cleaning

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

src/driveModi/Modi/Autopilot/autopilot.cpp

@@ -40,24 +40,9 @@ Autopilot::~Autopilot() {
     // this->navigation->getNTRIPClient()->setActivated(false);
 }
 
-void Autopilot::loop() {
-    if (this->state < State::SelfDriving)
-        ManualControl::loop();
-
-    if (millis() - this->displayUpdateLastMillis > this->displayUpdateDelayMillis) {
-        this->updateDisplay = true;
-        this->displayUpdateLastMillis = millis();
-    }
-
-    if (millis() - this->loopLastMillis < loopDelayMillis)
-        return;
-
+void Autopilot::run() {
     this->routeInfo = this->navigation->getRouteInfo();
-    this->runAutopilot();
-    this->loopLastMillis = millis();
-}
 
-void Autopilot::runAutopilot() {
     switch (this->state) {
         case State::InsufficientAccuracy:
             this->askNavigationForOrder();
@@ -75,12 +60,14 @@ void Autopilot::runAutopilot() {
             break;
 
         case State::GetToStartPoint:
+            ManualControl::run();
             this->askNavigationForOrder();
             if (this->routeInfo.currentPoint >= 2)
                 this->state = State::SelfDrivingAvailable;
             break;
 
         case State::SelfDrivingAvailable:
+            ManualControl::run();
             this->askNavigationForOrder();
             this->checkButtonInput();
             break;
@@ -140,8 +127,8 @@ void Autopilot::init() {
         this->courseCorrection.distance = 0;
         this->updateDisplay = true;
 
-        this->maxRotationSpeed = 4.5;
-        this->maxForwardSpeed = 1;
+        this->maxRotationSpeed = 7;
+        this->maxForwardSpeed = 1.5;
 }
 
 void Autopilot::drive() {
@@ -221,6 +208,8 @@ void Autopilot::askNavigationForOrder() {
             break;
         
         case Navigation::Status::InsufficientAccuracy:
+            if (this->state == State::InsufficientAccuracy)
+                break;
             this->lastState = this->state;
             this->state = State::InsufficientAccuracy;
             this->moveControl->setSpeed(0);