalidRange, data};
   }
 
-  constexpr EepParam EepParam::current(uint16_t data) {
+  constexpr EepParam EepParam::current(type data) {
     return EepParam {30, 2, 1, 63, &EepParam::checkInvalidRange, data};
   }
 
-  constexpr EepParam EepParam::response(uint16_t data) {
+  constexpr EepParam EepParam::response(type data) {
     return EepParam {50, 2, 1, 5, &EepParam::checkInvalidRange, data};
   }
 
-  constexpr EepParam EepParam::userOffset(uint16_t data) {
+  constexpr EepParam EepParam::userOffset(type data) {
     return EepParam {52, 2, 0x81, 127, &EepParam::checkInvalidOffset, data}; // 0x81 is -127 on uint8_t type
   }
 
-  constexpr EepParam EepParam::id(uint16_t data) {
+  constexpr EepParam EepParam::id(type data) {
     return EepParam {56, 2, 0, 31, &EepParam::checkInvalidRange, data};
   }
 
-  constexpr EepParam EepParam::strech1(uint16_t data) {
+  constexpr EepParam EepParam::strech1(type data) {
     return EepParam {58, 2, 2, 254, &EepParam::checkInvalidEvenRange, data};
   }
 
-  constexpr EepParam EepParam::strech2(uint16_t data) {
+  constexpr EepParam EepParam::strech2(type data) {
     return EepParam {60, 2, 2, 254, &EepParam::checkInvalidEvenRange, data};
   }
 
-  constexpr EepParam EepParam::strech3(uint16_t data) {
+  constexpr EepParam EepParam::strech3(type data) {
     return EepParam {62, 2, 2, 254, &EepParam::checkInvalidEvenRange, data};
   }
 
-  constexpr EepParam EepParam::newEepParam(const EepParam& type, uint16_t data) {
-    return EepParam {type.offset, type.length, type.min, type.max, type.setFunc, data};
+  constexpr EepParam EepParam::newEepParam(const EepParam& paramType, type data) {
+    return EepParam {paramType.offset, paramType.length, paramType.min, paramType.max, paramType.setFunc, data};
   }
 
-  constexpr uint16_t EepParam::get() const noexcept {
+  constexpr EepParam::type EepParam::get() const noexcept {
     return data;
   }
 
-  constexpr EepParam::operator uint16_t() const noexcept {
+  constexpr EepParam::operator type() const noexcept {
     return get();
   }
 
-  inline void EepParam::set(uint16_t input) {
+  inline void EepParam::set(type input) {
     data = (*setFunc)(input, min, max); // throw std::invalid_argument, std::out_of_range
   }
 
-  inline EepParam& EepParam::operator=(uint16_t input) {
+  inline EepParam& EepParam::operator=(type input) {
     set(input);
     return *this;
   }
 
   inline void EepParam::write(std::array<uint8_t, 64>& dest) const noexcept {
-    uint16_t nowData {data};
+    type nowData {data};
     for (size_t i {offset + length - 1}; i >= offset; --i) {
       dest[i] = nowData & mask;
       nowData >>= byteSize;
@@ -170,7 +171,7 @@ namespace ics {
   }
 
   inline void EepParam::read(const std::array<uint8_t, 64>& src) {
-    uint16_t result {0};
+    type result {0};
     const size_t loopend = offset + length;
     for (size_t i {offset}; i < loopend; ++i) {
       result <<= byteSize;
@@ -181,10 +182,10 @@ namespace ics {
   constexpr EepParam::EepParam(
       size_t offset,
       size_t length,
-      uint16_t min,
-      uint16_t max,
-      uint16_t (*setFunc)(uint16_t, uint16_t, uint16_t),
-      uint16_t data
+      type min,
+      type max,
+      type (*setFunc)(type, type, type),
+      type data
   )
   : offset(offset),
     length(length),
@@ -194,30 +195,30 @@ namespace ics {
     data(setFunc(data, min, max)) // throw std::invalid_argument, std::out_of_range
   {}
 
-  constexpr uint16_t EepParam::checkInvalidRange(uint16_t input, uint16_t min, uint16_t max) {
+  constexpr EepParam::type EepParam::checkInvalidRange(type input, type min, type max) {
     return ics::checkInvalidRange(input, min, max);
   }
 
-  constexpr uint16_t EepParam::checkInvalidEvenRange(uint16_t input, uint16_t min, uint16_t max) {
+  constexpr EepParam::type EepParam::checkInvalidEvenRange(type input, type min, type max) {
     return input % 2 ?
            throw std::out_of_range {"Must even value"} :
            checkInvalidRange(input, min, max); // throw std::out_of_range
   }
 
-  constexpr uint16_t EepParam::checkInvalidFlag(uint16_t input, uint16_t, uint16_t) {
+  constexpr EepParam::type EepParam::checkInvalidFlag(type input, type, type) {
     return !(input & 0x04) ? throw std::invalid_argument {"Eepparam(flag): Must up bits 0x04"} :
            ~(input | ~0x60) ? throw std::invalid_argument {"Eepparam(flag): Must down bits 0x60"} :
            input;
   }
 
-  constexpr uint16_t EepParam::checkInvalidBaudrate(uint16_t input, uint16_t, uint16_t) {
+  constexpr EepParam::type EepParam::checkInvalidBaudrate(type input, type, type) {
     return input == Baudrate::RATE115200().get() ? input :
            //input == Baudrate::RATE625000().get() ? input :
            //input == Baudrate::RATE1250000().get() ? input :
            throw std::invalid_argument {"baudrate not exist"};
   }
 
-  constexpr uint16_t EepParam::checkInvalidOffset(uint16_t input, uint16_t min, uint16_t max) {
+  constexpr EepParam::type EepParam::checkInvalidOffset(type input, type min, type max) {
     return input < max ? input : // this min < 0; min value is 0
            min < input ? input : // this min < 0; input must is bigger than min.
            throw std::out_of_range {"Eeprom(offset): range over"}; // min < input < max is failed

From 700ea6e9e212abc0b21d07ab079c51d0d060c716 Mon Sep 17 00:00:00 2001
From: Doi Yusuke <o111027y@mail.kyutech.jp>
Date: Thu, 3 Nov 2016 15:48:33 +0900
Subject: [PATCH 09/30] Add alias of size_t

---
 include/ics3/eepparam.hpp | 19 ++++++++++---------
 1 file changed, 10 insertions(+), 9 deletions(-)

diff --git a/include/ics3/eepparam.hpp b/include/ics3/eepparam.hpp
index cecf016..9b8ef94 100644
--- a/include/ics3/eepparam.hpp
+++ b/include/ics3/eepparam.hpp
@@ -10,6 +10,7 @@ namespace ics {
   class EepParam {
   public:
     using type = uint16_t;
+    using size_type = std::size_t;
     enum Flag : type {
       REVERSE =   0x01,
       FREE =      0x02,
@@ -48,8 +49,8 @@ namespace ics {
     void read(const std::array<uint8_t, 64>&);
   private:
     constexpr explicit EepParam(
-        size_t,
-        size_t,
+        size_type,
+        size_type,
         type,
         type,
         type (*)(type, type, type),
@@ -61,8 +62,8 @@ namespace ics {
     static constexpr type checkInvalidBaudrate(type, type, type);
     static constexpr type checkInvalidOffset(type, type, type);
 
-    const size_t offset;
-    const size_t length;
+    const size_type offset;
+    const size_type length;
     const type min;
     const type max;
     type (*const setFunc)(type, type, type);
@@ -164,7 +165,7 @@ namespace ics {
 
   inline void EepParam::write(std::array<uint8_t, 64>& dest) const noexcept {
     type nowData {data};
-    for (size_t i {offset + length - 1}; i >= offset; --i) {
+    for (size_type i {offset + length - 1}; i >= offset; --i) {
       dest[i] = nowData & mask;
       nowData >>= byteSize;
     }
@@ -172,16 +173,16 @@ namespace ics {
 
   inline void EepParam::read(const std::array<uint8_t, 64>& src) {
     type result {0};
-    const size_t loopend = offset + length;
-    for (size_t i {offset}; i < loopend; ++i) {
+    const size_type loopend = offset + length;
+    for (size_type i {offset}; i < loopend; ++i) {
       result <<= byteSize;
       result |= src[i] & mask;
     }
     set(result); // throw std::invalid_argument, std::out_of_range
   }
   constexpr EepParam::EepParam(
-      size_t offset,
-      size_t length,
+      size_type offset,
+      size_type length,
       type min,
       type max,
       type (*setFunc)(type, type, type),

From c8b272a67e26157f284aa5c3eec591dd6b302efc Mon Sep 17 00:00:00 2001
From: Doi Yusuke <o111027y@mail.kyutech.jp>
Date: Thu, 3 Nov 2016 15:59:05 +0900
Subject: [PATCH 10/30] Add alias of size_type and omit magic number

---
 include/ics3/eeprom.hpp | 9 ++++++---
 1 file changed, 6 insertions(+), 3 deletions(-)

diff --git a/include/ics3/eeprom.hpp b/include/ics3/eeprom.hpp
index 11e4c7c..d7bb55a 100644
--- a/include/ics3/eeprom.hpp
+++ b/include/ics3/eeprom.hpp
@@ -11,14 +11,17 @@ namespace ics {
   class EepRom {
     friend ICS3; // for ICS3::getRom()
   public:
+    using size_type = std::size_t;
+    static constexpr size_type length {64};
+
     EepParam get(EepParam) const;
     void set(const EepParam&) noexcept;
     template<typename Iter>
     void write(Iter&&) const;
   private:
-    explicit EepRom(const std::array<uint8_t, 64>&);
+    explicit EepRom(const std::array<uint8_t, length>&);
 
-    std::array<uint8_t, 64> data;
+    std::array<uint8_t, length> data;
   };
 
   inline ics::EepParam ics::EepRom::get(EepParam type) const {
@@ -35,7 +38,7 @@ namespace ics {
     std::copy(data.cbegin(), data.cend(), dest);
   }
 
-  inline EepRom::EepRom(const std::array<uint8_t, 64>& src)
+  inline EepRom::EepRom(const std::array<uint8_t, length>& src)
   : data(src) // for Ubuntu14.04 compiler
   {}
 }

From c66eeae2723951c53b8020e655b2a9dc00ba7612 Mon Sep 17 00:00:00 2001
From: Doi Yusuke <o111027y@mail.kyutech.jp>
Date: Thu, 3 Nov 2016 16:03:09 +0900
Subject: [PATCH 11/30] Update writing format for too many argument

---
 include/ics3/eepparam.hpp | 6 ++----
 1 file changed, 2 insertions(+), 4 deletions(-)

diff --git a/include/ics3/eepparam.hpp b/include/ics3/eepparam.hpp
index 9b8ef94..e3023f8 100644
--- a/include/ics3/eepparam.hpp
+++ b/include/ics3/eepparam.hpp
@@ -54,8 +54,7 @@ namespace ics {
         type,
         type,
         type (*)(type, type, type),
-        type
-    );
+        type);
     static constexpr type checkInvalidRange(type, type, type);
     static constexpr type checkInvalidEvenRange(type, type, type);
     static constexpr type checkInvalidFlag(type, type, type);
@@ -186,8 +185,7 @@ namespace ics {
       type min,
       type max,
       type (*setFunc)(type, type, type),
-      type data
-  )
+      type data)
   : offset(offset),
     length(length),
     min(min),

From 4f975d1003abfe0547de6b490f2d13b266cd0bb5 Mon Sep 17 00:00:00 2001
From: Doi Yusuke <o111027y@mail.kyutech.jp>
Date: Thu, 3 Nov 2016 16:06:22 +0900
Subject: [PATCH 12/30] Add alias of EepRom Container

