cleaning

refactore
all components now have a base class compnent for loop functions

include/moveControl.h

@@ -20,6 +20,7 @@
 #include "speedometer.h"
 #include "moveControlConfig.h"
 #include "debugTimes.h"
+#include "component.h"
 
 
 /**
@@ -30,7 +31,7 @@
  * given target speed to calculate a new duty cycle for the motors.
  * 
  */
-class MoveControl {
+class MoveControl : public Component {
     public:
         /**
          * @brief used to set driving status
@@ -58,22 +59,6 @@ class MoveControl {
          */
         ~MoveControl();
 
-        /**
-         * @brief Calls runMoveControl() to update all Values.
-         * 
-         * Besides that this function calls the loop() functions for the motors and encodes.
-         * This function should be called every mainloop. If the delay is not reached, than the
-         * functions returns immediately.
-         * @see runMoveControl()
-         * @see setDelay()
-         */
-        void loop();
-
-        /**
-         * @brief Normally called repeatedly by loop() to calculate new values.
-         */
-        void runMoveControl();
-
         /**
          * @brief Set the Status
          * 
@@ -159,36 +144,11 @@ class MoveControl {
         uint16_t getDutycycleLeft() const { return this->left_motor->getDutycycle(); }
         uint16_t getDutycycleRight() const { return this->right_motor->getDutycycle(); }
 
-        /**
-         * @brief Set the min delay between each loop
-         * 
-         * @param delay_ time in Milliseconds
-         */
-        void setDelay(uint8_t delay) { this->delay = delay; }
-
     private:
+        void run() override;
         void setSpeedometerDirection(Speedometer *speedometer, double value);
-
-        /**
-         * @brief Converts values into wheel speeds
-         * 
-         * Converts target speed and target rotationspeed into
-         * wheel speeds
-         */
         void calcTargetWheelSpeed();
-
-        /**
-         * @brief Set the target power to motors
-         * 
-         * Checks if the driving_status is set to Drive.
-         * If yes, then the motors get the pid_out values as targetpower.
-         * If no, then the motors target power is set to zero.
-         */
         void regulateMotors();
-
-        /**
-         * @brief Updates the wheel speeds with speedometer
-         */
         void updateCurrentWheelSpeed();
 
         MotorControl *left_motor;
@@ -210,11 +170,9 @@ class MoveControl {
         double left_pid_out;
         double right_pid_out;
 
-        uint8_t delay = 20;
         uint8_t overTimeCounter = 0;
         uint8_t overTimeMax = 100;
         int8_t rawPowerLeft = 0;
         int8_t rawPowerRight = 0;
-        uint32_t lastMillis = 0;
 };
 #endif // MOVE_CONTROL_H