added pid settings to menu

.VSCodeCounter/2022-01-19_11-26-30/details.md

@@ -0,0 +1,66 @@
+# Details
+
+Date : 2022-01-19 11:26:30
+
+Directory c:\Users\alex1\git\projektarbeit
+
+Total : 51 files,  1864 codes, 867 comments, 492 blanks, all 3223 lines
+
+[summary](results.md) / details / [diff summary](diff.md) / [diff details](diff-details.md)
+
+## Files
+| filename | language | code | comment | blank | total |
+| :--- | :--- | ---: | ---: | ---: | ---: |
+| [debugMqtt/hw1/main.py](/debugMqtt/hw1/main.py) | Python | 15 | 2 | 10 | 27 |
+| [debugMqtt/hw1/main_debug.py](/debugMqtt/hw1/main_debug.py) | Python | 12 | 2 | 10 | 24 |
+| [debugMqtt/rhede/main.py](/debugMqtt/rhede/main.py) | Python | 16 | 2 | 10 | 28 |
+| [debugMqtt/rhede/main_debug.py](/debugMqtt/rhede/main_debug.py) | Python | 13 | 2 | 10 | 25 |
+| [doc/Diagrams/classdiagramm.uxf](/doc/Diagrams/classdiagramm.uxf) | umlet | 95 | 0 | 0 | 95 |
+| [doc/Diagrams/statesAutopilot.uxf](/doc/Diagrams/statesAutopilot.uxf) | umlet | 389 | 0 | 2 | 391 |
+| [include/config.h](/include/config.h) | C++ | 3 | 3 | 5 | 11 |
+| [include/moveControl.h](/include/moveControl.h) | C++ | 44 | 104 | 21 | 169 |
+| [include/moveControlConfig.h](/include/moveControlConfig.h) | C++ | 23 | 18 | 3 | 44 |
+| [include/network.h](/include/network.h) | C++ | 23 | 10 | 9 | 42 |
+| [include/networkConfig.h](/include/networkConfig.h) | C++ | 54 | 5 | 5 | 64 |
+| [include/route.h](/include/route.h) | C++ | 0 | 39 | 14 | 53 |
+| [lib/Illumination/underfloorLighting.cpp](/lib/Illumination/underfloorLighting.cpp) | C++ | 0 | 0 | 1 | 1 |
+| [lib/Illumination/underfloorLighting.h](/lib/Illumination/underfloorLighting.h) | C++ | 0 | 0 | 1 | 1 |
+| [lib/MQTT/debugMqtt.cpp](/lib/MQTT/debugMqtt.cpp) | C++ | 64 | 12 | 15 | 91 |
+| [lib/MQTT/debugMqtt.h](/lib/MQTT/debugMqtt.h) | C++ | 35 | 110 | 14 | 159 |
+| [lib/Menu/menu.cpp](/lib/Menu/menu.cpp) | C++ | 78 | 13 | 13 | 104 |
+| [lib/Menu/menu.h](/lib/Menu/menu.h) | C++ | 24 | 12 | 12 | 48 |
+| [lib/Menu/menuAction.cpp](/lib/Menu/menuAction.cpp) | C++ | 37 | 10 | 8 | 55 |
+| [lib/Menu/menuAction.h](/lib/Menu/menuAction.h) | C++ | 21 | 10 | 7 | 38 |
+| [lib/Menu/menuControl.h](/lib/Menu/menuControl.h) | C++ | 10 | 10 | 3 | 23 |
+| [lib/Menu/pidSettings.cpp](/lib/Menu/pidSettings.cpp) | C++ | 9 | 10 | 10 | 29 |
+| [lib/Menu/pidSettings.h](/lib/Menu/pidSettings.h) | C++ | 15 | 10 | 5 | 30 |
+| [lib/MotorControl/motorControl.cpp](/lib/MotorControl/motorControl.cpp) | C++ | 144 | 24 | 33 | 201 |
+| [lib/MotorControl/motorControl.h](/lib/MotorControl/motorControl.h) | C++ | 46 | 101 | 20 | 167 |
+| [lib/Navigation/coordinate.cpp](/lib/Navigation/coordinate.cpp) | C++ | 1 | 0 | 2 | 3 |
+| [lib/Navigation/coordinate.h](/lib/Navigation/coordinate.h) | C++ | 14 | 10 | 7 | 31 |
+| [lib/Navigation/navigation.cpp](/lib/Navigation/navigation.cpp) | C++ | 1 | 0 | 2 | 3 |
+| [lib/Navigation/navigation.h](/lib/Navigation/navigation.h) | C++ | 15 | 10 | 8 | 33 |
+| [lib/Speedometer/speedometer.cpp](/lib/Speedometer/speedometer.cpp) | C++ | 81 | 12 | 21 | 114 |
+| [lib/Speedometer/speedometer.h](/lib/Speedometer/speedometer.h) | C++ | 33 | 67 | 20 | 120 |
+| [lib/Times/debugTimes.cpp](/lib/Times/debugTimes.cpp) | C++ | 15 | 10 | 4 | 29 |
+| [lib/Times/debugTimes.h](/lib/Times/debugTimes.h) | C++ | 15 | 38 | 10 | 63 |
+| [platformio.ini](/platformio.ini) | Ini | 14 | 9 | 2 | 25 |
+| [src/driveModi/Modi/Autopilot/autopilot.cpp](/src/driveModi/Modi/Autopilot/autopilot.cpp) | C++ | 7 | 0 | 4 | 11 |
+| [src/driveModi/Modi/Autopilot/autopilot.h](/src/driveModi/Modi/Autopilot/autopilot.h) | C++ | 18 | 0 | 8 | 26 |
+| [src/driveModi/Modi/CaptureRoute/captureRoute.cpp](/src/driveModi/Modi/CaptureRoute/captureRoute.cpp) | C++ | 7 | 8 | 7 | 22 |
+| [src/driveModi/Modi/CaptureRoute/captureRoute.h](/src/driveModi/Modi/CaptureRoute/captureRoute.h) | C++ | 12 | 3 | 6 | 21 |
+| [src/driveModi/Modi/ConsolControl/consolControl.cpp](/src/driveModi/Modi/ConsolControl/consolControl.cpp) | C++ | 36 | 0 | 7 | 43 |
+| [src/driveModi/Modi/ConsolControl/consolControl.h](/src/driveModi/Modi/ConsolControl/consolControl.h) | C++ | 17 | 0 | 7 | 24 |
+| [src/driveModi/Modi/ManualControl/manualControl.cpp](/src/driveModi/Modi/ManualControl/manualControl.cpp) | C++ | 28 | 10 | 8 | 46 |
+| [src/driveModi/Modi/ManualControl/manualControl.h](/src/driveModi/Modi/ManualControl/manualControl.h) | C++ | 22 | 56 | 13 | 91 |
+| [src/driveModi/Modi/TestMode/testMode.cpp](/src/driveModi/Modi/TestMode/testMode.cpp) | C++ | 0 | 0 | 1 | 1 |
+| [src/driveModi/Modi/TestMode/testMode.h](/src/driveModi/Modi/TestMode/testMode.h) | C++ | 0 | 0 | 1 | 1 |
+| [src/driveModi/driveManager.cpp](/src/driveModi/driveManager.cpp) | C++ | 44 | 11 | 18 | 73 |
+| [src/driveModi/driveManager.h](/src/driveModi/driveManager.h) | C++ | 29 | 11 | 11 | 51 |
+| [src/driveModi/driveModi.h](/src/driveModi/driveModi.h) | C++ | 9 | 10 | 3 | 22 |
+| [src/main.cpp](/src/main.cpp) | C++ | 107 | 6 | 26 | 139 |
+| [src/moveControl.cpp](/src/moveControl.cpp) | C++ | 105 | 5 | 26 | 136 |
+| [src/network.cpp](/src/network.cpp) | C++ | 64 | 17 | 14 | 95 |
+| [src/route.cpp](/src/route.cpp) | C++ | 0 | 65 | 15 | 80 |
+
+[summary](results.md) / details / [diff summary](diff.md) / [diff details](diff-details.md)

