checking Times in moveControl

src/driveModi/manualControl.cpp

@@ -56,13 +56,13 @@ void ManualControl::runManualControl() {
             break;
 
         case ControMode::joystick: {
-            DebugTimes driveWithJoyDebug;
+            // DebugTimes driveWithJoyDebug;
             this->driveWithControllerJoystick();
-            driveWithJoyDebug.stop("driveWithControllerJoystick", 100);
+            // driveWithJoyDebug.stop("driveWithControllerJoystick", 100);
 
-            DebugTimes moveControllDebug;
+            // DebugTimes moveControllDebug;
             this->moveControl->runMoveControl();
-            moveControllDebug.stop("moveControl", 100);
+            // moveControllDebug.stop("moveControl", 100);
             }
             break;
 

src/moveControl.cpp

@@ -44,10 +44,14 @@ void MoveControl::runMoveControl() {
     this->updateWheelSpeed();
     this->calcWheelSpeed();
 
+    DebugTimes pidTimes;
     this->right_pid->Compute();
     this->left_pid->Compute();
+    pidTimes.stop("PID Calulate", 100);
 
+    DebugTimes regMotorTime;
     this->regulateMotors();
+    regMotorTime.stop("regulateMotors", 100);
 
     static uint32_t functioncalls = 0;
     functioncalls++;
@@ -56,7 +60,9 @@ void MoveControl::runMoveControl() {
         sprintf(str, "x_speed: %3.2f, rotation_speed: %3.2f, left: %3.2f, right: %3.2f",
             this->x_speed, this->rotation_speed, this->wheelspeed_left,
             this->wheelspeed_right);
+        DebugTimes debugMsgTime;
         debug->sendMsg(Loglevel::debug, str);
+        debugMsgTime.stop("debug Msg", 100);
     }
 }
 

src/moveControl.h

@@ -8,6 +8,7 @@
 #include "hardware/speedometer.h"
 #include "config.h"
 #include "debugMqtt.h"
+#include "debugTimes.h"
 
 enum DrivingStatus {stop,
                     drive};