---
 include/ics3/eeprom.hpp | 5 +++--
 1 file changed, 3 insertions(+), 2 deletions(-)

diff --git a/include/ics3/eeprom.hpp b/include/ics3/eeprom.hpp
index d7bb55a..0069bed 100644
--- a/include/ics3/eeprom.hpp
+++ b/include/ics3/eeprom.hpp
@@ -13,13 +13,14 @@ namespace ics {
   public:
     using size_type = std::size_t;
     static constexpr size_type length {64};
+    using Container = std::array<uint8_t, length>;
 
     EepParam get(EepParam) const;
     void set(const EepParam&) noexcept;
     template<typename Iter>
     void write(Iter&&) const;
   private:
-    explicit EepRom(const std::array<uint8_t, length>&);
+    explicit EepRom(const Container&);
 
     std::array<uint8_t, length> data;
   };
@@ -38,7 +39,7 @@ namespace ics {
     std::copy(data.cbegin(), data.cend(), dest);
   }
 
-  inline EepRom::EepRom(const std::array<uint8_t, length>& src)
+  inline EepRom::EepRom(const Container& src)
   : data(src) // for Ubuntu14.04 compiler
   {}
 }

From 8994432d8788fe96bb3e126a7bd1749da47accad Mon Sep 17 00:00:00 2001
From: Doi Yusuke <o111027y@mail.kyutech.jp>
Date: Thu, 3 Nov 2016 16:09:04 +0900
Subject: [PATCH 13/30] Add alias of id data

---
 include/ics3/id.hpp | 15 ++++++++-------
 1 file changed, 8 insertions(+), 7 deletions(-)

diff --git a/include/ics3/id.hpp b/include/ics3/id.hpp
index f09dffb..f9650a0 100644
--- a/include/ics3/id.hpp
+++ b/include/ics3/id.hpp
@@ -6,22 +6,23 @@
 namespace ics {
   class ID {
   public:
-    constexpr ID(uint8_t); // ID is non explicit constructor because only do check limit
-    constexpr uint8_t get() const noexcept;
-    constexpr operator uint8_t() const noexcept;
+    using type = uint8_t;
+    constexpr ID(type); // ID is non explicit constructor because only do check limit
+    constexpr type get() const noexcept;
+    constexpr operator type() const noexcept;
   private:
-    const uint8_t data;
+    const type data;
   };
 
-  constexpr ID::ID(uint8_t id)
+  constexpr ID::ID(type id)
   : data {id < 32 ? id : throw std::invalid_argument {"invalid ID: must be 0 <= id <= 31"}}
   {}
 
-  constexpr uint8_t ID::get() const noexcept {
+  constexpr ID::type ID::get() const noexcept {
     return data;
   }
 
-  constexpr ID::operator uint8_t() const noexcept {
+  constexpr ID::operator type() const noexcept {
     return get();
   }
 }

From ec4448e1ccc9d6ae6da4c66d2d6248fbefd0b99b Mon Sep 17 00:00:00 2001
From: Doi Yusuke <o111027y@mail.kyutech.jp>
Date: Thu, 3 Nov 2016 16:23:50 +0900
Subject: [PATCH 14/30] Add alias of core interface container

---
 include/core.hpp | 5 +++--
 src/core.cpp     | 4 ++--
 2 files changed, 5 insertions(+), 4 deletions(-)

diff --git a/include/core.hpp b/include/core.hpp
index 0742b20..2184adb 100644
--- a/include/core.hpp
+++ b/include/core.hpp
@@ -9,6 +9,7 @@
 namespace ics {
   class Core {
   public:
+    using Container = std::vector<uint8_t>;
     explicit Core(const std::string&, speed_t); // touch by only libics3
     ~Core() noexcept;
     Core(const Core&) = delete;
@@ -17,8 +18,8 @@ namespace ics {
     Core& operator=(Core&&) noexcept;
 
     static std::shared_ptr<Core> getCore(const std::string&, speed_t);
-    void communicate(const std::vector<uint8_t>&, std::vector<uint8_t>&);
-    void communicateID(const std::vector<uint8_t>&, std::vector<uint8_t>&);
+    void communicate(const Container&, Container&);
+    void communicateID(const Container&, Container&);
   private:
     static termios getTermios() noexcept;
 
diff --git a/src/core.cpp b/src/core.cpp
index 9c89b4c..a83e287 100644
--- a/src/core.cpp
+++ b/src/core.cpp
@@ -62,7 +62,7 @@ std::shared_ptr<ics::Core> ics::Core::getCore(const std::string& path, speed_t b
   return objPtr;
 }
 
-void ics::Core::communicate(const std::vector<uint8_t>& tx, std::vector<uint8_t>& rx) {
+void ics::Core::communicate(const Container& tx, Container& rx) {
   write(fd, tx.data(), tx.size()); // send
   for (auto& receive : rx) read(fd, &receive, 1); // receive
 // check section
@@ -78,7 +78,7 @@ void ics::Core::communicate(const std::vector<uint8_t>& tx, std::vector<uint8_t>
   if ((tx[0] & 0x7F) != *receive) throw std::runtime_error {"Receive failed: invalid target data"};
 }
 
-void ics::Core::communicateID(const std::vector<uint8_t>& tx, std::vector<uint8_t>& rx) {
+void ics::Core::communicateID(const Container& tx, Container& rx) {
   write(fd, tx.data(), tx.size()); // send
   for (auto& receive : rx) read(fd, &receive, 1); // receive
 // check section

From 8f7dea170cba9b7de9a0dde1b7c7c84e71d6108e Mon Sep 17 00:00:00 2001
From: Doi Yusuke <o111027y@mail.kyutech.jp>
Date: Thu, 3 Nov 2016 16:26:39 +0900
Subject: [PATCH 15/30] Add alias of container value

