doxygen finished

.vscode/settings.json

@@ -152,6 +152,7 @@
         "Rtcm",
         "Schalke",
         "Soln",
+        "Systeminformation",
         "TPMOBIL",
         "UBLOX",
         "wheelspeed",

doc/TODO allgemein.txt

@@ -30,12 +30,14 @@ Do later:
     -> ESP und Sensoren in den DeepSleep für Auschalten oder Akkuschutz
     -> Doxygen comments
         - navigation
+        - autopilot
 
 
 Do now:
 Code:
     Doxygen Kommentare aktualisieren
     Fernbedienung!
+    Compass calibration überprüfen
 
 Latex:
     Anhang: Liste mit allen Komponenten und Kurzbeschreibung

src/OutputBuf/outputBuf.h

@@ -26,13 +26,14 @@
 #include <BluetoothSerial.h>
 
 /**
- * @brief A alternativ streambuf for std::cout
+ * @brief A alternative streambuf for std::cout
  *
  * The streambuf is used to double the std::cout to consol
  * and MQTT.
  *
  */
-class OutputBuf : public std::streambuf {
+class OutputBuf : public std::streambuf
+{
 public:
     /**
      * @brief Construct a new Output Buf Mqtt object
@@ -46,7 +47,7 @@ class OutputBuf : public std::streambuf {
      * @brief Activate the mqtt output
      *
      * This only works if the DebugMqtt is set by
-         * setDebugMqtt. 
+     * setDebugMqtt().
      *
      * @param status
      */
@@ -56,7 +57,7 @@ class OutputBuf : public std::streambuf {
      * @brief Active the output over the bluetooth serial consol
      *
      * This only works if BluetoothSerial is set by
-         * setSerialBT.
+     * setSerialBT().
      *
      * @param status
      */
@@ -65,7 +66,6 @@ class OutputBuf : public std::streambuf {
     void setDebugMqtt(DebugMqtt *debugMqtt);
     void setSerialBT(BluetoothSerial *serialBT);
 
-
 protected:
     /**
      * @brief

src/SpecialMenus/CalibrateBattery/menuCalibrateBattery.h

@@ -1,7 +1,7 @@
 /**
  * @file menuCalibrateBattery.h
  * @author Alexander Klein (alex@kleiax.de)
- * @brief
+ * @brief Contains a Menu class to calibrate the Battery class
  * @version 0.1
  * @date 2023-09-26
  *
@@ -15,13 +15,27 @@
 #include "menuControl.h"
 #include "battery.h"
 
+/**
+ * @brief A Menu class to calibrate the Battery class
+ */
 class MenuCalibrateBattery : public MenuControl
 {
 public:
+    /**
+     * @brief Construct a new MenuCalibrateBattery object
+     *
+     * Prepare the calibration.
+     *
+     * @param battery
+     */
     MenuCalibrateBattery(Battery *battery);
 
+    /**
+     * @brief Prints the instructions for the calibration
+     */
     void printMenu() override;
 
+    // User Inputs
     void left() override;
     void no() override { this->left(); }
     void right() override;

src/SpecialMenus/PID/menuPidSettings.h

@@ -20,7 +20,8 @@
  * @brief A class to tune the PID settings
  *
  */
-class MenuPidSettings : public MenuIntInputWrapper {
+class MenuPidSettings : public MenuIntInputWrapper
+{
 public:
     /**
      * @brief Construct a new Menu Pid Settings object
@@ -33,7 +34,6 @@ class MenuPidSettings : public MenuIntInputWrapper {
 
 private:
     PID *pid;
-
 };
 
 #endif // PID_SETTINGS_H

src/SpecialMenus/Route/menuRoute.h

@@ -111,6 +111,13 @@ public:
      */
     void exportRoute(uint8_t routeNumber);
 
+    /**
+     * @brief Delete a Route
+     *
+     * The functions tries to delete the current route from the RoverApi.
+     *
+     * @param routeNumber
+     */
     void deleteRoute(uint8_t routeNumber);
 
