cleaning

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

src/driveModi/Modi/ManualControl/manualControl.cpp

@@ -10,25 +10,16 @@
  */
 #include "manualControl.h"
 
-ManualControl::ManualControl(MoveControl *moveControl, const ControlPadInput *input) { 
-    this->moveControl = moveControl;
+ManualControl::ManualControl(MoveControl* moveControl, const ControlPadInput *input)
+                : DriveModi(moveControl) { 
     this->input = input;
-    this->moveControl->setDrivingStatus(MoveControl::Status::Drive);
 }
 
 ManualControl::~ManualControl() {
-    this->moveControl->setSpeed(0);
-    this->moveControl->setRotationSpeed(0);
-    this->moveControl->setDrivingStatus(MoveControl::Status::Stop);
+    
 }
 
-void ManualControl::loop() {
-    if (this->caliCompass)
-        this->caliCompass->loop();
-
-    if (millis() - this->lastMillis < delay)
-        return;
-    
+void ManualControl::run() {    
     switch (this->inputMode) {
         case InputMode::Analog :
             this->analogControl();
@@ -41,8 +32,16 @@ void ManualControl::loop() {
         default:
             break;
     }
+}
 
-    this->lastMillis = millis();
+void ManualControl::setCalibrateCompass(CalibrateCompass *caliCompass) {
+    if (caliCompass) {
+        this->caliCompass = caliCompass;
+        this->addChildComponent(this->caliCompass);
+    } else if (this->caliCompass) {
+        this->removeChildComponent(this->caliCompass);
+        this->caliCompass = caliCompass;
+    }
 }
 
 void ManualControl::switchInputMode() {
@@ -51,19 +50,21 @@ void ManualControl::switchInputMode() {
 
 void ManualControl::analogControl() {
     // Have to be int16_t to avoid overflow (int8_t = 255 - 127 = -128)
-    int16_t y = this->input->x - 127;
-    int16_t x = this->input->y - 127;
+    int16_t x = this->input->x - 127;
+    int16_t y = this->input->y - 127;
 
-    // if (x || y) {
-    //     std::cout << "x: " << (int) this->input->x << " y: " << (int) this->input->y << std::endl;
-    //     std::cout << "x: " << (int) x << " y: " << (int) y << std::endl;
+    // static int counter = 0;
+    // if (counter % 60 == 0) {
+    //     std::cout << "Input: x: " << (int) this->input->x << " y: " << (int) this->input->y << std::endl;
+    //     std::cout << "Output: x: " << (int) x << " y: " << (int) y << std::endl;
     // }
+    // counter++;
 
     double value_per_step = this->maxForwardSpeed * 2 / UINT8_MAX;
-    this->moveControl->setSpeed(-y * value_per_step);
+    this->moveControl->setSpeed(-x * value_per_step);
 
     value_per_step = this->maxRotationSpeed * 2 / UINT8_MAX;
-    this->moveControl->setRotationSpeed(x * value_per_step);
+    this->moveControl->setRotationSpeed(y * value_per_step);
 }
 
 void ManualControl::digitalControl() {

src/driveModi/Modi/ManualControl/manualControl.h

@@ -37,51 +37,9 @@ class ManualControl : public DriveModi {
         };
 
         ManualControl(MoveControl *moveControl, const ControlPadInput *input);
-
-        /**
-         * @brief Destroy the Manual Control object
-         * Set in moveControl speed and rotation to 0 and set DrivingStatus::Stop
-         */
         ~ManualControl();
 
-        /**
-         * @brief Calls analogControl() to update all values.
-         * 
-         * This function should be called every mainloop. If the delay is not reached, than the
-         * functions returns immediately.
-         * @see runSpeedometer()
-         * @see setDelay()
-         */
-        void loop() override;
-
-        /**
-         * @brief Set the min delay between each loop
-         * 
-         * @param delay_ time in Milliseconds
-         */
-        void setDelay(uint8_t delay_) { delay = delay_; }
-
-        /**
-         * @brief Set the max speed
-         * 
-         * @param maxSpeed in m/s 
-         */
-        void setMaxSpeed(double maxForwardSpeed) { maxForwardSpeed = maxForwardSpeed; }
-        void increaseMaxSpeed(double increase = 0.1) { maxForwardSpeed += increase; }
-        void decreaseMaxSpeed(double increase = 0.1) { maxForwardSpeed -= increase; }
-        double getMaxSpeed() { return this->maxForwardSpeed; }
-        
-        /**
-         * @brief Set the max rotation
-         * 
-         * @param maxRotation in rad/s (maybe) 
-         */
-        void setMaxRotation(double maxRotation) { maxRotationSpeed = maxRotation; }
-        void increaseMaxRotation(double increase = 0.1) { maxRotationSpeed += increase; }
-        void decreaseMaxRotation(double increase = 0.1) { maxRotationSpeed -= increase; }
-        double getMaxRotation() { return this->maxRotationSpeed; }
-
-        void setCalibrateCompass(CalibrateCompass* val = nullptr) { this->caliCompass = val; }
+        void setCalibrateCompass(CalibrateCompass* caliCompass = nullptr);
 
         void switchInputMode();
         void setInputMode(InputMode mode) { this->inputMode = mode; }
@@ -92,22 +50,14 @@ class ManualControl : public DriveModi {
         uint16_t getDutycycleRight() const { return this->moveControl->getDutycycleRight(); }
 
     protected:
-        MoveControl *moveControl;
+        void run() override;
         const ControlPadInput* input;
-        double maxForwardSpeed = 1;
-        double maxRotationSpeed = 7;
 
     private:
-        /**
-         * @brief Noramly called repeatedly by loop() to calcluate new values.
-         * Set new values for speed and rotation in moveControl
-         */
         void analogControl();
         void digitalControl();
 
         bool lastLoopTurned = false;
-        uint8_t delay = 10;
-        uint32_t lastMillis = 0;
         CalibrateCompass* caliCompass = nullptr;
         DirectionChangeWrapper* directionChangeWrapper = nullptr;
         InputMode inputMode = InputMode::Analog;