---
 include/core.hpp | 4 +++-
 1 file changed, 3 insertions(+), 1 deletion(-)

diff --git a/include/core.hpp b/include/core.hpp
index 2184adb..5579a04 100644
--- a/include/core.hpp
+++ b/include/core.hpp
@@ -2,6 +2,7 @@
 #define LIBICS3_ICS3_CORE_H_
 
 #include<vector>
+#include<array>
 #include<string>
 #include<memory>
 #include<termios.h>
@@ -9,7 +10,8 @@
 namespace ics {
   class Core {
   public:
-    using Container = std::vector<uint8_t>;
+    using value = uint8_t;
+    using Container = std::vector<value>;
     explicit Core(const std::string&, speed_t); // touch by only libics3
     ~Core() noexcept;
     Core(const Core&) = delete;

From bc7e99042ed7d5455c61584ab6ac4df7d6dabe35 Mon Sep 17 00:00:00 2001
From: Doi Yusuke <o111027y@mail.kyutech.jp>
Date: Thu, 3 Nov 2016 16:35:37 +0900
Subject: [PATCH 16/30] Add alias for id interface

---
 include/core.hpp | 4 +++-
 src/core.cpp     | 2 +-
 src/ics3.cpp     | 9 +++++----
 3 files changed, 9 insertions(+), 6 deletions(-)

diff --git a/include/core.hpp b/include/core.hpp
index 5579a04..a7a3e6d 100644
--- a/include/core.hpp
+++ b/include/core.hpp
@@ -12,6 +12,8 @@ namespace ics {
   public:
     using value = uint8_t;
     using Container = std::vector<value>;
+    using IDContainerTx = std::array<value, 4>;
+    using IDContainerRx = std::array<value, 5>;
     explicit Core(const std::string&, speed_t); // touch by only libics3
     ~Core() noexcept;
     Core(const Core&) = delete;
@@ -21,7 +23,7 @@ namespace ics {
 
     static std::shared_ptr<Core> getCore(const std::string&, speed_t);
     void communicate(const Container&, Container&);
-    void communicateID(const Container&, Container&);
+    void communicateID(const IDContainerTx&, IDContainerRx&);
   private:
     static termios getTermios() noexcept;
 
diff --git a/src/core.cpp b/src/core.cpp
index a83e287..5d026f2 100644
--- a/src/core.cpp
+++ b/src/core.cpp
@@ -78,7 +78,7 @@ void ics::Core::communicate(const Container& tx, Container& rx) {
   if ((tx[0] & 0x7F) != *receive) throw std::runtime_error {"Receive failed: invalid target data"};
 }
 
-void ics::Core::communicateID(const Container& tx, Container& rx) {
+void ics::Core::communicateID(const IDContainerTx& tx, IDContainerRx& rx) {
   write(fd, tx.data(), tx.size()); // send
   for (auto& receive : rx) read(fd, &receive, 1); // receive
 // check section
diff --git a/src/ics3.cpp b/src/ics3.cpp
index 803a3ad..acedfc2 100644
--- a/src/ics3.cpp
+++ b/src/ics3.cpp
@@ -65,14 +65,15 @@ void ics::ICS3::setRom(const ID& id, const EepRom& rom) {
 }
 
 ics::ID ics::ICS3::getID() {
-  const std::vector<uint8_t> tx {0xFF, 0x00, 0x00, 0x00};
-  std::vector<uint8_t> rx(5);
+  const Core::IDContainerTx tx {0xFF, 0x00, 0x00, 0x00};
+  Core::IDContainerRx rx;
   core->communicateID(tx, rx);
   return ID {static_cast<uint8_t>(0x1F & rx[4])};
 }
 
 void ics::ICS3::setID(const ID& id) {
-  std::vector<uint8_t> tx(4, 1), rx(5);
-  tx[0] = 0xE0 | id.get(); // tx[1] == tx[2] == tx[3] == 1
+  auto cmd = static_cast<Core::value>(0xE0 | id.get());
+  const Core::IDContainerTx tx {cmd, 1, 1, 1};
+  Core::IDContainerRx rx;
   core->communicateID(tx, rx);
 }

From aab9de5ec9fa4e27b9b00d4a8b1fa13efa4ddda5 Mon Sep 17 00:00:00 2001
From: Doi Yusuke <o111027y@mail.kyutech.jp>
Date: Thu, 3 Nov 2016 16:43:20 +0900
Subject: [PATCH 17/30] Apply Core::Container to ICS3

---
 src/ics3.cpp | 14 +++++++-------
 1 file changed, 7 insertions(+), 7 deletions(-)

diff --git a/src/ics3.cpp b/src/ics3.cpp
index acedfc2..9c6a47a 100644
--- a/src/ics3.cpp
+++ b/src/ics3.cpp
@@ -5,7 +5,7 @@
 #include"ics3/parameter.hpp"
 #include"ics3/id.hpp"
 
-inline uint16_t getReceiveAngle(const std::vector<uint8_t>& rx) noexcept {
+static inline uint16_t getReceiveAngle(const ics::Core::Container& rx) noexcept {
   return static_cast<uint16_t>((rx[4] << 7) | rx[5]);
 }
 