.VSCodeCounter/2022-01-19_11-26-30/diff-details.md

@@ -0,0 +1,15 @@
+# Diff Details
+
+Date : 2022-01-19 11:26:30
+
+Directory c:\Users\alex1\git\projektarbeit
+
+Total : 0 files,  0 codes, 0 comments, 0 blanks, all 0 lines
+
+[summary](results.md) / [details](details.md) / [diff summary](diff.md) / diff details
+
+## Files
+| filename | language | code | comment | blank | total |
+| :--- | :--- | ---: | ---: | ---: | ---: |
+
+[summary](results.md) / [details](details.md) / [diff summary](diff.md) / diff details

.VSCodeCounter/2022-01-19_11-26-30/diff.csv

@@ -0,0 +1,2 @@
+"filename", "language", "", "comment", "blank", "total"
+"Total", "-", , 0, 0, 0

.VSCodeCounter/2022-01-19_11-26-30/diff.md

@@ -0,0 +1,19 @@
+# Diff Summary
+
+Date : 2022-01-19 11:26:30
+
+Directory c:\Users\alex1\git\projektarbeit
+
+Total : 0 files,  0 codes, 0 comments, 0 blanks, all 0 lines
+
+[summary](results.md) / [details](details.md) / diff summary / [diff details](diff-details.md)
+
+## Languages
+| language | files | code | comment | blank | total |
+| :--- | ---: | ---: | ---: | ---: | ---: |
+
+## Directories
+| path | files | code | comment | blank | total |
+| :--- | ---: | ---: | ---: | ---: | ---: |
+
+[summary](results.md) / [details](details.md) / diff summary / [diff details](diff-details.md)

.VSCodeCounter/2022-01-19_11-26-30/diff.txt

@@ -0,0 +1,22 @@
+Date : 2022-01-19 11:26:30
+Directory : c:\Users\alex1\git\projektarbeit
+Total : 0 files,  0 codes, 0 comments, 0 blanks, all 0 lines
+
+Languages
++----------+------------+------------+------------+------------+------------+
+| language | files      | code       | comment    | blank      | total      |
++----------+------------+------------+------------+------------+------------+
++----------+------------+------------+------------+------------+------------+
+
+Directories
++------+------------+------------+------------+------------+------------+
+| path | files      | code       | comment    | blank      | total      |
++------+------------+------------+------------+------------+------------+
++------+------------+------------+------------+------------+------------+
+
+Files
++----------+----------+------------+------------+------------+------------+
+| filename | language | code       | comment    | blank      | total      |
++----------+----------+------------+------------+------------+------------+
+| Total    |          |          0 |          0 |          0 |          0 |
++----------+----------+------------+------------+------------+------------+

