Remove duplicated code in branches

Gold856 · Jun 19, 2024 · 8dd447c · 8dd447c
1 parent 11dbd29
commit 8dd447c
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Showing 4 changed files with 34 additions and 84 deletions.
diff --git a/wpilibc/src/main/native/cpp/ADIS16448_IMU.cpp b/wpilibc/src/main/native/cpp/ADIS16448_IMU.cpp
@@ -378,29 +378,16 @@ bool ADIS16448_IMU::SwitchToStandardSPI() {
     m_spi->SetClockRate(1000000);
     m_spi->SetMode(frc::SPI::Mode::kMode3);
     m_spi->SetChipSelectActiveLow();
-    ReadRegister(PROD_ID);  // Dummy read
-
-    // Validate the product ID
-    uint16_t prod_id = ReadRegister(PROD_ID);
-    if (prod_id != 16448) {
-      REPORT_ERROR("Could not find ADIS16448!");
-      Close();
-      return false;
-    }
-    return true;
-  } else {
-    // Maybe the SPI port is active, but not in auto SPI mode? Try to read the
-    // product ID.
-    ReadRegister(PROD_ID);  // Dummy read
-    uint16_t prod_id = ReadRegister(PROD_ID);
-    if (prod_id != 16448) {
-      REPORT_ERROR("Could not find ADIS16448!");
-      Close();
-      return false;
-    } else {
-      return true;
-    }
   }
+  ReadRegister(PROD_ID);  // Dummy read
+  // Validate the product ID
+  uint16_t prod_id = ReadRegister(PROD_ID);
+  if (prod_id != 16448) {
+    REPORT_ERROR("Could not find ADIS16448!");
+    Close();
+    return false;
+  }
+  return true;
 }
 
 void ADIS16448_IMU::InitOffsetBuffer(int size) {

diff --git a/wpilibc/src/main/native/cpp/ADIS16470_IMU.cpp b/wpilibc/src/main/native/cpp/ADIS16470_IMU.cpp
@@ -356,29 +356,16 @@ bool ADIS16470_IMU::SwitchToStandardSPI() {
     m_spi->SetClockRate(2000000);
     m_spi->SetMode(frc::SPI::Mode::kMode3);
     m_spi->SetChipSelectActiveLow();
-    ReadRegister(PROD_ID);  // Dummy read
-
-    // Validate the product ID
-    uint16_t prod_id = ReadRegister(PROD_ID);
-    if (prod_id != 16982 && prod_id != 16470) {
-      REPORT_ERROR("Could not find ADIS16470!");
-      Close();
-      return false;
-    }
-    return true;
-  } else {
-    // Maybe the SPI port is active, but not in auto SPI mode? Try to read the
-    // product ID.
-    ReadRegister(PROD_ID);  // Dummy read
-    uint16_t prod_id = ReadRegister(PROD_ID);
-    if (prod_id != 16982 && prod_id != 16470) {
-      REPORT_ERROR("Could not find ADIS16470!");
-      Close();
-      return false;
-    } else {
-      return true;
-    }
   }
+  ReadRegister(PROD_ID);  // Dummy read
+  // Validate the product ID
+  uint16_t prod_id = ReadRegister(PROD_ID);
+  if (prod_id != 16982 && prod_id != 16470) {
+    REPORT_ERROR("Could not find ADIS16470!");
+    Close();
+    return false;
+  }
+  return true;
 }
 
 /**

diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/ADIS16448_IMU.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/ADIS16448_IMU.java
@@ -424,27 +424,15 @@ private boolean switchToStandardSPI() {
       m_spi.setClockRate(1000000);
       m_spi.setMode(SPI.Mode.kMode3);
       m_spi.setChipSelectActiveLow();
-      readRegister(PROD_ID); // Dummy read
-
-      // Validate the product ID
-      if (readRegister(PROD_ID) != 16448) {
-        DriverStation.reportError("Could not find ADIS16448", false);
-        close();
-        return false;
-      }
-      return true;
-    } else {
-      // Maybe the SPI port is active, but not in auto SPI mode? Try to read the
-      // product ID.
-      readRegister(PROD_ID); // dummy read
-      if (readRegister(PROD_ID) != 16448) {
-        DriverStation.reportError("Could not find an ADIS16448", false);
-        close();
-        return false;
-      } else {
-        return true;
-      }
     }
+    readRegister(PROD_ID); // Dummy read
+    // Validate the product ID
+    if (readRegister(PROD_ID) != 16448) {
+      DriverStation.reportError("Could not find ADIS16448", false);
+      close();
+      return false;
+    }
+    return true;
   }
 
   boolean switchToAutoSPI() {

diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/ADIS16470_IMU.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/ADIS16470_IMU.java
@@ -478,27 +478,15 @@ private boolean switchToStandardSPI() {
       m_spi.setClockRate(2000000);
       m_spi.setMode(SPI.Mode.kMode3);
       m_spi.setChipSelectActiveLow();
-      readRegister(PROD_ID); // Dummy read
-
-      // Validate the product ID
-      if (readRegister(PROD_ID) != 16982) {
-        DriverStation.reportError("Could not find ADIS16470", false);
-        close();
-        return false;
-      }
-      return true;
-    } else {
-      // Maybe the SPI port is active, but not in auto SPI mode? Try to read the
-      // product ID.
-      readRegister(PROD_ID); // dummy read
-      if (readRegister(PROD_ID) != 16982) {
-        DriverStation.reportError("Could not find an ADIS16470", false);
-        close();
-        return false;
-      } else {
-        return true;
-      }
     }
+    readRegister(PROD_ID); // Dummy read
+    // Validate the product ID
+    if (readRegister(PROD_ID) != 16982) {
+      DriverStation.reportError("Could not find an ADIS16470", false);
+      close();
+      return false;
+    }
+    return true;
   }
 
   /**