@@ -14,7 +14,7 @@ ics::ICS3::ICS3(const std::string& path, const Baudrate& baudrate)
 {}
 
 ics::Angle ics::ICS3::move(const ID& id, Angle angle) {
-  static std::vector<uint8_t> tx(3), rx(6); // cache for runtime speed
+  static Core::Container tx(3), rx(6); // cache for runtime speed
   const uint16_t send {angle.getRaw()};
   tx[0] = 0x80 | id.get();
   tx[1] = 0x7F & (send >> 7);
@@ -25,7 +25,7 @@ ics::Angle ics::ICS3::move(const ID& id, Angle angle) {
 }
 
 ics::Angle ics::ICS3::free(const ID& id, Angle unit) {
-  static std::vector<uint8_t> tx(3), rx(6); // cache for runtime speed
+  static Core::Container tx(3), rx(6); // cache for runtime speed
   tx[0] = 0x80 | id.get(); // tx[1] == tx[2] == 0
   core->communicate(tx, rx); // throw std::runtime_error
   unit.rawData = getReceiveAngle(rx); // avoid invalid check. need friend
@@ -33,7 +33,7 @@ ics::Angle ics::ICS3::free(const ID& id, Angle unit) {
 }
 
 ics::Parameter ics::ICS3::get(const ID& id, const Parameter& type) {
-  std::vector<uint8_t> tx(2), rx(5);
+  Core::Container tx(2), rx(5);
   tx[0] = 0xA0 | id.get();
   tx[1] = type.getSubcommand();
   core->communicate(tx, rx); // throw std::runtime_error
@@ -41,7 +41,7 @@ ics::Parameter ics::ICS3::get(const ID& id, const Parameter& type) {
 }
 
 void ics::ICS3::set(const ID& id, const Parameter& param) {
-  std::vector<uint8_t> tx(3), rx(6);
+  Core::Container tx(3), rx(6);
   tx[0] = 0xC0 | id.get();
   tx[1] = param.getSubcommand();
   tx[2] = param.get();
@@ -49,7 +49,7 @@ void ics::ICS3::set(const ID& id, const Parameter& param) {
 }
 
 ics::EepRom ics::ICS3::getRom(const ID& id) {
-  std::vector<uint8_t> tx(2), rx(68);
+  Core::Container tx(2), rx(68);
   tx[0] = 0xA0 | id.get(); // tx[1] == 0
   core->communicate(tx, rx); // throw std::runtime_error
   std::array<uint8_t, 64> romData;
@@ -58,7 +58,7 @@ ics::EepRom ics::ICS3::getRom(const ID& id) {
 }
 
 void ics::ICS3::setRom(const ID& id, const EepRom& rom) {
-  std::vector<uint8_t> tx(66), rx(68);
+  Core::Container tx(66), rx(68);
   tx[0] = 0xC0 | id.get(); // tx[1] == 0
   rom.write(tx.begin() + 2);
   core->communicate(tx, rx); // throw std::runtime_error

From 4ad8011da559ef53a96ce45146501692f1cb5f46 Mon Sep 17 00:00:00 2001
From: Doi Yusuke <o111027y@mail.kyutech.jp>
Date: Thu, 3 Nov 2016 16:45:45 +0900
Subject: [PATCH 18/30] Apply ics::Angle::rawType to ICS3

---
 src/ics3.cpp | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/src/ics3.cpp b/src/ics3.cpp
index 9c6a47a..dc22bc8 100644
--- a/src/ics3.cpp
+++ b/src/ics3.cpp
@@ -5,8 +5,8 @@
 #include"ics3/parameter.hpp"
 #include"ics3/id.hpp"
 
-static inline uint16_t getReceiveAngle(const ics::Core::Container& rx) noexcept {
-  return static_cast<uint16_t>((rx[4] << 7) | rx[5]);
+static inline ics::Angle::rawType getReceiveAngle(const ics::Core::Container& rx) noexcept {
+  return static_cast<ics::Angle::rawType>((rx[4] << 7) | rx[5]);
 }
 
 ics::ICS3::ICS3(const std::string& path, const Baudrate& baudrate)

From b82dd0f1108295723bd99395fd7d9fad5b0f86c9 Mon Sep 17 00:00:00 2001
From: Doi Yusuke <o111027y@mail.kyutech.jp>
Date: Thu, 3 Nov 2016 16:52:08 +0900
Subject: [PATCH 19/30] Use constexpr on array

---
 src/ics3.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/ics3.cpp b/src/ics3.cpp
index dc22bc8..0f39e0a 100644
--- a/src/ics3.cpp
+++ b/src/ics3.cpp
@@ -65,7 +65,7 @@ void ics::ICS3::setRom(const ID& id, const EepRom& rom) {
 }
 
 ics::ID ics::ICS3::getID() {
-  const Core::IDContainerTx tx {0xFF, 0x00, 0x00, 0x00};
+  constexpr Core::IDContainerTx tx {0xFF, 0x00, 0x00, 0x00};
   Core::IDContainerRx rx;
   core->communicateID(tx, rx);
   return ID {static_cast<uint8_t>(0x1F & rx[4])};

From 2b7aaae6e3796b29d613d1c9744a459e003e12c7 Mon Sep 17 00:00:00 2001
From: Doi Yusuke <o111027y@mail.kyutech.jp>
Date: Thu, 3 Nov 2016 16:56:06 +0900
Subject: [PATCH 20/30] Add const to local object

---
 src/ics3.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/ics3.cpp b/src/ics3.cpp
index 0f39e0a..39f5e20 100644
--- a/src/ics3.cpp
+++ b/src/ics3.cpp
@@ -72,7 +72,7 @@ ics::ID ics::ICS3::getID() {
 }
 
 void ics::ICS3::setID(const ID& id) {
-  auto cmd = static_cast<Core::value>(0xE0 | id.get());
+  const auto cmd = static_cast<Core::value>(0xE0 | id.get());
   const Core::IDContainerTx tx {cmd, 1, 1, 1};
   Core::IDContainerRx rx;
   core->communicateID(tx, rx);

From 0d0dfacc5df4b6f2a301f9fa9673066cfc459b5d Mon Sep 17 00:00:00 2001
From: Doi Yusuke <o111027y@mail.kyutech.jp>
Date: Thu, 3 Nov 2016 17:10:03 +0900
Subject: [PATCH 21/30] Refactor cmd makeing to getCmd