.VSCodeCounter/2022-01-19_11-26-30/results.csv

@@ -0,0 +1,53 @@
+"filename", "language", "C++", "Ini", "Python", "umlet", "comment", "blank", "total"
+"c:\Users\alex1\git\projektarbeit\debugMqtt\hw1\main.py", "Python", 0, 0, 15, 0, 2, 10, 27
+"c:\Users\alex1\git\projektarbeit\debugMqtt\hw1\main_debug.py", "Python", 0, 0, 12, 0, 2, 10, 24
+"c:\Users\alex1\git\projektarbeit\debugMqtt\rhede\main.py", "Python", 0, 0, 16, 0, 2, 10, 28
+"c:\Users\alex1\git\projektarbeit\debugMqtt\rhede\main_debug.py", "Python", 0, 0, 13, 0, 2, 10, 25
+"c:\Users\alex1\git\projektarbeit\doc\Diagrams\classdiagramm.uxf", "umlet", 0, 0, 0, 95, 0, 0, 95
+"c:\Users\alex1\git\projektarbeit\doc\Diagrams\statesAutopilot.uxf", "umlet", 0, 0, 0, 389, 0, 2, 391
+"c:\Users\alex1\git\projektarbeit\include\config.h", "C++", 3, 0, 0, 0, 3, 5, 11
+"c:\Users\alex1\git\projektarbeit\include\moveControl.h", "C++", 44, 0, 0, 0, 104, 21, 169
+"c:\Users\alex1\git\projektarbeit\include\moveControlConfig.h", "C++", 23, 0, 0, 0, 18, 3, 44
+"c:\Users\alex1\git\projektarbeit\include\network.h", "C++", 23, 0, 0, 0, 10, 9, 42
+"c:\Users\alex1\git\projektarbeit\include\networkConfig.h", "C++", 54, 0, 0, 0, 5, 5, 64
+"c:\Users\alex1\git\projektarbeit\include\route.h", "C++", 0, 0, 0, 0, 39, 14, 53
+"c:\Users\alex1\git\projektarbeit\lib\Illumination\underfloorLighting.cpp", "C++", 0, 0, 0, 0, 0, 1, 1
+"c:\Users\alex1\git\projektarbeit\lib\Illumination\underfloorLighting.h", "C++", 0, 0, 0, 0, 0, 1, 1
+"c:\Users\alex1\git\projektarbeit\lib\MQTT\debugMqtt.cpp", "C++", 64, 0, 0, 0, 12, 15, 91
+"c:\Users\alex1\git\projektarbeit\lib\MQTT\debugMqtt.h", "C++", 35, 0, 0, 0, 110, 14, 159
+"c:\Users\alex1\git\projektarbeit\lib\Menu\menu.cpp", "C++", 78, 0, 0, 0, 13, 13, 104
+"c:\Users\alex1\git\projektarbeit\lib\Menu\menu.h", "C++", 24, 0, 0, 0, 12, 12, 48
+"c:\Users\alex1\git\projektarbeit\lib\Menu\menuAction.cpp", "C++", 37, 0, 0, 0, 10, 8, 55
+"c:\Users\alex1\git\projektarbeit\lib\Menu\menuAction.h", "C++", 21, 0, 0, 0, 10, 7, 38
+"c:\Users\alex1\git\projektarbeit\lib\Menu\menuControl.h", "C++", 10, 0, 0, 0, 10, 3, 23
+"c:\Users\alex1\git\projektarbeit\lib\Menu\pidSettings.cpp", "C++", 9, 0, 0, 0, 10, 10, 29
+"c:\Users\alex1\git\projektarbeit\lib\Menu\pidSettings.h", "C++", 15, 0, 0, 0, 10, 5, 30
+"c:\Users\alex1\git\projektarbeit\lib\MotorControl\motorControl.cpp", "C++", 144, 0, 0, 0, 24, 33, 201
+"c:\Users\alex1\git\projektarbeit\lib\MotorControl\motorControl.h", "C++", 46, 0, 0, 0, 101, 20, 167
+"c:\Users\alex1\git\projektarbeit\lib\Navigation\coordinate.cpp", "C++", 1, 0, 0, 0, 0, 2, 3
+"c:\Users\alex1\git\projektarbeit\lib\Navigation\coordinate.h", "C++", 14, 0, 0, 0, 10, 7, 31
+"c:\Users\alex1\git\projektarbeit\lib\Navigation\navigation.cpp", "C++", 1, 0, 0, 0, 0, 2, 3
+"c:\Users\alex1\git\projektarbeit\lib\Navigation\navigation.h", "C++", 15, 0, 0, 0, 10, 8, 33
+"c:\Users\alex1\git\projektarbeit\lib\Speedometer\speedometer.cpp", "C++", 81, 0, 0, 0, 12, 21, 114
+"c:\Users\alex1\git\projektarbeit\lib\Speedometer\speedometer.h", "C++", 33, 0, 0, 0, 67, 20, 120
+"c:\Users\alex1\git\projektarbeit\lib\Times\debugTimes.cpp", "C++", 15, 0, 0, 0, 10, 4, 29
+"c:\Users\alex1\git\projektarbeit\lib\Times\debugTimes.h", "C++", 15, 0, 0, 0, 38, 10, 63
+"c:\Users\alex1\git\projektarbeit\platformio.ini", "Ini", 0, 14, 0, 0, 9, 2, 25
+"c:\Users\alex1\git\projektarbeit\src\driveModi\Modi\Autopilot\autopilot.cpp", "C++", 7, 0, 0, 0, 0, 4, 11
+"c:\Users\alex1\git\projektarbeit\src\driveModi\Modi\Autopilot\autopilot.h", "C++", 18, 0, 0, 0, 0, 8, 26
+"c:\Users\alex1\git\projektarbeit\src\driveModi\Modi\CaptureRoute\captureRoute.cpp", "C++", 7, 0, 0, 0, 8, 7, 22
+"c:\Users\alex1\git\projektarbeit\src\driveModi\Modi\CaptureRoute\captureRoute.h", "C++", 12, 0, 0, 0, 3, 6, 21
+"c:\Users\alex1\git\projektarbeit\src\driveModi\Modi\ConsolControl\consolControl.cpp", "C++", 36, 0, 0, 0, 0, 7, 43
+"c:\Users\alex1\git\projektarbeit\src\driveModi\Modi\ConsolControl\consolControl.h", "C++", 17, 0, 0, 0, 0, 7, 24
+"c:\Users\alex1\git\projektarbeit\src\driveModi\Modi\ManualControl\manualControl.cpp", "C++", 28, 0, 0, 0, 10, 8, 46
+"c:\Users\alex1\git\projektarbeit\src\driveModi\Modi\ManualControl\manualControl.h", "C++", 22, 0, 0, 0, 56, 13, 91
+"c:\Users\alex1\git\projektarbeit\src\driveModi\Modi\TestMode\testMode.cpp", "C++", 0, 0, 0, 0, 0, 1, 1
+"c:\Users\alex1\git\projektarbeit\src\driveModi\Modi\TestMode\testMode.h", "C++", 0, 0, 0, 0, 0, 1, 1
+"c:\Users\alex1\git\projektarbeit\src\driveModi\driveManager.cpp", "C++", 44, 0, 0, 0, 11, 18, 73
+"c:\Users\alex1\git\projektarbeit\src\driveModi\driveManager.h", "C++", 29, 0, 0, 0, 11, 11, 51
+"c:\Users\alex1\git\projektarbeit\src\driveModi\driveModi.h", "C++", 9, 0, 0, 0, 10, 3, 22
+"c:\Users\alex1\git\projektarbeit\src\main.cpp", "C++", 107, 0, 0, 0, 6, 26, 139
+"c:\Users\alex1\git\projektarbeit\src\moveControl.cpp", "C++", 105, 0, 0, 0, 5, 26, 136
+"c:\Users\alex1\git\projektarbeit\src\network.cpp", "C++", 64, 0, 0, 0, 17, 14, 95
+"c:\Users\alex1\git\projektarbeit\src\route.cpp", "C++", 0, 0, 0, 0, 65, 15, 80
+"Total", "-", 1310, 14, 56, 484, 867, 492, 3223

