Fixed crash

kaiaai · Jan 26, 2024 · efa5662 · efa5662
1 parent c5a3357
commit efa5662
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Showing 3 changed files with 24 additions and 25 deletions.
diff --git a/src/LDS_LDS02RR.cpp b/src/LDS_LDS02RR.cpp
@@ -23,14 +23,13 @@ LDS_LDS02RR::LDS_LDS02RR() : LDS() {
   clearVars();
 
   pwm_val = 0.5;
-
+  scan_rpm = 0;
   scan_rpm_setpoint = DEFAULT_SCAN_RPM;  // desired RPM 1.8KHz/5FPS/360 = 1 deg resolution
+
   scanFreqPID.init(&scan_rpm, &pwm_val, &scan_rpm_setpoint, 3.0e-3, 1.0e-3, 0.0, PID_v1::DIRECT);
   scanFreqPID.SetOutputLimits(0, 1.0);
   scanFreqPID.SetSampleTime(20);
   scanFreqPID.SetMode(PID_v1::AUTOMATIC);
-
-  scan_rpm = 0;
 }
 
 uint32_t LDS_LDS02RR::getSerialBaudRate() {

diff --git a/src/LDS_LDS02RR.h b/src/LDS_LDS02RR.h
@@ -24,19 +24,19 @@ class LDS_LDS02RR : public LDS {
   public:
     LDS_LDS02RR();
 
-    result_t start();
-    void stop();
-    void loop(); // Call loop() frequently from Arduino loop()
+    result_t start() override;
+    void stop() override;
+    void loop() override; // Call loop() frequently from Arduino loop()
 
-    uint32_t getSerialBaudRate();
-    float getCurrentScanFreqHz();
-    float getTargetScanFreqHz();
-    int getSamplingRateHz();
-    bool isActive();
+    uint32_t getSerialBaudRate() override;
+    float getCurrentScanFreqHz() override;
+    float getTargetScanFreqHz() override;
+    int getSamplingRateHz() override;
+    bool isActive() override;
 
-    result_t setScanTargetFreqHz(float freq);
-    result_t setScanPIDCoeffs(float Kp, float Ki, float Kd);
-    result_t setScanPIDSamplePeriodMs(uint32_t sample_period_ms);
+    result_t setScanTargetFreqHz(float freq) override;
+    result_t setScanPIDCoeffs(float Kp, float Ki, float Kd) override;
+    result_t setScanPIDSamplePeriodMs(uint32_t sample_period_ms) override;
 
   protected:
     static constexpr float DEFAULT_SCAN_RPM = 300.0f;

diff --git a/src/LDS_YDLIDAR_X4.h b/src/LDS_YDLIDAR_X4.h
@@ -23,19 +23,19 @@ class LDS_YDLIDAR_X4 : public LDS {
   public:
     LDS_YDLIDAR_X4();
 
-    result_t start();
-    void stop();
-    void loop(); // Call loop() frequently from Arduino loop()
+    result_t start() override;
+    void stop() override;
+    void loop() override; // Call loop() frequently from Arduino loop()
 
-    uint32_t getSerialBaudRate();
-    float getCurrentScanFreqHz();
-    float getTargetScanFreqHz();
-    int getSamplingRateHz();
-    bool isActive();
+    uint32_t getSerialBaudRate() override;
+    float getCurrentScanFreqHz() override;
+    float getTargetScanFreqHz() override;
+    int getSamplingRateHz() override;
+    bool isActive() override;
 
-    result_t setScanTargetFreqHz(float freq);
-    result_t setScanPIDCoeffs(float Kp, float Ki, float Kd);
-    result_t setScanPIDSamplePeriodMs(uint32_t sample_period_ms);
+    result_t setScanTargetFreqHz(float freq) override;
+    result_t setScanPIDCoeffs(float Kp, float Ki, float Kd) override;
+    result_t setScanPIDSamplePeriodMs(uint32_t sample_period_ms) override;
 
   protected:
     bool motor_enabled;