---
 src/ics3.cpp | 19 +++++++++++--------
 1 file changed, 11 insertions(+), 8 deletions(-)

diff --git a/src/ics3.cpp b/src/ics3.cpp
index 39f5e20..207696a 100644
--- a/src/ics3.cpp
+++ b/src/ics3.cpp
@@ -9,6 +9,10 @@ static inline ics::Angle::rawType getReceiveAngle(const ics::Core::Container& rx
   return static_cast<ics::Angle::rawType>((rx[4] << 7) | rx[5]);
 }
 
+static inline ics::Core::value getCmd(const int head, const ics::ID& id) {
+  return head | id.get();
+}
+
 ics::ICS3::ICS3(const std::string& path, const Baudrate& baudrate)
 : core {Core::getCore(path, baudrate.getSpeed())}
 {}
@@ -16,7 +20,7 @@ ics::ICS3::ICS3(const std::string& path, const Baudrate& baudrate)
 ics::Angle ics::ICS3::move(const ID& id, Angle angle) {
   static Core::Container tx(3), rx(6); // cache for runtime speed
   const uint16_t send {angle.getRaw()};
-  tx[0] = 0x80 | id.get();
+  tx[0] = getCmd(0x80, id);
   tx[1] = 0x7F & (send >> 7);
   tx[2] = 0x7F & send;
   core->communicate(tx, rx); // throw std::runtime_error
@@ -26,7 +30,7 @@ ics::Angle ics::ICS3::move(const ID& id, Angle angle) {
 
 ics::Angle ics::ICS3::free(const ID& id, Angle unit) {
   static Core::Container tx(3), rx(6); // cache for runtime speed
-  tx[0] = 0x80 | id.get(); // tx[1] == tx[2] == 0
+  tx[0] = getCmd(0x80, id); // tx[1] == tx[2] == 0
   core->communicate(tx, rx); // throw std::runtime_error
   unit.rawData = getReceiveAngle(rx); // avoid invalid check. need friend
   return unit;
@@ -34,7 +38,7 @@ ics::Angle ics::ICS3::free(const ID& id, Angle unit) {
 
 ics::Parameter ics::ICS3::get(const ID& id, const Parameter& type) {
   Core::Container tx(2), rx(5);
-  tx[0] = 0xA0 | id.get();
+  tx[0] = getCmd(0xA0, id);
   tx[1] = type.getSubcommand();
   core->communicate(tx, rx); // throw std::runtime_error
   return Parameter::newParameter(type, rx[4]);
@@ -42,7 +46,7 @@ ics::Parameter ics::ICS3::get(const ID& id, const Parameter& type) {
 
 void ics::ICS3::set(const ID& id, const Parameter& param) {
   Core::Container tx(3), rx(6);
-  tx[0] = 0xC0 | id.get();
+  tx[0] = getCmd(0xC0, id);
   tx[1] = param.getSubcommand();
   tx[2] = param.get();
   core->communicate(tx, rx); // throw std::runtime_error
@@ -50,7 +54,7 @@ void ics::ICS3::set(const ID& id, const Parameter& param) {
 
 ics::EepRom ics::ICS3::getRom(const ID& id) {
   Core::Container tx(2), rx(68);
-  tx[0] = 0xA0 | id.get(); // tx[1] == 0
+  tx[0] = getCmd(0xA0, id); // tx[1] == 0
   core->communicate(tx, rx); // throw std::runtime_error
   std::array<uint8_t, 64> romData;
   std::copy(rx.cbegin() + 4, rx.cend(), romData.begin());
@@ -59,7 +63,7 @@ ics::EepRom ics::ICS3::getRom(const ID& id) {
 
 void ics::ICS3::setRom(const ID& id, const EepRom& rom) {
   Core::Container tx(66), rx(68);
-  tx[0] = 0xC0 | id.get(); // tx[1] == 0
+  tx[0] = getCmd(0xC0, id); // tx[1] == 0
   rom.write(tx.begin() + 2);
   core->communicate(tx, rx); // throw std::runtime_error
 }
@@ -72,8 +76,7 @@ ics::ID ics::ICS3::getID() {
 }
 
 void ics::ICS3::setID(const ID& id) {
-  const auto cmd = static_cast<Core::value>(0xE0 | id.get());
-  const Core::IDContainerTx tx {cmd, 1, 1, 1};
+  const Core::IDContainerTx tx {getCmd(0xE0, id), 1, 1, 1};
   Core::IDContainerRx rx;
   core->communicateID(tx, rx);
 }

From ec36ece34b4cee584605239c45045dca775cb3cc Mon Sep 17 00:00:00 2001
From: Doi Yusuke <o111027y@mail.kyutech.jp>
Date: Thu, 3 Nov 2016 17:14:58 +0900
Subject: [PATCH 22/30] Update get method with const tx

---
 src/ics3.cpp | 5 ++---
 1 file changed, 2 insertions(+), 3 deletions(-)

diff --git a/src/ics3.cpp b/src/ics3.cpp
index 207696a..367a1a6 100644
--- a/src/ics3.cpp
+++ b/src/ics3.cpp
@@ -37,9 +37,8 @@ ics::Angle ics::ICS3::free(const ID& id, Angle unit) {
 }
 
 ics::Parameter ics::ICS3::get(const ID& id, const Parameter& type) {
-  Core::Container tx(2), rx(5);
-  tx[0] = getCmd(0xA0, id);
-  tx[1] = type.getSubcommand();
+  const Core::Container tx {getCmd(0xA0, id), type.getSubcommand()};
+  Core::Container rx(5);
   core->communicate(tx, rx); // throw std::runtime_error
   return Parameter::newParameter(type, rx[4]);
 }

From 32e9dff26f431663f099d99e6a0e53e58aec912f Mon Sep 17 00:00:00 2001
From: Doi Yusuke <o111027y@mail.kyutech.jp>
Date: Thu, 3 Nov 2016 17:16:34 +0900
Subject: [PATCH 23/30] Update set method with const tx