.VSCodeCounter/2022-01-19_11-26-30/results.md

@@ -0,0 +1,46 @@
+# Summary
+
+Date : 2022-01-19 11:26:30
+
+Directory c:\Users\alex1\git\projektarbeit
+
+Total : 51 files,  1864 codes, 867 comments, 492 blanks, all 3223 lines
+
+summary / [details](details.md) / [diff summary](diff.md) / [diff details](diff-details.md)
+
+## Languages
+| language | files | code | comment | blank | total |
+| :--- | ---: | ---: | ---: | ---: | ---: |
+| C++ | 44 | 1,310 | 850 | 448 | 2,608 |
+| umlet | 2 | 484 | 0 | 2 | 486 |
+| Python | 4 | 56 | 8 | 40 | 104 |
+| Ini | 1 | 14 | 9 | 2 | 25 |
+
+## Directories
+| path | files | code | comment | blank | total |
+| :--- | ---: | ---: | ---: | ---: | ---: |
+| . | 51 | 1,864 | 867 | 492 | 3,223 |
+| debugMqtt | 4 | 56 | 8 | 40 | 104 |
+| debugMqtt\hw1 | 2 | 27 | 4 | 20 | 51 |
+| debugMqtt\rhede | 2 | 29 | 4 | 20 | 53 |
+| doc | 2 | 484 | 0 | 2 | 486 |
+| doc\Diagrams | 2 | 484 | 0 | 2 | 486 |
+| include | 6 | 147 | 179 | 57 | 383 |
+| lib | 21 | 658 | 469 | 216 | 1,343 |
+| lib\Illumination | 2 | 0 | 0 | 2 | 2 |
+| lib\MQTT | 2 | 99 | 122 | 29 | 250 |
+| lib\Menu | 7 | 194 | 75 | 58 | 327 |
+| lib\MotorControl | 2 | 190 | 125 | 53 | 368 |
+| lib\Navigation | 4 | 31 | 20 | 19 | 70 |
+| lib\Speedometer | 2 | 114 | 79 | 41 | 234 |
+| lib\Times | 2 | 30 | 48 | 14 | 92 |
+| src | 17 | 505 | 202 | 175 | 882 |
+| src\driveModi | 13 | 229 | 109 | 94 | 432 |
+| src\driveModi\Modi | 10 | 147 | 77 | 62 | 286 |
+| src\driveModi\Modi\Autopilot | 2 | 25 | 0 | 12 | 37 |
+| src\driveModi\Modi\CaptureRoute | 2 | 19 | 11 | 13 | 43 |
+| src\driveModi\Modi\ConsolControl | 2 | 53 | 0 | 14 | 67 |
+| src\driveModi\Modi\ManualControl | 2 | 50 | 66 | 21 | 137 |
+| src\driveModi\Modi\TestMode | 2 | 0 | 0 | 2 | 2 |
+
+summary / [details](details.md) / [diff summary](diff.md) / [diff details](diff-details.md)

