addressing nits

Opentrons · Nov 7, 2024 · 911b4da · 911b4da
1 parent 124658f
commit 911b4da
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Showing 2 changed files with 4 additions and 7 deletions.
diff --git a/stm32-modules/include/common/core/linear_motion_system.hpp b/stm32-modules/include/common/core/linear_motion_system.hpp
@@ -5,23 +5,20 @@
 
 namespace lms {
 
-class BeltConfig {
-  public:
+struct BeltConfig {
     static constexpr auto mm_per_rev(float pulley_diameter) -> float {
         return static_cast<float>(pulley_diameter * std::numbers::pi);
     }
 };
 
-class LeadScrewConfig {
-  public:
+struct LeadScrewConfig {
     static constexpr auto mm_per_rev(float lead_screw_pitch,
                                      float gear_reduction_ratio) -> float {
         return lead_screw_pitch / gear_reduction_ratio;
     }
 };
 
-class GearBoxConfig {
-  public:
+struct GearBoxConfig {
     static constexpr auto mm_per_rev(float gear_diameter,
                                      float gear_reduction_ratio) -> float {
         return static_cast<float>((gear_diameter * std::numbers::pi) /

diff --git a/stm32-modules/include/flex-stacker/flex-stacker/motor_task.hpp b/stm32-modules/include/flex-stacker/flex-stacker/motor_task.hpp
@@ -296,7 +296,7 @@ class MotorTask {
         // sent from the driver task so we know we've written to driver
         // successfully
         motor_state(m.motor_id).lms_config.microstep =
-            static_cast<float>(pow(2, m.microsteps_power));
+            pow(2, m.microsteps_power);
         auto response = messages::AcknowledgePrevious{.responding_to_id = m.id};
         static_cast<void>(_task_registry->send_to_address(
             response, Queues::HostCommsAddress));