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Opentrons · Aug 8, 2024 · 33a621b · 33a621b
1 parent 17809d9
commit 33a621b
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Showing 3 changed files with 12 additions and 10 deletions.
diff --git a/stm32-modules/flex-stacker/firmware/main.cpp b/stm32-modules/flex-stacker/firmware/main.cpp
@@ -3,8 +3,8 @@
 #include "firmware/freertos_tasks.hpp"
 #include "firmware/system_stm32g4xx.h"
 #include "ot_utils/freertos/freertos_task.hpp"
-#include "task.h"
 #include "systemwide.h"
+#include "task.h"
 
 using EntryPoint = std::function<void(tasks::FirmwareTasks::QueueAggregator *)>;
 

diff --git a/stm32-modules/flex-stacker/firmware/motor_control/freertos_motor_task.cpp b/stm32-modules/flex-stacker/firmware/motor_control/freertos_motor_task.cpp
@@ -3,18 +3,19 @@
 #include "firmware/motor_hardware.h"
 #include "firmware/motor_policy.hpp"
 #include "flex-stacker/motor_task.hpp"
-#include "ot_utils/freertos/freertos_timer.hpp"
 #include "motor_interrupt.hpp"
-#include "systemwide.h"
+#include "ot_utils/freertos/freertos_timer.hpp"
 #include "stm32g4xx_it.h"
+#include "systemwide.h"
 
 namespace motor_control_task {
 
-
-static auto x_motor_interrupt = motor_interrupt_controller::MotorInterruptController(MotorID::MOTOR_X);
-static auto z_motor_interrupt = motor_interrupt_controller::MotorInterruptController(MotorID::MOTOR_Z);
-static auto l_motor_interrupt = motor_interrupt_controller::MotorInterruptController(MotorID::MOTOR_L);
-
+static auto x_motor_interrupt =
+    motor_interrupt_controller::MotorInterruptController(MotorID::MOTOR_X);
+static auto z_motor_interrupt =
+    motor_interrupt_controller::MotorInterruptController(MotorID::MOTOR_Z);
+static auto l_motor_interrupt =
+    motor_interrupt_controller::MotorInterruptController(MotorID::MOTOR_L);
 
 enum class Notifications : uint8_t {
     INCOMING_MESSAGE = 1,

diff --git a/stm32-modules/include/flex-stacker/firmware/motor_interrupt.hpp b/stm32-modules/include/flex-stacker/firmware/motor_interrupt.hpp
@@ -7,17 +7,18 @@ namespace motor_interrupt_controller {
 
 class MotorInterruptController {
   public:
-    MotorInterruptController(MotorID m_id): m_id(m_id) {}
+    MotorInterruptController(MotorID m_id) : m_id(m_id) {}
     void tick() {
         unstep_motor(m_id);
         step_count = (step_count + 1) % 20000;
         if (step_count == 0) {
             step_motor(m_id);
         }
     }
+
   private:
     MotorID m_id;
     uint32_t step_count = 0;
 };
 
-}  // namespace motor_driver_policy
+}  // namespace motor_interrupt_controller