cleaning

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

src/driveModi/driveModi.h

@@ -12,24 +12,44 @@
 #ifndef DRIVEMODI_H
 #define DRIVEMODI_H
 
+#include "component.h"
+#include "moveControl.h"
+
 /**
  * @brief Baseclass to build DriveModi
  * 
  * This class must be inherited by other classes which want to be
  * act as a DriveModi, because the DriveModi structure uses polymorphism.
  */
-class DriveModi {
+class DriveModi : public Component {
     public:
-        DriveModi(){}
-        virtual ~DriveModi(){}
+        DriveModi(MoveControl* moveControl);
+        virtual ~DriveModi();
 
         /**
-         * @brief This function is called by the DriveManager
+         * @brief Set the max speed
          * 
-         * All actions from a DriveMode have to called from
-         * this function or the PS3-Controller
+         * @param maxSpeed in m/s 
          */
-        virtual void loop() = 0;
+        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; }
+
+    protected:
+        MoveControl *moveControl;
+        double maxForwardSpeed = 1;
+        double maxRotationSpeed = 7;
         
 };
 #endif // DRIVEMODI_H