cleaning

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

lib/MotorControl/motorControl.cpp

@@ -15,6 +15,7 @@
 MotorControl::MotorControl() {
     this->setMinPwm(PWMMIN);
     this->setMaxPwm(PWMMAX);
+    this->loopDelay = DELAY;
 }
 
 void MotorControl::init(uint8_t pwmPin, uint8_t pwmChannel, uint8_t dir_1, uint8_t dir_2) {
@@ -34,20 +35,7 @@ void MotorControl::init(uint8_t pwmPin, uint8_t pwmChannel, uint8_t dir_1, uint8
     ledcWrite(this->pwmChannel, 0);
 }
 
-uint16_t MotorControl::loop() {
-    uint32_t time = millis();
-    uint16_t elapsed_time = time - this->lastMillis;
-
-    //Cancel if delayLoop is not reached
-    if (elapsed_time < delayLoop)
-        return elapsed_time;
-
-    runMotorControl();
-    this->lastMillis = time;
-    return elapsed_time;
-}
-
-void MotorControl::runMotorControl() {
+void MotorControl::run() {
     // Absolute difference between targetPower and power
     uint8_t abs_difference = abs(this->targetPower - this->power);
 
@@ -108,7 +96,7 @@ void MotorControl::setMaxPwm(uint8_t max) {
 
 uint16_t MotorControl::setPowerSteps(uint8_t increment) {
     this->powersteps = increment;
-    return (uint16_t) (delayLoop * ( 100 / powersteps ));
+    return (uint16_t) (this->loopDelay * ( 100 / powersteps ));
 }
 
 void MotorControl::setTargetPower(int8_t power) {
@@ -118,11 +106,6 @@ void MotorControl::setTargetPower(int8_t power) {
         std::cout << " MotorControl::setTargetPower: Invalid Argument - Power: " << power << std::endl;
 }
 
-uint16_t MotorControl::setDelay(uint8_t delayLoop) {
-    this->delayLoop = delayLoop;
-    return (uint16_t) (delayLoop * ( 100 / powersteps ));
-}
-
 void MotorControl::stop() {
     this->targetPower = 0;
 }

lib/MotorControl/motorControl.h

@@ -16,6 +16,8 @@
 #include <iostream>
 #include <Arduino.h>
 
+#include <component.h>
+
 #define DELAY 10
 #define PWMFREQ 16000
 #define PWMRES 8
@@ -28,7 +30,7 @@
  * You can control the acceleration of the motor, for example to
  * prevent a damage on your H-Bridge.
  */
-class MotorControl {
+class MotorControl : public Component {
     public:
         MotorControl();
 
@@ -42,26 +44,6 @@ class MotorControl {
          */
         void init(uint8_t pwmPin, uint8_t pwmChannel, uint8_t dir_1, uint8_t dir_2);
 
-        /**
-         * @brief Calls runMotorControl() to update the pwm signal
-         * 
-         * This function should be called every mainloop. If the delayLoop is not reached, than the
-         * functions returns immediately.
-         * @see runMotorControl()
-         * @see DELAY
-         * @return time since the last call in Milliseconds
-         */
-        uint16_t loop();
-
-        /**
-         * @brief Normally called repeatedly by loop() to update the pwm signal.
-         * 
-         * Checks the difference between target power and current power to
-         * increase or decrease the duty cycle. The amount of decrease or increase
-         * is set by setPowerSetps() (default = 2).
-         */
-        void runMotorControl();
-
         /**
          * @brief Set the minimum duty cycle
          * 
@@ -104,19 +86,6 @@ class MotorControl {
          */
         void setTargetPower(int8_t power);
 
-        /**
-         * @brief Set the min delayLoop between each loop
-         * 
-         * Note the dependency between delayLoop and
-         * setPowerSteps().
-         * 
-         * @see setPowerSteps()
-         * 
-         * @param delayLoop time in Milliseconds
-         * @return time from 0% power to 100% power in Milliseconds
-         */
-        uint16_t setDelay(uint8_t delayLoop);
-
         /**
          * @brief Stops the motor like setTargetPower() to 0
          * 
@@ -149,6 +118,7 @@ class MotorControl {
         bool isAccelerationNegative();
 
     private:
+        void run() override;
         void setRealPower(int8_t power);
         void increasePower(int8_t power);
 
@@ -164,10 +134,7 @@ class MotorControl {
         uint8_t dutycycleMax;
         uint8_t dir_1;
         uint8_t dir_2;
-        uint8_t delayLoop = DELAY;
         uint8_t powersteps = POWERSTEPS;
-
-        uint32_t lastMillis = 0;
         
 };