cleaning

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

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;