.VSCodeCounter/2022-01-19_11-26-30/results.txt

@@ -0,0 +1,100 @@
+Date : 2022-01-19 11:26:30
+Directory : c:\Users\alex1\git\projektarbeit
+Total : 51 files,  1864 codes, 867 comments, 492 blanks, all 3223 lines
+
+Languages
++----------+------------+------------+------------+------------+------------+
+| language | files      | code       | comment    | blank      | total      |
++----------+------------+------------+------------+------------+------------+
+| C++      |         44 |      1,310 |        850 |        448 |      2,608 |
+| umlet    |          2 |        484 |          0 |          2 |        486 |
+| Python   |          4 |         56 |          8 |         40 |        104 |
+| Ini      |          1 |         14 |          9 |          2 |         25 |
++----------+------------+------------+------------+------------+------------+
+
+Directories
++-------------------------------------------------------------------------------------+------------+------------+------------+------------+------------+
+| path                                                                                | files      | code       | comment    | blank      | total      |
++-------------------------------------------------------------------------------------+------------+------------+------------+------------+------------+
+| .                                                                                   |         51 |      1,864 |        867 |        492 |      3,223 |
+| debugMqtt                                                                           |          4 |         56 |          8 |         40 |        104 |
+| debugMqtt\hw1                                                                       |          2 |         27 |          4 |         20 |         51 |
+| debugMqtt\rhede                                                                     |          2 |         29 |          4 |         20 |         53 |
+| doc                                                                                 |          2 |        484 |          0 |          2 |        486 |
+| doc\Diagrams                                                                        |          2 |        484 |          0 |          2 |        486 |
+| include                                                                             |          6 |        147 |        179 |         57 |        383 |
+| lib                                                                                 |         21 |        658 |        469 |        216 |      1,343 |
+| lib\Illumination                                                                    |          2 |          0 |          0 |          2 |          2 |
+| lib\MQTT                                                                            |          2 |         99 |        122 |         29 |        250 |
+| lib\Menu                                                                            |          7 |        194 |         75 |         58 |        327 |
+| lib\MotorControl                                                                    |          2 |        190 |        125 |         53 |        368 |
+| lib\Navigation                                                                      |          4 |         31 |         20 |         19 |         70 |
+| lib\Speedometer                                                                     |          2 |        114 |         79 |         41 |        234 |
+| lib\Times                                                                           |          2 |         30 |         48 |         14 |         92 |
+| src                                                                                 |         17 |        505 |        202 |        175 |        882 |
+| src\driveModi                                                                       |         13 |        229 |        109 |         94 |        432 |
+| src\driveModi\Modi                                                                  |         10 |        147 |         77 |         62 |        286 |
+| src\driveModi\Modi\Autopilot                                                        |          2 |         25 |          0 |         12 |         37 |
+| src\driveModi\Modi\CaptureRoute                                                     |          2 |         19 |         11 |         13 |         43 |
+| src\driveModi\Modi\ConsolControl                                                    |          2 |         53 |          0 |         14 |         67 |
+| src\driveModi\Modi\ManualControl                                                    |          2 |         50 |         66 |         21 |        137 |
+| src\driveModi\Modi\TestMode                                                         |          2 |          0 |          0 |          2 |          2 |
++-------------------------------------------------------------------------------------+------------+------------+------------+------------+------------+
+
+Files
++-------------------------------------------------------------------------------------+----------+------------+------------+------------+------------+
+| filename                                                                            | language | code       | comment    | blank      | total      |
++-------------------------------------------------------------------------------------+----------+------------+------------+------------+------------+
+| c:\Users\alex1\git\projektarbeit\debugMqtt\hw1\main.py                              | Python   |         15 |          2 |         10 |         27 |
+| c:\Users\alex1\git\projektarbeit\debugMqtt\hw1\main_debug.py                        | Python   |         12 |          2 |         10 |         24 |
+| c:\Users\alex1\git\projektarbeit\debugMqtt\rhede\main.py                            | Python   |         16 |          2 |         10 |         28 |
+| c:\Users\alex1\git\projektarbeit\debugMqtt\rhede\main_debug.py                      | Python   |         13 |          2 |         10 |         25 |
+| c:\Users\alex1\git\projektarbeit\doc\Diagrams\classdiagramm.uxf                     | umlet    |         95 |          0 |          0 |         95 |
+| c:\Users\alex1\git\projektarbeit\doc\Diagrams\statesAutopilot.uxf                   | umlet    |        389 |          0 |          2 |        391 |
+| c:\Users\alex1\git\projektarbeit\include\config.h                                   | C++      |          3 |          3 |          5 |         11 |
+| c:\Users\alex1\git\projektarbeit\include\moveControl.h                              | C++      |         44 |        104 |         21 |        169 |
+| c:\Users\alex1\git\projektarbeit\include\moveControlConfig.h                        | C++      |         23 |         18 |          3 |         44 |
+| c:\Users\alex1\git\projektarbeit\include\network.h                                  | C++      |         23 |         10 |          9 |         42 |
+| c:\Users\alex1\git\projektarbeit\include\networkConfig.h                            | C++      |         54 |          5 |          5 |         64 |
+| c:\Users\alex1\git\projektarbeit\include\route.h                                    | C++      |          0 |         39 |         14 |         53 |
+| c:\Users\alex1\git\projektarbeit\lib\Illumination\underfloorLighting.cpp            | C++      |          0 |          0 |          1 |          1 |
+| c:\Users\alex1\git\projektarbeit\lib\Illumination\underfloorLighting.h              | C++      |          0 |          0 |          1 |          1 |
+| c:\Users\alex1\git\projektarbeit\lib\MQTT\debugMqtt.cpp                             | C++      |         64 |         12 |         15 |         91 |
+| c:\Users\alex1\git\projektarbeit\lib\MQTT\debugMqtt.h                               | C++      |         35 |        110 |         14 |        159 |
+| c:\Users\alex1\git\projektarbeit\lib\Menu\menu.cpp                                  | C++      |         78 |         13 |         13 |        104 |
+| c:\Users\alex1\git\projektarbeit\lib\Menu\menu.h                                    | C++      |         24 |         12 |         12 |         48 |
+| c:\Users\alex1\git\projektarbeit\lib\Menu\menuAction.cpp                            | C++      |         37 |         10 |          8 |         55 |
+| c:\Users\alex1\git\projektarbeit\lib\Menu\menuAction.h                              | C++      |         21 |         10 |          7 |         38 |
+| c:\Users\alex1\git\projektarbeit\lib\Menu\menuControl.h                             | C++      |         10 |         10 |          3 |         23 |
+| c:\Users\alex1\git\projektarbeit\lib\Menu\pidSettings.cpp                           | C++      |          9 |         10 |         10 |         29 |
+| c:\Users\alex1\git\projektarbeit\lib\Menu\pidSettings.h                             | C++      |         15 |         10 |          5 |         30 |
+| c:\Users\alex1\git\projektarbeit\lib\MotorControl\motorControl.cpp                  | C++      |        144 |         24 |         33 |        201 |
+| c:\Users\alex1\git\projektarbeit\lib\MotorControl\motorControl.h                    | C++      |         46 |        101 |         20 |        167 |
+| c:\Users\alex1\git\projektarbeit\lib\Navigation\coordinate.cpp                      | C++      |          1 |          0 |          2 |          3 |
+| c:\Users\alex1\git\projektarbeit\lib\Navigation\coordinate.h                        | C++      |         14 |         10 |          7 |         31 |
+| c:\Users\alex1\git\projektarbeit\lib\Navigation\navigation.cpp                      | C++      |          1 |          0 |          2 |          3 |
+| c:\Users\alex1\git\projektarbeit\lib\Navigation\navigation.h                        | C++      |         15 |         10 |          8 |         33 |
+| c:\Users\alex1\git\projektarbeit\lib\Speedometer\speedometer.cpp                    | C++      |         81 |         12 |         21 |        114 |
+| c:\Users\alex1\git\projektarbeit\lib\Speedometer\speedometer.h                      | C++      |         33 |         67 |         20 |        120 |
+| c:\Users\alex1\git\projektarbeit\lib\Times\debugTimes.cpp                           | C++      |         15 |         10 |          4 |         29 |
+| c:\Users\alex1\git\projektarbeit\lib\Times\debugTimes.h                             | C++      |         15 |         38 |         10 |         63 |
+| c:\Users\alex1\git\projektarbeit\platformio.ini                                     | Ini      |         14 |          9 |          2 |         25 |
+| c:\Users\alex1\git\projektarbeit\src\driveModi\Modi\Autopilot\autopilot.cpp         | C++      |          7 |          0 |          4 |         11 |
+| c:\Users\alex1\git\projektarbeit\src\driveModi\Modi\Autopilot\autopilot.h           | C++      |         18 |          0 |          8 |         26 |
+| c:\Users\alex1\git\projektarbeit\src\driveModi\Modi\CaptureRoute\captureRoute.cpp   | C++      |          7 |          8 |          7 |         22 |
+| c:\Users\alex1\git\projektarbeit\src\driveModi\Modi\CaptureRoute\captureRoute.h     | C++      |         12 |          3 |          6 |         21 |
+| c:\Users\alex1\git\projektarbeit\src\driveModi\Modi\ConsolControl\consolControl.cpp | C++      |         36 |          0 |          7 |         43 |
+| c:\Users\alex1\git\projektarbeit\src\driveModi\Modi\ConsolControl\consolControl.h   | C++      |         17 |          0 |          7 |         24 |
+| c:\Users\alex1\git\projektarbeit\src\driveModi\Modi\ManualControl\manualControl.cpp | C++      |         28 |         10 |          8 |         46 |
+| c:\Users\alex1\git\projektarbeit\src\driveModi\Modi\ManualControl\manualControl.h   | C++      |         22 |         56 |         13 |         91 |
+| c:\Users\alex1\git\projektarbeit\src\driveModi\Modi\TestMode\testMode.cpp           | C++      |          0 |          0 |          1 |          1 |
+| c:\Users\alex1\git\projektarbeit\src\driveModi\Modi\TestMode\testMode.h             | C++      |          0 |          0 |          1 |          1 |
+| c:\Users\alex1\git\projektarbeit\src\driveModi\driveManager.cpp                     | C++      |         44 |         11 |         18 |         73 |
+| c:\Users\alex1\git\projektarbeit\src\driveModi\driveManager.h                       | C++      |         29 |         11 |         11 |         51 |
+| c:\Users\alex1\git\projektarbeit\src\driveModi\driveModi.h                          | C++      |          9 |         10 |          3 |         22 |
+| c:\Users\alex1\git\projektarbeit\src\main.cpp                                       | C++      |        107 |          6 |         26 |        139 |
+| c:\Users\alex1\git\projektarbeit\src\moveControl.cpp                                | C++      |        105 |          5 |         26 |        136 |
+| c:\Users\alex1\git\projektarbeit\src\network.cpp                                    | C++      |         64 |         17 |         14 |         95 |
+| c:\Users\alex1\git\projektarbeit\src\route.cpp                                      | C++      |          0 |         65 |         15 |         80 |
+| Total                                                                               |          |      1,864 |        867 |        492 |      3,223 |
++-------------------------------------------------------------------------------------+----------+------------+------------+------------+------------+

