kaidokert / rm32 / 25188612004

63%

Build Type

push

github

Committed by web-flow

Commit Message

Extract shared MainState constructor and apply_motor_config (#15)

* Extract shared MainState constructor and apply_motor_config

MainState was manually constructed with 30+ fields in both firmware
(main.rs) and harness (harness.rs), creating init divergence risk
flagged by reviewers on PRs 4, 5, 6, and 7.

Add MainState::new(MainStateParams) that takes the 7 board/chip
parameters that actually differ between contexts. Both firmware and
harness now call this single constructor.

Add MainState::apply_motor_config() to share the EEPROM-derived
PID/KV/voltage config application that was also duplicated.

* Make use_current_limit idempotent and sync config before apply

use_current_limit was only ever set to true, never reset on re-apply.
Changed to unconditional assignment so disabling current_limit in
config correctly clears the flag.

Sync harness.main.config from harness.config before apply_motor_config
in load_eeprom so the current_limit check sees fresh config state.

Coverage Stats

0 of 53 new or added lines in 2 files covered. (0.0%)

1 existing line in 1 file now uncovered.

3248 of 5313 relevant lines covered (61.13%)

593.08 hits per line