Rename function to continue_position_commands

upkie · May 17, 2023 · 44a25ea · 44a25ea
1 parent 3794c44
commit 44a25ea
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Showing 3 changed files with 9 additions and 9 deletions.
diff --git a/actuation/Interface.h b/actuation/Interface.h
@@ -131,7 +131,7 @@ class Interface {
  *
  * \param[out] commands Servo commands.
  */
- inline void write_position_continue_commands() noexcept {
+ inline void continue_position_commands() noexcept {
  for (auto& command : commands_) {
  if (command.mode == actuation::moteus::Mode::kPosition) {
  command.mode = actuation::moteus::Mode::kPositionContinue;

diff --git a/actuation/tests/InterfaceTest.cpp b/actuation/tests/InterfaceTest.cpp
@@ -162,35 +162,35 @@ TEST_F(InterfaceTest, ForwardVelocityCommands) {
  }
 }
 
-TEST_F(InterfaceTest, PositionContinueAfterFault) {
+TEST_F(InterfaceTest, ContinuePositionAfterFault) {
  for (auto& command : interface_->commands()) {
  command.mode = actuation::moteus::Mode::kFault;
  }
- interface_->write_position_continue_commands();
+ interface_->continue_position_commands();
  for (const auto& command : interface_->commands()) {
  ASSERT_EQ(command.mode, actuation::moteus::Mode::kFault);
  }
 }
 
-TEST_F(InterfaceTest, PositionContinueAfterStop) {
+TEST_F(InterfaceTest, ContinuePositionAfterStop) {
  interface_->write_stop_commands();
- interface_->write_position_continue_commands();
+ interface_->continue_position_commands();
  for (const auto& command : interface_->commands()) {
  ASSERT_EQ(command.mode, actuation::moteus::Mode::kStopped);
  }
 }
 
-TEST_F(InterfaceTest, PositionContinueAfterPosition) {
+TEST_F(InterfaceTest, ContinuePositionAfterPosition) {
  Dictionary action;
  for (auto servo_name :
  {"left_pump", "left_grinder", "right_pump", "right_grinder"}) {
  action("servo")(servo_name)("position") = 2 * M_PI; // [rad]
  action("servo")(servo_name)("velocity") = M_PI; // [rad] / [s]
  }
  interface_->write_position_commands(action);
- interface_->write_position_continue_commands();
+ interface_->continue_position_commands();
  for (const auto& command : interface_->commands()) {
- ASSERT_EQ(command.mode, actuation::moteus::Mode::kPositionContinue);
+ ASSERT_EQ(command.mode, actuation::moteus::Mode::kContinuePosition);
  }
 }
 

diff --git a/spine/Spine.cpp b/spine/Spine.cpp
@@ -194,7 +194,7 @@ void Spine::cycle_actuation() {
  spdlog::info("[Spine::cycle_actuation] position");
  } else {
  spdlog::info("[Spine::cycle_actuation] position continue");
- actuation_.write_position_continue_commands();
+ actuation_.continue_position_commands();
  }
  } catch (const std::exception& e) {
  spdlog::error("[Spine::cycle_actuation] Caught an exception: {}", e.what());