     /**

src/SpecialMenus/Route/menuRoutePoints.h

@@ -20,7 +20,8 @@
  * @brief Prints coordinates of Route side by side.
  *
  */
-class MenuRoutePoints : public MenuInformationSites {
+class MenuRoutePoints : public MenuInformationSites
+{
 public:
     /**
      * @brief Construct a new Menu Route Points object
@@ -44,7 +45,6 @@ class MenuRoutePoints : public MenuInformationSites {
 private:
     Route *route;
     bool error = false;
-
 };
 
 #endif // MENU_ROUTE_POINTS_H

src/SpecialMenus/SensorData/menuSensorData.h

@@ -1,7 +1,7 @@
 /**
  * @file menuSensorData.h
  * @author Alexander Klein (alex@kleiax.de)
- * @brief 
+ * @brief Contains a MenuInformationClass to print the SensorData
  * @version 0.1
  * @date 2023-09-04
  *
@@ -15,8 +15,17 @@
 #include "menuInformationSites.h"
 #include "sensorData.h"
 
-class MenuSensorData : public MenuInformationSites {
+/**
+ * @brief A MenuInformationClass to print the SensorData
+ */
+class MenuSensorData : public MenuInformationSites
+{
 public:
+    /**
+     * @brief Construct a new MenuSensorData object
+     *
+     * @param SensorData
+     */
     MenuSensorData(SensorData *SensorData);
 
 private:

src/SpecialMenus/Speed/menuSpeed.cpp

@@ -11,8 +11,10 @@
 
 #include "menuSpeed.h"
 
-void MenuSpeed::action(int16_t* values, uint8_t length) {
+void MenuSpeed::action(int16_t *values, uint8_t length)
-    if (length != 2) {
+{
+    if (length != 2)
+    {
         return;
     }
     this->speeds.x = values[0] / 10.0;

src/SpecialMenus/Speed/menuSpeed.h

@@ -1,7 +1,7 @@
 /**
  * @file menuSpeed.h
  * @author Alexander Klein (alex@kleiax.de)
- * @brief 
+ * @brief Contains a MenuIntInputWrapper to change speeds
  * @version 0.1
  * @date 2023-09-26
  *
@@ -15,15 +15,24 @@
 #include <menuIntInput.h>
 #include "moveControl.h"
 
-class MenuSpeed : public MenuIntInputWrapper {
+/**
+ * @brief A MenuIntInputWrapper class to change speeds
+ */
+class MenuSpeed : public MenuIntInputWrapper
+{
 public:
     MenuSpeed(DrivingSpeeds &speeds) : speeds(speeds){};
 
+    /**
+     * @brief Changes the speeds
+     *
+     * @param values
+     * @param length
+     */
     void action(int16_t *values, uint8_t length) override;
 
 private:
     DrivingSpeeds &speeds;
-
 };
 
 #endif // MENU_SPEED_H

src/SpecialMenus/Systeminformation/menuSysteminformatio.cpp

@@ -12,14 +12,17 @@
 #include "menuSysteminformation.h"
 
 MenuSysteminformation::MenuSysteminformation(Battery *mainBattery)
-            : MenuInformationSites(8), mainBattery {mainBattery} {
+    : MenuInformationSites(8), mainBattery{mainBattery}
+{
     this->noEqualLeft = true;
 }
 
-void MenuSysteminformation::printPage() const {
+void MenuSysteminformation::printPage() const
+{
     String lineOne = "";
     String lineTwo = "";
-    switch (this->getCurrentPage()) {
+    switch (this->getCurrentPage())
+    {
     case 0:
         lineOne = "Free Heap:";
         lineTwo.concat(ESP.getFreeHeap());
@@ -71,4 +74,3 @@ void MenuSysteminformation::printPage() const {
 
     this->print(lineOne, lineTwo);
 }
-

src/SpecialMenus/Systeminformation/menuSysteminformation.h

@@ -26,7 +26,8 @@
  *
  * The informations are about the batteries, memory and uptime.
  */
-class MenuSysteminformation : public MenuInformationSites {
+class MenuSysteminformation : public MenuInformationSites
+{
 public:
     /**
      * @brief Construct a new Menu Systeminformation object

src/SpecialMenus/driveModi/Autopilot/menuAutopilot.h

@@ -19,7 +19,8 @@
  * @brief A class to print informations about the Autopilot
  *
  */
-class MenuAutopilot : public MenuDriveMode {
+class MenuAutopilot : public MenuDriveMode
+{
 public:
     /**
      * @brief Construct a new Menu Autopilot object
@@ -39,7 +40,6 @@ class MenuAutopilot : public MenuDriveMode {
      */
     void printPage() const override;
 
