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;
 }