.vscode/settings.json

@@ -63,5 +63,17 @@
 
 
     "doxdocgen.generic.authorEmail": "alex@kleiax.de",
-    "doxdocgen.generic.authorName": "Alexander Klein"
+    "doxdocgen.generic.authorName": "Alexander Klein",
+    "files.associations": {
+        "new": "cpp",
+        "array": "cpp",
+        "*.tcc": "cpp",
+        "deque": "cpp",
+        "list": "cpp",
+        "string": "cpp",
+        "vector": "cpp",
+        "fstream": "cpp",
+        "istream": "cpp",
+        "streambuf": "cpp"
+    }
 }

include/moveControl.h

@@ -107,6 +107,14 @@ class MoveControl {
          */
         void setPidTunings(uint8_t side, double p, double i, double d);
 
+        /**
+         * @brief Returns the PID object of the choosen side.
+         * 
+         * @param side 0 -> left, 1 -> right
+         * @return PID* 
+         */
+        PID* getPID(uint8_t side);
+
         /**
          * @brief Set the min delay between each loop
          * 

lib/Menu/menu.cpp

@@ -14,11 +14,7 @@ Menu::Menu() {
     this->it = this->entrys.begin();
 }
 
-void Menu::setParentMenu(Menu* menu) {
+void Menu::addEntry(MenuAction* entry) {
-    this->parentMenu = menu;
-}
-
-void Menu::addEntry(MenuEntry* entry) {
     this->entrys.push_back(entry);
         
     // TODO: Same shit here. Why I get the first element after an increment.
@@ -31,8 +27,8 @@ void Menu::addEntry(MenuEntry* entry) {
 
 void Menu::printMenu() {
     Serial.println("\n\n");
-    for (std::list<MenuEntry*>::iterator iter = this->entrys.begin(); iter != this->entrys.end(); iter++) {
+    for (std::list<MenuAction*>::iterator iter = this->entrys.begin(); iter != this->entrys.end(); iter++) {
-        MenuEntry* selectedEntry = *(iter);
+        MenuAction* selectedEntry = *(iter);
         if (this->it == iter)
             Serial.print("  ");
         Serial.println(selectedEntry->getName());
@@ -40,15 +36,15 @@ void Menu::printMenu() {
     this->inSubmenu = false;
 }
 
-void Menu::nextEntry() {
+void Menu::down() {
     if (this->inSubmenu) {
-        MenuEntry* selectedEntry = *(this->it);
+        MenuAction* selectedEntry = *(this->it);
-        selectedEntry->getMenu()->nextEntry();
+        selectedEntry->getMenu()->down();
         return;
     }
 
     // TODO: Why I need the fucking next two lines? here and in the next function
-    std::list<MenuEntry*>::iterator iter = this->it;
+    std::list<MenuAction*>::iterator iter = this->it;
     iter++;
     if (iter != this->entrys.end()) 
         this->it++;
@@ -57,13 +53,13 @@ void Menu::nextEntry() {
     this->printMenu();
 }
 
-void Menu::prevEntry() {
+void Menu::up() {
     if (this->inSubmenu) {
-        MenuEntry* selectedEntry = *(this->it);
+        MenuAction* selectedEntry = *(this->it);
-        selectedEntry->getMenu()->prevEntry();
+        selectedEntry->getMenu()->up();
         return;
     }
-    std::list<MenuEntry*>::iterator iter = this->entrys.end();
+    std::list<MenuAction*>::iterator iter = this->entrys.end();
     iter--;
     if (this->it != this->entrys.begin()) {
         Serial.println("--");
@@ -76,12 +72,12 @@ void Menu::prevEntry() {
     this->printMenu();
 }
 
-void Menu::enterEntry() {
+void Menu::right() {
     // TODO: find out why i cannot call runAction() directly from the iterator
-    MenuEntry* selectedEntry = *(this->it);
+    MenuAction* selectedEntry = *(this->it);
 
     if (this->inSubmenu) {
-        selectedEntry->getMenu()->enterEntry();
+        selectedEntry->getMenu()->right();
         return;
     }
 
@@ -92,13 +88,33 @@ void Menu::enterEntry() {
     selectedEntry->runAction();
 }
 
-void Menu::enterParentMenu() {
+void Menu::left() {
     if (this->inSubmenu) {
-        MenuEntry* selectedEntry = *(this->it);
+        MenuAction* selectedEntry = *(this->it);
-        selectedEntry->getMenu()->enterParentMenu();
+        selectedEntry->getMenu()->left();
         return;
     }
 
     if (parentMenu)
         this->parentMenu->printMenu();
 }
+
+void Menu::yes() {
+    if (this->inSubmenu) {
+        MenuAction* selectedEntry = *(this->it);
+        selectedEntry->getMenu()->yes();
+        return;
+    }
+
+    this->right();
+}
+
+void Menu::no() {
+    if (this->inSubmenu) {
+        MenuAction* selectedEntry = *(this->it);
+        selectedEntry->getMenu()->no();
+        return;
+    }
+
+    this->left();
+}

lib/Menu/menu.h

@@ -17,30 +17,29 @@
 // have to be deleted after display installation
 #include <Arduino.h>
 