---
 src/ics3.cpp | 6 ++----
 1 file changed, 2 insertions(+), 4 deletions(-)

diff --git a/src/ics3.cpp b/src/ics3.cpp
index 367a1a6..551779f 100644
--- a/src/ics3.cpp
+++ b/src/ics3.cpp
@@ -44,10 +44,8 @@ ics::Parameter ics::ICS3::get(const ID& id, const Parameter& type) {
 }
 
 void ics::ICS3::set(const ID& id, const Parameter& param) {
-  Core::Container tx(3), rx(6);
-  tx[0] = getCmd(0xC0, id);
-  tx[1] = param.getSubcommand();
-  tx[2] = param.get();
+  const Core::Container tx {getCmd(0xC0, id), param.getSubcommand(), param.get()};
+  Core::Container rx(6);
   core->communicate(tx, rx); // throw std::runtime_error
 }
 

From 7400ec25df848ab28d2ea62b2b698fa65a1533d7 Mon Sep 17 00:00:00 2001
From: Doi Yusuke <o111027y@mail.kyutech.jp>
Date: Thu, 3 Nov 2016 17:20:46 +0900
Subject: [PATCH 24/30] Update getRom method with const rx and alias

---
 src/ics3.cpp | 6 +++---
 1 file changed, 3 insertions(+), 3 deletions(-)

diff --git a/src/ics3.cpp b/src/ics3.cpp
index 551779f..b6f9d29 100644
--- a/src/ics3.cpp
+++ b/src/ics3.cpp
@@ -50,10 +50,10 @@ void ics::ICS3::set(const ID& id, const Parameter& param) {
 }
 
 ics::EepRom ics::ICS3::getRom(const ID& id) {
-  Core::Container tx(2), rx(68);
-  tx[0] = getCmd(0xA0, id); // tx[1] == 0
+  const Core::Container tx {getCmd(0xA0, id), 0};
+  Core::Container rx(68);
   core->communicate(tx, rx); // throw std::runtime_error
-  std::array<uint8_t, 64> romData;
+  EepRom::Container romData;
   std::copy(rx.cbegin() + 4, rx.cend(), romData.begin());
   return EepRom {romData}; // need friend
 }

From 1e620a779069a5c0a26f16747f11fba35c7ff6f2 Mon Sep 17 00:00:00 2001
From: Doi Yusuke <o111027y@mail.kyutech.jp>
Date: Thu, 3 Nov 2016 17:28:00 +0900
Subject: [PATCH 25/30] Update type specify with some alias

---
 src/ics3.cpp | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/src/ics3.cpp b/src/ics3.cpp
index b6f9d29..fc3a9f7 100644
--- a/src/ics3.cpp
+++ b/src/ics3.cpp
@@ -6,7 +6,7 @@
 #include"ics3/id.hpp"
 
 static inline ics::Angle::rawType getReceiveAngle(const ics::Core::Container& rx) noexcept {
-  return static_cast<ics::Angle::rawType>((rx[4] << 7) | rx[5]);
+  return (rx[4] << 7) | rx[5];
 }
 
 static inline ics::Core::value getCmd(const int head, const ics::ID& id) {
@@ -69,7 +69,7 @@ ics::ID ics::ICS3::getID() {
   constexpr Core::IDContainerTx tx {0xFF, 0x00, 0x00, 0x00};
   Core::IDContainerRx rx;
   core->communicateID(tx, rx);
-  return ID {static_cast<uint8_t>(0x1F & rx[4])};
+  return ID {static_cast<ID::type>(0x1F & rx[4])};
 }
 
 void ics::ICS3::setID(const ID& id) {

From cb69245f27a5c50e94f142df37b0bc2227c6a63f Mon Sep 17 00:00:00 2001
From: Doi Yusuke <o111027y@mail.kyutech.jp>
Date: Thu, 3 Nov 2016 17:47:45 +0900
Subject: [PATCH 26/30] Fix core move method with close fd

---
 include/core.hpp | 2 ++
 src/core.cpp     | 9 +++++++--
 2 files changed, 9 insertions(+), 2 deletions(-)

diff --git a/include/core.hpp b/include/core.hpp
index a7a3e6d..7a40167 100644
--- a/include/core.hpp
+++ b/include/core.hpp
@@ -25,6 +25,8 @@ namespace ics {
     void communicate(const Container&, Container&);
     void communicateID(const IDContainerTx&, IDContainerRx&);
   private:
+    void closeThis() noexcept;
+
     static termios getTermios() noexcept;
 
     int fd;
diff --git a/src/core.cpp b/src/core.cpp
index 5d026f2..f034707 100644
--- a/src/core.cpp
+++ b/src/core.cpp
@@ -33,8 +33,7 @@ ics::Core::Core(const std::string& path, speed_t baudrate)
 
 ics::Core::~Core() noexcept {
   if (fd < 0) return;
-  tcsetattr(fd, TCSANOW, &oldTio);
-  close(fd);
+  closeThis();
 }
 
 ics::Core::Core(Core&& rhs) noexcept
@@ -45,6 +44,7 @@ ics::Core::Core(Core&& rhs) noexcept
 }
 
 ics::Core& ics::Core::operator=(Core&& rhs) noexcept {
+  closeThis();
   fd = rhs.fd;
   oldTio = rhs.oldTio;
   rhs.fd = -1;
@@ -94,6 +94,11 @@ void ics::Core::communicateID(const IDContainerTx& tx, IDContainerRx& rx) {
   if ((tx[0] & 0xE0) != (*receive & 0xE0)) throw std::runtime_error {"Receive failed: invalid target data"};
 }
 
+void ics::Core::closeThis() noexcept {
+  tcsetattr(fd, TCSANOW, &oldTio);
+  close(fd);
+}
+
 termios ics::Core::getTermios() noexcept {
   termios newTio;
   std::memset(&newTio, 0, sizeof(newTio));

