From 2fe0594b977362f1b6c2f6a5d2d9b4aa859a4fe7 Mon Sep 17 00:00:00 2001
From: H1rono <hronok66@gmail.com>
Date: Fri, 17 May 2024 11:21:28 +0900
Subject: [PATCH] :adhesive_bandage: Handle clang-tidy errors

---
 include/utils.hpp       |  2 +-
 src/packet/input.cpp    |  2 ++
 src/packet/output.cpp   |  2 ++
 src/schneider_model.cpp | 13 ++++++++-----
 4 files changed, 13 insertions(+), 6 deletions(-)

diff --git a/include/utils.hpp b/include/utils.hpp
index f65e5a8..2e07da4 100644
--- a/include/utils.hpp
+++ b/include/utils.hpp
@@ -5,7 +5,7 @@
 namespace utils {
 
 /// 円周率π
-constexpr float PI = 3.1415927F;
+constexpr float PI = 3.1415927F;  // NOLINT(readability-identifier-length)
 
 }  // namespace utils
 
diff --git a/src/packet/input.cpp b/src/packet/input.cpp
index 35053bc..31dd422 100644
--- a/src/packet/input.cpp
+++ b/src/packet/input.cpp
@@ -1,8 +1,10 @@
 #include "packet/input.hpp"
 
+// NOLINTBEGIN(bugprone-easily-swappable-parameters): FIXME
 packet::InputValues::InputValues(
     const std::pair<float, float> &joy, const float &volume, const std::array<float, 3> &gyro) :
     joy(joy), volume(volume), gyro(gyro) {}
+// NOLINTEND(bugprone-easily-swappable-parameters)
 
 constexpr auto in_range(const float &value) -> bool {
     return 0 <= value && value <= 1;
diff --git a/src/packet/output.cpp b/src/packet/output.cpp
index da29861..d0b7ea6 100644
--- a/src/packet/output.cpp
+++ b/src/packet/output.cpp
@@ -4,8 +4,10 @@
 
 using float_pair = std::pair<float, float>;
 
+// NOLINTBEGIN(bugprone-easily-swappable-parameters): FIXME
 packet::OutputValues::OutputValues(const float_pair &servo, const float_pair &dc_motor) :
     servo(servo), dc_motor(dc_motor) {}
+// NOLINTEND(bugprone-easily-swappable-parameters)
 
 constexpr auto pi_range(float value) -> bool {
     return 0 <= value && value <= utils::PI;
diff --git a/src/schneider_model.cpp b/src/schneider_model.cpp
index b1dc0b3..bdbb96d 100644
--- a/src/schneider_model.cpp
+++ b/src/schneider_model.cpp
@@ -213,6 +213,10 @@ auto Schneider::set_q(const std::array<float, 3>& gyro) -> packet::OutputValues
     using float_pair = std::pair<float, float>;
     // 系への入力値の実効下限値
     constexpr float input_min = 0.4F;
+    // 3.64 ~= 2200 * PI / 1900
+    // ea3f45b の src/schneider_model.cpp:238 と同様の計算式になるように
+    // TODO: 係数調整
+    constexpr float gyro_coef = 3.64F;
 
     if (abs(this->inputs[0] <= input_min)) {
         this->inputs[0] = 0;
@@ -237,18 +241,16 @@ auto Schneider::set_q(const std::array<float, 3>& gyro) -> packet::OutputValues
 
     float_pair servo_output = this->last_output.servo;
     if (0 < this->inputs[2] && this->inputs[2] < PI) {
-        // 3.64 ~= 2200 * PI / 1900
-        // ea3f45b の src/schneider_model.cpp:238 と同様の計算式になるように
-        // TODO: gyroの係数調整
-        servo_output.first = this->inputs[2] - 3.64 * gyro[2];
+        servo_output.first = this->inputs[2] - gyro_coef * gyro[2];
     }
     if (0 < this->inputs[3] && this->inputs[3] < PI) {
-        servo_output.second = this->inputs[3] + 3.64 * gyro[2];
+        servo_output.second = this->inputs[3] + gyro_coef * gyro[2];
     }
     const packet::OutputValues output(servo_output, fet_output);
     return output;
 }
 
+// NOLINTBEGIN(readability-convert-member-functions-to-static)
 auto Schneider::rotate(const float& volume_value) const -> packet::OutputValues {
     using float_pair = std::pair<float, float>;
     // volumeのしきい値
@@ -261,6 +263,7 @@ auto Schneider::rotate(const float& volume_value) const -> packet::OutputValues
     const packet::OutputValues output(servo_output, {fet_duty, fet_duty});
     return output;
 }
+// NOLINTEND(readability-convert-member-functions-to-static)
 
 auto Schneider::stop_fet() const -> packet::OutputValues {
     packet::OutputValues output(this->last_output.servo, {0, 0});