-
     /**
      * @brief can be called to update shown data
      */

src/SpecialMenus/driveModi/CalibrateCompass/menuCalibrateCompass.cpp

@@ -12,16 +12,19 @@
 
 MenuCalibrateCompass::MenuCalibrateCompass(DriveManager *driveManager) : MenuDriveMode(driveManager) {}
 
-MenuCalibrateCompass::~MenuCalibrateCompass() {
+MenuCalibrateCompass::~MenuCalibrateCompass()
+{
     delete this->caliCompass;
     this->caliCompassMode->setCalibrateCompass();
 }
 
-void MenuCalibrateCompass::printPage() const {
+void MenuCalibrateCompass::printPage() const
+{
     String lineOne = "";
     String lineTwo = "";
 
-    switch (this->getCurrentPage()) {
+    switch (this->getCurrentPage())
+    {
     case 0:
         lineOne = "-Ready to drive-";
         lineTwo = "Compass Mode";
@@ -33,7 +36,8 @@ void MenuCalibrateCompass::printPage() const {
         break;
 
     case 2:
-            switch (this->caliCompass->getState()) {
+        switch (this->caliCompass->getState())
+        {
         case CalibrateCompass::State::Ready:
             lineOne = "Start compass";
             lineTwo = "calibration";
@@ -108,7 +112,8 @@ void MenuCalibrateCompass::printPage() const {
     this->print(lineOne, lineTwo);
 }
 
-void MenuCalibrateCompass::init() {
+void MenuCalibrateCompass::init()
+{
     this->firstPrint = false;
     this->caliCompassMode = new CalibrateCompassM();
     this->driveManager->changeModus(this->caliCompassMode);
@@ -117,10 +122,13 @@ void MenuCalibrateCompass::init() {
     MenuDriveMode::updateDelay = MenuCalibrateCompass::updateDelay;
 }
 
-void MenuCalibrateCompass::runCommand() {
+void MenuCalibrateCompass::runCommand()
-    switch (this->getCurrentPage()) {
+{
+    switch (this->getCurrentPage())
+    {
     case 2:
-            switch (this->caliCompass->getState()) {
+        switch (this->caliCompass->getState())
+        {
         case CalibrateCompass::State::Ready:
             this->caliCompassMode->setCalibrateCompass(this->caliCompass);
             this->caliCompass->start();

src/SpecialMenus/driveModi/CalibrateCompass/menuCalibrateCompass.h

@@ -20,7 +20,8 @@
  * @brief A class to print informations about the class ManualControl
  *
  */
-class MenuCalibrateCompass : public MenuDriveMode {
+class MenuCalibrateCompass : public MenuDriveMode
+{
 public:
     /**
      * @brief Construct a new Menu Manual Control object
@@ -40,11 +41,10 @@ class MenuCalibrateCompass : public MenuDriveMode {
      */
     void printPage() const override;
 
-    protected:
+private:
     void init() override;
     void runCommand() override;
 
-    private:
     CalibrateCompassM *caliCompassMode = nullptr;
     CalibrateCompass *caliCompass = nullptr;
 

src/SpecialMenus/driveModi/CaptureRoute/menuCaptureRoute.h

@@ -18,7 +18,8 @@
  * @brief A class to print informations about the Autopilot
  *
  */
-class MenuCaptureRoute : public MenuDriveMode {
+class MenuCaptureRoute : public MenuDriveMode
+{
 public:
     /**
      * @brief Construct a new Menu Capture Route object
@@ -43,9 +44,8 @@ class MenuCaptureRoute : public MenuDriveMode {
      */
     void update() override;
 
-        void runCommand() override;
-
 private:
+    void runCommand() override;
     void init() override;
 