-#include "menuEntry.h"
+#include "menuAction.h"
+#include "menuControl.h"
 
-class MenuEntry;
+class MenuAction;
-class Menu {
+class Menu : public MenuControl {
     public:
         Menu();
 
-        void setParentMenu(Menu* menu);
+        void addEntry(MenuAction* entry);
-
-        void addEntry(MenuEntry* entry);
         void printMenu();
 
-        void nextEntry();
+        void down();
-        void prevEntry();
+        void up();
-        void enterEntry();
+        void right();
-        void enterParentMenu();
+        void left();
+        void yes();
+        void no();
 
     private:
         bool inSubmenu = false;
 
-        Menu* parentMenu;
+        std::list<MenuAction*> entrys;
-
+        std::list<MenuAction*>::iterator it;
-        std::list<MenuEntry*> entrys;
-        std::list<MenuEntry*>::iterator it;
 
 };
 

lib/Menu/menuAction.cpp

@@ -8,28 +8,28 @@
  * @copyright Copyright (c) 2022
  * 
  */
-#include "menuEntry.h"
+#include "menuAction.h"
 
-MenuEntry::MenuEntry(const char* name, void (*function) (), void (*callback) ()) {
+MenuAction::MenuAction(const char* name, void (*function) (), void (*callback) ()) {
     this->name = name;
     this->function = function;
     this->callback = callback;
 }
 
-MenuEntry::MenuEntry(const char* name, void (*function) ()) {
+MenuAction::MenuAction(const char* name, void (*function) ()) {
     this->name = name;
     this->function = function;
     this->callback = nullptr;
 }
 
-MenuEntry::MenuEntry(const char* name, Menu* menu) {
+MenuAction::MenuAction(const char* name, MenuControl* menu) {
     this->name = name;
     this->menu = menu;
     this->isMenu = true;
     this->callback = nullptr;
 }
 
-void MenuEntry::runAction() {
+void MenuAction::runAction() {
     if (isMenu)
         this->menu->printMenu();
     else
@@ -39,15 +39,15 @@ void MenuEntry::runAction() {
         this->callback();
 }
 
-const char* MenuEntry::getName() {
+const char* MenuAction::getName() {
     return this->name;
 }
 
-bool MenuEntry::getIsMenu() {
+bool MenuAction::getIsMenu() {
     return this->isMenu;
 }
 
-Menu* MenuEntry::getMenu() {
+MenuControl* MenuAction::getMenu() {
     if (isMenu)
         return this->menu;
     else

lib/Menu/menuAction.h

@@ -13,17 +13,17 @@
 
 #include "menu.h"
 
-class Menu;
+class MenuControl;
-class MenuEntry {
+class MenuAction {
     public:
-        MenuEntry(const char* name, void (*function) (), void (*callback) ());
+        MenuAction(const char* name, void (*function) (), void (*callback) ());
-        MenuEntry(const char* name, void (*function) ());
+        MenuAction(const char* name, void (*function) ());
-        MenuEntry(const char* name, Menu* menu);
+        MenuAction(const char* name, MenuControl* menu);
         void runAction();
 
         const char* getName();
         bool getIsMenu();
-        Menu* getMenu();
+        MenuControl* getMenu();
 
     private:
         const char* name;
@@ -32,7 +32,7 @@ class MenuEntry {
         void (*callback) () = nullptr;
 
         bool isMenu = false;
-        Menu *menu;
+        MenuControl* menu;
 };
 
 #endif // MENU_ENTRY_H

lib/Menu/menuControl.h

@@ -0,0 +1,33 @@
+/**
+ * @file menuControl.h
+ * @author Alexander Klein (alex@kleiax.de)
+ * @brief 
+ * @version 0.1
+ * @date 2022-01-19
+ * 
+ * @copyright Copyright (c) 2022
+ * 
+ */
+
+#ifndef MENU_CONTROLL_H
+#define MENU_CONTROLL_H
+
+class MenuControl {
+    public:
+
+        // Ínputs from the Gamepad
+        virtual void down();
+        virtual void up();
+        virtual void right();
+        virtual void left();
+        virtual void yes();
+        virtual void no();
+
+        virtual void printMenu();
+        void setParentMenu(MenuControl* menu) {this->parentMenu = menu;}
+
+    protected:
+        MenuControl* parentMenu = nullptr;
+};
+
+#endif // MENU_CONTROLL_H

lib/Menu/menuPidSettings.cpp

@@ -0,0 +1,86 @@
+/**
+ * @file pidSettings.cpp
+ * @author Alexander Klein (alex@kleiax.de)
+ * @brief 
+ * @version 0.1
+ * @date 2022-01-19
+ * 
+ * @copyright Copyright (c) 2022
+ * 
+ */
+
+#include "menuPidSettings.h"
+
+MenuPidSettings::MenuPidSettings(PID* pid) {
+    this->pid = pid;
+    this->values[0] = (uint8_t) pid->GetKp();
+    this->values[1] = (uint8_t) pid->GetKi();
+    this->values[2] = (uint8_t) pid->GetKd();
+}
+
+void MenuPidSettings::down() {
+    if (values[curPos] > 0)
+        values[curPos]--;
+
+    this->printMenu();
+}
+
+void MenuPidSettings::up() {
+    if (values[curPos] < UINT8_MAX)
+        values[curPos]++;
+
+    this->printMenu();
+}
+
+void MenuPidSettings::right() {
+    if (curPos < NUM_VAL - 1)
+        curPos++;
+    else
+        curPos = 0;
+
+    this->printMenu();
+}
+
+void MenuPidSettings::left() {
+    if (curPos > 0)
+        curPos--;
+    else
+        curPos = NUM_VAL - 1;
+
+    this->printMenu();
+}
+
+void MenuPidSettings::no() {
+    if (parentMenu)
+        this->parentMenu->printMenu();
+}
+
+void MenuPidSettings::yes() {
+    this->pid->SetTunings(this->values[0], this->values[1], this->values[2]);
+    if (parentMenu)
+        this->parentMenu->printMenu();
+}
+
+void MenuPidSettings::printMenu() {
+    Serial.println("  P    I    D  ");
+    char pos[16];
+    switch (this->curPos) {
+        case 0:
+            sprintf(pos, "_%d.3_ %d.3  %d.3 ", this->values[0], this->values[1], this->values[2]);
+            break;
+
+        case 1:
+            sprintf(pos, " %d.3 _%d.3_ %d.3 ", this->values[0], this->values[1], this->values[2]);
+            break;
+
+        case 2:
+            sprintf(pos, " %d.3  %d.3 _%d.3_", this->values[0], this->values[1], this->values[2]);
+            break;
+        
+        default:
+            break;
+    }
+    Serial.println(pos);
+}
+
+

