finished speed and sensor menu in modes

src/SpecialMenus/PID/menuPidSettings.h

@@ -29,7 +29,7 @@ class MenuPidSettings : public MenuIntInputWrapper {
          */
         MenuPidSettings(PID* pid);
 
-        void action(int16_t* values, uint8_t length);
+        void action(int16_t* values, uint8_t length) override;
 
     private:
         PID* pid;

src/SpecialMenus/Speed/menuSpeed.cpp

@@ -11,3 +11,9 @@
 
 #include "menuSpeed.h"
 
+void MenuSpeed::action(int16_t* values, uint8_t length) {
+    if (length != 2)
+        return;
+    this->speeds.x = (double) values[0] / 10.0;
+    this->speeds.rot = (double) values[1] / 10.0;
+}

src/SpecialMenus/Speed/menuSpeed.h

@@ -13,9 +13,17 @@
 #define MENU_SPEED_H
 
 #include <menuIntInput.h>
+#include "moveControl.h"
+
+class MenuSpeed : public MenuIntInputWrapper {
+    public:
+        MenuSpeed(DrivingSpeeds& speeds) : speeds(speeds){};
+
+        void action(int16_t* values, uint8_t length) override;
+
+    private:
+        DrivingSpeeds& speeds;
 
-class MenuSpeed : public MenuIntInput {
-    
 };
 
 #endif // MENU_SPEED_H

src/SpecialMenus/driveModi/ManualDrive/menuManualDrive.cpp

@@ -56,6 +56,7 @@ void MenuManualControl::init() {
     this->driveManager->changeModus(this->manualControl);
     this->setCountPages(4);
     this->updateDelay = 500; 
+    this->activateSpeedMenu();
     MenuDriveMode::init();
 }
 

src/SpecialMenus/driveModi/TestMode/menuTestMode.cpp

@@ -77,8 +77,7 @@ void MenuTestMode::init() {
     this->testMode = new TestMode();
     this->driveManager->changeModus(this->testMode);
 
-    testMode->setMaxSpeed(1);
-    testMode->setMaxRotation(8);
+    this->testMode->setSpeeds(DrivingSpeeds{1, 8});
 
     auto dummy = []() {
         std::cout << "Dummy in Action" <<std::endl;

src/SpecialMenus/driveModi/menuDriveMode.cpp

@@ -24,6 +24,8 @@ void MenuDriveMode::left() {
 
     this->firstPrint = true;
     this->configureOnLeave();
+    if (this->menuSpeed)
+        delete this->menuSpeed;
     this->driveManager->changeModus();
     MenuInformationSites::left();
 }
@@ -85,6 +87,20 @@ void MenuDriveMode::init() {
     this->activeMenu = nullptr;
 }
 
+void MenuDriveMode::activateSpeedMenu() {
+    if (!this->driveManager->isActive())
+        return;
+
+    DrivingSpeeds& speeds = this->driveManager->getDriveModiPtr()->getSpeedsRef();
+    MenuIntInput* menu = new MenuIntInput(2, new MenuSpeed(speeds));
+
+    menu->setMinMax(5, UINT8_MAX);
+    menu->setEntry(0, "x m/s e-1", driveManager->getDrivingSpeedsRef().x * 10);
+    menu->setEntry(1, "z rad/s e-1", driveManager->getDrivingSpeedsRef().rot * 10);
+
+    this->addSpeedMenu(menu);
+}
+
 void MenuDriveMode::enterSpeedMenu() {
     this->activeMenu = this->menuSpeed;
     this->enterMenu();
@@ -97,9 +113,8 @@ void MenuDriveMode::enterSensorMenu() {
 
 void MenuDriveMode::enterMenu() {
     if (!this->activeMenu)
-        return
+        return;
     
     this->activeMenu->printMenu();
-    std::cout << "Sensor Menu was theretically printed" << std::endl;
     this->activeMenu->setParentMenu(this);
 }

src/SpecialMenus/driveModi/menuDriveMode.h

@@ -30,7 +30,7 @@ class MenuDriveMode : public MenuInformationSites {
         MenuDriveMode(DriveManager* driveManager);
 
         void addSensorMenu(MenuSensorData* menuSensor) { this->menuSensor = menuSensor; }
-        void addSpeedMenu(MenuSpeed* menuSpeed) { this->menuSpeed = menuSpeed; }
+        void addSpeedMenu(MenuIntInput* menuSpeed) { this->menuSpeed = menuSpeed; }
 
         /**
          * @brief Goes back to the parentMenu.
@@ -48,6 +48,7 @@ class MenuDriveMode : public MenuInformationSites {
     protected:
         void init() override;
         virtual void configureOnLeave() {}
+        void activateSpeedMenu();
         void enterSpeedMenu();
         void enterSensorMenu();
 
@@ -60,6 +61,6 @@ class MenuDriveMode : public MenuInformationSites {
 
         MenuControl* activeMenu = nullptr;
         MenuSensorData* menuSensor = nullptr;
-        MenuSpeed* menuSpeed = nullptr;
+        MenuIntInput* menuSpeed = nullptr;
 };
 #endif // MENU_DRIVE_MODI_H