From 147eea1f92585799433d3d9ef18d29f3cafc040a Mon Sep 17 00:00:00 2001
From: Alexander Klein <alex@kleiax.de>
Date: Mon, 14 Aug 2023 07:11:03 +0200
Subject: [PATCH] some code quality

---
 doc/Notes and TODOs/TODO allgemein.txt             | 4 ++++
 doc/latexSnippet.cpp                               | 9 +++++++++
 lib/Navigation/navigation.h                        | 3 +++
 src/driveModi/Modi/ManualControl/manualControl.cpp | 4 ++--
 4 files changed, 18 insertions(+), 2 deletions(-)
 create mode 100644 doc/latexSnippet.cpp

diff --git a/doc/Notes and TODOs/TODO allgemein.txt b/doc/Notes and TODOs/TODO allgemein.txt
index 03df2c4..31466a6 100644
--- a/doc/Notes and TODOs/TODO allgemein.txt	
+++ b/doc/Notes and TODOs/TODO allgemein.txt	
@@ -1,3 +1,7 @@
     -> Program underfloorLighting
     -> Add an beeper
     -> Program the beeper
+
+    Capture Route Punkte auch nicht zu weit auseinander
+    Autopilot Funktionen zum einstellen der Geschwindigkeiten
+    Speedometer zweiter Buffer mit auslesezeiten, weil sonst Sinnlos da kein zeitliche Refernez zu berechnen vorhanden
diff --git a/doc/latexSnippet.cpp b/doc/latexSnippet.cpp
new file mode 100644
index 0000000..ac4c65b
--- /dev/null
+++ b/doc/latexSnippet.cpp
@@ -0,0 +1,9 @@
+void KomponenteA::loop() {
+    this->komponenteB->loop();
+    this->komponenteC->loop();
+
+    if (millis() - this->lastMillis < this->delayMillis)
+        return;
+
+    this->doSomething();
+}
diff --git a/lib/Navigation/navigation.h b/lib/Navigation/navigation.h
index 56f4366..4f2e9ff 100644
--- a/lib/Navigation/navigation.h
+++ b/lib/Navigation/navigation.h
@@ -122,6 +122,7 @@ class Navigation {
         double increaseMinDistanceToReachPoint() { return this->minDistanceToReachPoint += 0.1; }
         double decreaseMinDistanceToReachPoint() { return this->minDistanceToReachPoint -= 0.1; }
 
+        // TODO: Dokumentation korrigieren.
         /**
          * @brief Get the Course Correction object
          * 
@@ -133,6 +134,8 @@ class Navigation {
          */
         Status getCourseCorrection(CourseCorrection& correction, bool forceUpdate = false);
 
+
+        // TODO: Dokumentation korrigieren.
         /**
          * @brief Tries to add the current Position to the route
          * 
diff --git a/src/driveModi/Modi/ManualControl/manualControl.cpp b/src/driveModi/Modi/ManualControl/manualControl.cpp
index 385f06b..5ce8dc9 100644
--- a/src/driveModi/Modi/ManualControl/manualControl.cpp
+++ b/src/driveModi/Modi/ManualControl/manualControl.cpp
@@ -43,9 +43,9 @@ void ManualControl::runManualControl() {
     //     std::cout << "x: " << (int) x << " y: " << (int) y << std::endl;
     // }
 
-    double value_per_step = this->max_speed * 2 / 256;
+    double value_per_step = this->max_speed * 2 / UINT8_MAX;
     this->moveControl->setSpeed(-y * value_per_step);
 
-    value_per_step = this->max_rotation * 2 / 256;
+    value_per_step = this->max_rotation * 2 / UINT8_MAX;
     this->moveControl->setRotationSpeed(x * value_per_step);
 }