clangtidy corrections part 1

include/config.h

@@ -16,6 +16,9 @@ namespace PinNumbers {
     constexpr uint8_t spiCipo = 4;
     constexpr uint8_t spiSck = 5;
     constexpr uint8_t gnssSpiCs = 17;
+    constexpr uint8_t sda = 21;
+    constexpr uint8_t scl = 19;
+    constexpr uint8_t battery = 35;
 
     namespace LeftMotor {
         constexpr uint8_t dir1 = 27;
@@ -35,6 +38,9 @@ namespace PinNumbers {
 }
 
 namespace Settings {
+    constexpr uint32_t baudRate = 115200;
+    constexpr uint32_t i2cSpeed = 400000;
+
     constexpr float wheelDiameter = 0.105;
     constexpr float wheelDistance = 0.255;
     constexpr uint16_t encoderSteps = 384;

include/moveControl.h

@@ -123,7 +123,7 @@ class MoveControl : public Component {
          * @param i 
          * @param d 
          */
-        void setPidTunings(uint8_t side, double p, double i, double d);
+        void setPidTunings(uint8_t side, double pPart, double iPart, double dPart);
 
         /**
          * @brief Returns the PID object of the choosen side.
@@ -152,7 +152,7 @@ class MoveControl : public Component {
 
     private:
         void run() override;
-        void setSpeedometerDirection(Speedometer *speedometer, double value);
+        static void setSpeedometerDirection(Speedometer *speedometer, double value);
         void calcTargetWheelSpeed();
         void regulateMotors();
         void updateCurrentWheelSpeed();
@@ -171,12 +171,17 @@ class MoveControl : public Component {
         double wheelspeed_right_target = 0;
         double wheelspeed_left = 0;
         double wheelspeed_right = 0;
-        double left_pid_out;
-        double right_pid_out;
+        double left_pid_out = 0;
+        double right_pid_out = 0;
 
         uint8_t overTimeCounter = 0;
         uint8_t overTimeMax = 100;
         int8_t rawPowerLeft = 0;
         int8_t rawPowerRight = 0;
+
+        static constexpr int8_t maxPercentage = 100;
+        static constexpr float minSpeed = 0.2;
+        static constexpr uint8_t loopDelay = 20;
+
 };
 #endif // MOVE_CONTROL_H