From 3b9b2f19f283564961b2af1eeeebf9e65dce3cbf Mon Sep 17 00:00:00 2001
From: Alexander Klein <alex@kleiax.de>
Date: Thu, 20 May 2021 21:16:59 +0200
Subject: [PATCH] something and stuff

---
 doc/classdiagramm.uxf          | 50 ++++++++++++++++++++++++++++------
 src/driveModi/captureRoute.cpp |  0
 src/driveModi/captureRoute.h   |  0
 src/moveControl.h              | 12 ++------
 4 files changed, 44 insertions(+), 18 deletions(-)
 create mode 100644 src/driveModi/captureRoute.cpp
 create mode 100644 src/driveModi/captureRoute.h

diff --git a/doc/classdiagramm.uxf b/doc/classdiagramm.uxf
index 943a1c7..1d8fd99 100644
--- a/doc/classdiagramm.uxf
+++ b/doc/classdiagramm.uxf
@@ -6,7 +6,7 @@
     <coordinates>
       <x>120</x>
       <y>670</y>
-      <w>210</w>
+      <w>220</w>
       <h>510</h>
     </coordinates>
     <panel_attributes>&lt;&lt;hardware&gt;&gt;
@@ -46,9 +46,9 @@ MotorControl
   <element>
     <id>UMLClass</id>
     <coordinates>
-      <x>380</x>
+      <x>360</x>
       <y>670</y>
-      <w>210</w>
+      <w>220</w>
       <h>330</h>
     </coordinates>
     <panel_attributes>&lt;&lt;hardware&gt;&gt;
@@ -77,13 +77,47 @@ Speedometer
   <element>
     <id>UMLClass</id>
     <coordinates>
-      <x>900</x>
-      <y>660</y>
-      <w>210</w>
+      <x>120</x>
+      <y>270</y>
+      <w>270</w>
+      <h>370</h>
+    </coordinates>
+    <panel_attributes>MoveControl
+--
+- debug: DebugMqtt*
+- left_motor: MotorControl*
+- right_motor: MotorControl*
+- left_speedometer: Speedometer*
+- right_speedometer: Speedometer*
+- driving_status: DrivingStatus = stop
+- x_speed: double = 0
+- rotation_speed: double = 0
+- wheelspeed_left_target: double = 0
+- wheelspeed_right_target: double = 0
+--
++ MoveControl()
++ init(left_motor: MotorControl*,
+	   right_motor: MotorControl*, 
+	   left_speedometer: Speedometer*,
+	   right_speedometer: Speedometer*)
++ runMoveControl()
++ setDrivingStatus(status: DrivingStatus)
++ setSpeed(speed: double)
++ setRotationspeed(speed: double)
+- calcWheelSpeed()
+- regulateMotors()</panel_attributes>
+    <additional_attributes/>
+  </element>
+  <element>
+    <id>UMLClass</id>
+    <coordinates>
+      <x>1110</x>
+      <y>670</y>
+      <w>220</w>
       <h>330</h>
     </coordinates>
-    <panel_attributes>&lt;&lt;hardware&gt;&gt;
-Speedometer
+    <panel_attributes>&lt;&lt;driveModi&gt;&gt;
+ManualContro
 --
 - encoder: ESP32Encoder
 - debug: DebugMqtt*
diff --git a/src/driveModi/captureRoute.cpp b/src/driveModi/captureRoute.cpp
new file mode 100644
index 0000000..e69de29
diff --git a/src/driveModi/captureRoute.h b/src/driveModi/captureRoute.h
new file mode 100644
index 0000000..e69de29
diff --git a/src/moveControl.h b/src/moveControl.h
index 47bd57e..8ebb663 100644
--- a/src/moveControl.h
+++ b/src/moveControl.h
@@ -9,19 +9,11 @@
 #include "debugMqtt.h"
 
 enum DrivingStatus {stop,
-                    straightForward,
-                    straightBackward,
-                    arcForwardLeft,
-                    arcForwardRight,
-                    arcBackwardLeft,
-                    arcBackwardRight,
+                    forward,
+                    backward,
                     rotateLeft,
                     rotateRight};
 
-// enum regulateStatus {stop,
-//                     drive,
-//                     rotateLeft,
-//                     rotateRight};
 
 class MoveControl {
     public: