From ed1725c392af32e865641b4e90f803703d9e008f Mon Sep 17 00:00:00 2001
From: Mats van Reenen <mail@matsvanreenen.nl>
Date: Tue, 2 Jun 2020 09:46:46 +0200
Subject: [PATCH] add enum for motor selection

---
 motionController.c | 18 ++++++------------
 motionController.h |  4 +++-
 2 files changed, 9 insertions(+), 13 deletions(-)

diff --git a/motionController.c b/motionController.c
index fbfcad9..9b2ae05 100644
--- a/motionController.c
+++ b/motionController.c
@@ -172,21 +172,15 @@ void MCInit(){
   MC_read(MC_AMax1);
 }
 
-void MCSetV(uchar m, int v){
+void MCSetV(enum MC_motor m, int v){
+  uchar addr = MC_VTar1 | m;
+
+  // shorten the int
   if(v < 0)
     v |= 0x0800; // set signed bit
   else
     v &= ~0x0800; // remove signed bit
   v &= 0x0FFF; // contraint to 12 bits
-  switch (m){
-    case 1:
-      MC_write(MC_VTar1, v);
-      break;
-    case 2:
-      MC_write(MC_VTar2, v);
-      break;
-    case 3:
-      MC_write(MC_VTar3, v);
-      break;
-  }
+
+  MC_write(addr, v);
 }
diff --git a/motionController.h b/motionController.h
index efaeb20..c391c14 100644
--- a/motionController.h
+++ b/motionController.h
@@ -8,7 +8,9 @@
 #ifndef MOTIONCONTROLLER_H_
 #define MOTIONCONTROLLER_H_
 
+typedef enum MC_motor {MC_MotorR=0x00, MC_MotorL=0x20};
+
 void MCInit();
-void MCSetV(uchar m, int v);
+void MCSetV(enum MC_motor m, int v);
 
 #endif /* MOTIONCONTROLLER_H_ */