make all possible functions const

lib/Battery/battery.cpp

@@ -39,12 +39,12 @@ void Battery::run() {
     return;
 }
 
-double Battery::getBatteryVoltage() {
+double Battery::getBatteryVoltage() const {
     double res = this->batteryVoltage;
     return (int)(res*100+0.5)/100.0;
 }
 
-bool Battery::isBatteryLow(double voltage) {
+bool Battery::isBatteryLow(double voltage) const {
     if (this->getBatteryVoltage() <= voltage && this->batteryVoltage > this->absurdLowVoltage)
         return true;
     return false;
@@ -136,7 +136,7 @@ void Battery::initBuffer() {
         this->adcBuffer[i] = 0;
 }
 
-uint16_t Battery::getBufAvg() {
+uint16_t Battery::getBufAvg() const {
     uint32_t res = 0;
     uint8_t emptyPos = 0;
     for (uint8_t i = 0; i < Battery::bufferSize; i++) {

lib/Battery/battery.h

@@ -48,14 +48,14 @@ class Battery : public Component {
          * 
          * @return double in Volt
          */
-        double getBatteryVoltage();
+        double getBatteryVoltage() const;
 
         /**
          * @brief Get the charge level of the battery
          * 
          * @return uint8_t charge level in percent
          */
-        uint8_t getBatteryPercent() { return this->batteryPercent; }
+        uint8_t getBatteryPercent() const { return this->batteryPercent; }
 
         /**
          * @brief Checks if the battery is low.
@@ -68,7 +68,7 @@ class Battery : public Component {
          * @return true if the battery is low
          * @return false if the battery is high
          */
-        bool isBatteryLow(double voltage);
+        bool isBatteryLow(double voltage) const;
 
         bool isNewValue();
 
@@ -79,7 +79,7 @@ class Battery : public Component {
         void calculateBatteryPercent();
         void readAdcToBuf();
         void initBuffer();
-        uint16_t getBufAvg();
+        uint16_t getBufAvg() const;
 
         static const uint8_t bufferSize = 30;
 

lib/Counter/counter.cpp

@@ -36,7 +36,7 @@ void Counter::clear() {
     pcnt_counter_clear(this->unit);
 }
 
-int16_t Counter::getValue() {
+int16_t Counter::getValue() const {
     int16_t res;
     pcnt_get_counter_value(this->unit, &res);
     return res;

lib/Counter/counter.h

@@ -14,7 +14,7 @@ class Counter {
         void resume();
         void clear();
 
-        int16_t getValue();
+        int16_t getValue() const;
 
         void setFilterValue(uint16_t value);
         void filterEnable();

lib/MotorControl/motorControl.cpp

@@ -114,27 +114,19 @@ void MotorControl::emergencyStop() {
     setRealPower(0);
 }
 
-int8_t MotorControl::getPower() {
-    return this->power;
-}
-
-int8_t MotorControl::getTargetPower() {
-    return this->targetPower;
-}
-
-bool MotorControl::isTargetPowerReached() {
+bool MotorControl::isTargetPowerReached() const {
     if (this->targetPower == this->power)
         return true;
     return false;
 }
 
-bool MotorControl::isAccelerationPositive() {
+bool MotorControl::isAccelerationPositive() const {
     if (power < targetPower)
         return true;
     return false;
 }
 
-bool MotorControl::isAccelerationNegative() {
+bool MotorControl::isAccelerationNegative() const {
     if (power > targetPower)
         return true;
     return false;

lib/MotorControl/motorControl.h

@@ -103,19 +103,19 @@ class MotorControl : public Component {
          * 
          * @return int8_t percent of power (-100 to 100)
          */
-        int8_t getPower();
+        int8_t getPower() const { return this->power; };
 
         /**
          * @brief Get the target power
          * 
          * @return int8_t percent of power (-100 to 100)
          */
-        int8_t getTargetPower();
+        int8_t getTargetPower() const { return this->targetPower; };
 
         uint16_t getDutycycle() const { return this->dutycycle; }
-        bool isTargetPowerReached();
-        bool isAccelerationPositive();
-        bool isAccelerationNegative();
+        bool isTargetPowerReached() const;
+        bool isAccelerationPositive() const;
+        bool isAccelerationNegative() const;
 
     private:
         void run() override;

lib/Route/route.h

@@ -128,7 +128,7 @@ class Point{
          * 
          * @return Accuracy 
          */
-        Accuracy getAccuracy() { return this->accuracy; }
+        Accuracy getAccuracy() const { return this->accuracy; }
 
     private:
         void init(uint32_t horizontalAccuracy, uint32_t creationTime);

lib/Speedometer/speedometer.h

@@ -95,7 +95,7 @@ class Speedometer : public Component {
          * 
          * @return Direction 
          */
-        Direction getDirection() { return this->currentDirection; }
+        Direction getDirection() const { return this->currentDirection; }
 
         /**
          * @brief Get the calculated speed of the Wheel