From 21e2cb2ab8e6d020d7d2a4e40c194b601e02c156 Mon Sep 17 00:00:00 2001
From: Doi Yusuke <o111027y@mail.kyutech.jp>
Date: Thu, 3 Nov 2016 17:58:21 +0900
Subject: [PATCH 27/30] Update testcode with some alias

---
 src/test.cpp | 8 ++++----
 1 file changed, 4 insertions(+), 4 deletions(-)

diff --git a/src/test.cpp b/src/test.cpp
index 9a3e7bb..7f5ad65 100644
--- a/src/test.cpp
+++ b/src/test.cpp
@@ -139,7 +139,7 @@ void testID() {
     std::cout << e.what() << std::endl;
   }
   try {
-    ics::ID error {static_cast<uint8_t>(-1)}; // if constexpr, compile error
+    ics::ID error {static_cast<ics::ID::type>(-1)}; // if constexpr, compile error
     assert(false);
   } catch (const std::invalid_argument& e) {
     std::cout << e.what() << std::endl;
@@ -188,7 +188,7 @@ void testParameter() {
 
 void testICS3() {
   std::cout << std::endl << "ICS3 test section" << std::endl;
-  constexpr const char* const path = "/dev/ttyUSB0";
+  constexpr auto path = "/dev/ttyUSB0";
   constexpr auto baudrate = ics::Baudrate::RATE115200();
   constexpr ics::ID id {2};
   try {
@@ -233,7 +233,7 @@ void testIcsParam(ics::ICS3& ics, const ics::ID& id) {
   std::cout << "ICS3 'get' and 'set' method test section"  << std::endl;
   auto defaultStretch = ics.get(id, ics::Parameter::stretch());
   std::cout << "default stretch is " << static_cast<int>(defaultStretch) << std::endl;
-  constexpr uint8_t writeNumber {29};
+  constexpr ics::Parameter::type writeNumber {29};
   ics.set(id, ics::Parameter::stretch(writeNumber));
   auto newStretch = ics.get(id, defaultStretch);
   ics.set(id, defaultStretch); // before checking, restore data.
@@ -247,7 +247,7 @@ void testIcsEepRom(ics::ICS3& ics, const ics::ID& id) {
   auto defaultStretch = rom.get(ics::EepParam::stretch());
   std::cout << "default stretch is " << defaultStretch << std::endl;
   auto setRom = rom;
-  constexpr uint16_t writeNumber {62};
+  constexpr ics::EepParam::type writeNumber {62};
   setRom.set(ics::EepParam::stretch(writeNumber));
   ics.setRom(id, setRom);
   auto newRom = ics.getRom(id);

From bfe108b3fd76b1c982eb0cf224a3e223e27a9ed9 Mon Sep 17 00:00:00 2001
From: Doi Yusuke <o111027y@mail.kyutech.jp>
Date: Thu, 3 Nov 2016 17:58:36 +0900
Subject: [PATCH 28/30] Update dump function for runtime speed

---
 src/test.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/test.cpp b/src/test.cpp
index 7f5ad65..e995fa7 100644
--- a/src/test.cpp
+++ b/src/test.cpp
@@ -274,7 +274,7 @@ void testIcsID(ics::ICS3& ics) {
 }
 
 template<typename Iter>
-void dump(const Iter& begin, const Iter& end) noexcept {
+inline void dump(const Iter& begin, const Iter& end) noexcept {
   while (begin != end) std::cout << static_cast<int>(*begin++) << ", ";
   std::cout << std::endl;
 }

From 0a3354f972218ec62d2f756a1c00e42b75a6c590 Mon Sep 17 00:00:00 2001
From: Doi Yusuke <o111027y@mail.kyutech.jp>
Date: Thu, 3 Nov 2016 18:07:23 +0900
Subject: [PATCH 29/30] Update specify constexpr const to constexpr

---
 include/ics3/baudrate.hpp | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/include/ics3/baudrate.hpp b/include/ics3/baudrate.hpp
index edd7537..839a0f7 100644
--- a/include/ics3/baudrate.hpp
+++ b/include/ics3/baudrate.hpp
@@ -7,7 +7,7 @@ namespace ics {
   class Baudrate {
   public:
     using type = uint8_t;
-    static constexpr const Baudrate RATE115200() noexcept;
+    static constexpr Baudrate RATE115200() noexcept;
     //static constexpr Baudrate RATE625000() noexcept;
     //static constexpr Baudrate RATE1250000() noexcept;
     constexpr type get() const noexcept;
@@ -20,7 +20,7 @@ namespace ics {
     const speed_t baudrate;
   };
 
-  constexpr const Baudrate Baudrate::RATE115200() noexcept {
+  constexpr Baudrate Baudrate::RATE115200() noexcept {
     return Baudrate {10, B115200};
   }
 

From 0047678415cca25831c913ec106ed5c23a07827a Mon Sep 17 00:00:00 2001
From: Doi Yusuke <o111027y@mail.kyutech.jp>
Date: Thu, 3 Nov 2016 18:09:51 +0900
Subject: [PATCH 30/30] Upgrade v1.2.0 with inclusive refactor

---
 CMakeLists.txt | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/CMakeLists.txt b/CMakeLists.txt
index 9f4680c..3be58e8 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -2,8 +2,8 @@ CMAKE_MINIMUM_REQUIRED(VERSION 2.8.12.1)
 project(ics3 CXX)
 
 SET(PROJECT_VER_MAJOR 1)
-SET(PROJECT_VER_MINOR 1)
-SET(PROJECT_VER_PATCH 1)
+SET(PROJECT_VER_MINOR 2)
+SET(PROJECT_VER_PATCH 0)
 SET(PROJECT_VER "${PROJECT_VER_MAJOR}.${PROJECT_VER_MINOR}.${PROJECT_VER_PATCH}")
 SET(PROJECT_APIVER "${PROJECT_VER_MAJOR}.${PROJECT_VER_MINOR}")