lib/Menu/menuPidSettings.h

@@ -0,0 +1,44 @@
+/**
+ * @file pidSettings.h
+ * @author Alexander Klein (alex@kleiax.de)
+ * @brief 
+ * @version 0.1
+ * @date 2022-01-19
+ * 
+ * @copyright Copyright (c) 2022
+ * 
+ */
+
+#ifndef PID_SETTINGS_H
+#define PID_SETTINGS_H
+
+#include "menuControl.h"
+#include <PID_v1.h>
+#include <stdint.h>
+
+// TODO: delete after installtion of display
+#include <Arduino.h>
+
+#define NUM_VAL 3
+
+class MenuPidSettings : public MenuControl {
+    public:
+        MenuPidSettings(PID* pid);
+
+        void down();
+        void up();
+        void right();
+        void left();
+        void no();
+        void yes();
+
+        void printMenu();
+
+    private:
+        PID* pid;
+        uint8_t values[NUM_VAL];
+        uint8_t curPos = 0;
+
+};
+
+#endif // PID_SETTINGS_H

src/main.cpp

@@ -8,8 +8,10 @@
 #include "driveModi/driveManager.h"
 #include "moveControl.h"
 #include "network.h"
+
 #include "menu.h"
-#include "menuEntry.h"
+#include "menuAction.h"
+#include "menuPidSettings.h"
 
 // Platzhalter, muss irgendwann weg
 void dummy(){Serial.println("Dummy in Action");}
@@ -45,21 +47,23 @@ void setup() {
     main_m = new Menu();
     Menu* mode_m = new Menu();
     Menu* pid_m = new Menu();
+    MenuPidSettings* pidl_m = new MenuPidSettings(moveController.getPID(0));
+    MenuPidSettings* pidr_m = new MenuPidSettings(moveController.getPID(1));
 
     // Entry for the main menu
-    MenuEntry* mode_e = new MenuEntry("Mode", mode_m);
+    MenuAction* mode_e = new MenuAction("Mode", mode_m);
-    MenuEntry* gps_e = new MenuEntry("GPS", dummy);
+    MenuAction* gps_e = new MenuAction("GPS", dummy);
-    MenuEntry* pid_e = new MenuEntry("PID", pid_m);
+    MenuAction* pid_e = new MenuAction("PID", pid_m);
     main_m->addEntry(mode_e);
     main_m->addEntry(gps_e);
     main_m->addEntry(pid_e);
 
     // Entry for the mode Menu
-    MenuEntry* autopilot_e = new MenuEntry("Autopilot", dummy);
+    MenuAction* autopilot_e = new MenuAction("Autopilot", dummy);
-    MenuEntry* captureRoute_e = new MenuEntry("Capture Route", dummy);
+    MenuAction* captureRoute_e = new MenuAction("Capture Route", dummy);
-    MenuEntry* consolControl_e = new MenuEntry("Consol Control", dummy);
+    MenuAction* consolControl_e = new MenuAction("Consol Control", dummy);
-    MenuEntry* manualControl_e = new MenuEntry("Manual Control", dummy);
+    MenuAction* manualControl_e = new MenuAction("Manual Control", dummy);
-    MenuEntry* testMode_e = new MenuEntry("Test Mode", dummy);
+    MenuAction* testMode_e = new MenuAction("Test Mode", dummy);
     mode_m->addEntry(autopilot_e);
     mode_m->addEntry(captureRoute_e);
     mode_m->addEntry(consolControl_e);
@@ -67,12 +71,11 @@ void setup() {
     mode_m->addEntry(testMode_e);
 
     // Entry for the PID Menu
-    MenuEntry* p_e = new MenuEntry("P", dummy);
+    MenuAction* pidl_e = new MenuAction("Left", pidl_m);
-    MenuEntry* i_e = new MenuEntry("I", dummy);
+    MenuAction* pidr_e = new MenuAction("Right", pidr_m);
-    MenuEntry* d_e = new MenuEntry("D", dummy);
+    pid_m->addEntry(pidl_e);
-    pid_m->addEntry(p_e);
+    pid_m->addEntry(pidr_e);
-    pid_m->addEntry(i_e);
+
-    pid_m->addEntry(d_e);
 }
 
 void loop() {
@@ -97,16 +100,19 @@ bool isDelayReached() {
 
 void callbackControllerAction() {
     // Menu controlling
-
     if (isDelayReached()) {
         if (Ps3.data.button.up)
-            main_m->prevEntry();
+            main_m->up();
         else if (Ps3.data.button.down)
-            main_m->nextEntry();
+            main_m->down();
         else if (Ps3.data.button.left)
-            main_m->enterParentMenu();
+            main_m->left();
         else if (Ps3.data.button.right)
-            main_m->enterEntry();
+            main_m->right();
+        else if (Ps3.data.button.circle)
+            main_m->yes();
+        else if (Ps3.data.button.cross)
+            main_m->no();
         else if (Ps3.data.button.select)
             main_m->printMenu();
         else if (Ps3.data.button.ps)
@@ -133,19 +139,3 @@ void controllerPrintBattery() {
     else if( controller_battery == ps3_status_battery_shutdown ) Serial.println("SHUTDOWN");
     else Serial.println("UNDEFINED");
 }
-
-void p_f() {
-
-}
-
-void i_f() {
-
-}
-
-void d_f() {
-
-}
-
-int32_t displaySelectValue() {
-    
-}

src/moveControl.cpp

@@ -89,6 +89,15 @@ void MoveControl::setPidTunings(uint8_t side, double p, double i, double d) {
     selectedPID->SetTunings(p, i, d);
 }
 
+PID* MoveControl::getPID(uint8_t side) {
+    if (side == 0)
+        return this->left_pid;
+    else if (side == 1)
+        return this->right_pid;
+    else
+        return nullptr;
+}
+
 void MoveControl::calcTargetWheelSpeed() {
     /* original formula:
        (1 / r) / 1  b \ / x \ = / Xl \