     CaptureRoute *captureRoute = nullptr;

src/SpecialMenus/driveModi/ManualDrive/menuManualDrive.cpp

@@ -10,26 +10,30 @@
  */
 #include "menuManualDrive.h"
 
-MenuManualControl::MenuManualControl(DriveManager* driveManager) : MenuDriveMode(driveManager) {
+MenuManualControl::MenuManualControl(DriveManager *driveManager) : MenuDriveMode(driveManager)
+{
     this->noEqualLeft = true;
 }
 
-
+void MenuManualControl::printPage() const
-void MenuManualControl::printPage() const {
+{
     String lineOne = "";
     String lineTwo = "";
 
-    switch (this->getCurrentPage()) {
+    switch (this->getCurrentPage())
+    {
     case 0:
         lineOne = "-Ready to drive-";
         break;
 
     case 1:
         lineOne = "Input mode:";
-            if (this->manualControl->getInputMode() == ManualControl::InputMode::Analog) {
+        if (this->manualControl->getInputMode() == ManualControl::InputMode::Analog)
+        {
             lineTwo = "Analog";
         }
-            else {
+        else
+        {
             lineTwo = "Digital";
         }
         break;
@@ -50,7 +54,8 @@ void MenuManualControl::printPage() const {
     this->print(lineOne, lineTwo);
 }
 
-void MenuManualControl::init() {
+void MenuManualControl::init()
+{
     this->firstPrint = false;
     this->manualControl = new ManualControl();
     this->driveManager->changeModus(this->manualControl);
@@ -60,8 +65,10 @@ void MenuManualControl::init() {
     MenuDriveMode::init();
 }
 
-void MenuManualControl::runCommand() {
+void MenuManualControl::runCommand()
-    switch (this->getCurrentPage()) {
+{
+    switch (this->getCurrentPage())
+    {
     case 1:
         this->manualControl->switchInputMode();
         break;

src/SpecialMenus/driveModi/ManualDrive/menuManualDrive.h

@@ -19,7 +19,8 @@
  * @brief A class to print informations about the class ManualControl
  *
  */
-class MenuManualControl : public MenuDriveMode {
+class MenuManualControl : public MenuDriveMode
+{
 public:
     /**
      * @brief Construct a new Menu Manual Control object
@@ -38,11 +39,10 @@ class MenuManualControl : public MenuDriveMode {
      */
     void printPage() const override;
 
-    protected:
+private:
     void init() override;
     void runCommand() override;
 
-    private:
     ManualControl *manualControl = nullptr;
     CalibrateCompass *caliCompass = nullptr;
 

src/SpecialMenus/driveModi/TestMode/menuTestMode.cpp

@@ -15,14 +15,18 @@ MenuTestMode::MenuTestMode(DriveManager* driveManager)
 {
 }
 
-MenuTestMode::~MenuTestMode() {
+MenuTestMode::~MenuTestMode()
-    if (isInit) {
+{
+    if (isInit)
+    {
         delete this->mainMenu;
     }
 }
 
-void MenuTestMode::printMenu() {
+void MenuTestMode::printMenu()
-    if (!this->isInit) {
+{
+    if (!this->isInit)
+    {
         this->isInit = true;
         this->init();
     }
@@ -30,61 +34,81 @@ void MenuTestMode::printMenu() {
     this->mainMenu->printMenu();
 }
 
-void MenuTestMode::down() {
+void MenuTestMode::down()
-    if (this->checkInput()) {
+{
+    if (this->checkInput())
+    {
         this->mainMenu->down();
     }
 }
 
-void MenuTestMode::up() {
+void MenuTestMode::up()
-    if (this->checkInput()) {
+{
+    if (this->checkInput())
+    {
         this->mainMenu->up();
     }
 }
 
-void MenuTestMode::right() {
+void MenuTestMode::right()
-    if (this->checkInput()) {
+{
+    if (this->checkInput())
+    {
         this->mainMenu->right();
     }
 }
 
-void MenuTestMode::left() {
+void MenuTestMode::left()
+{
     if (this->mainMenu->isInSubmenu())
-        if (this->checkInput()) {
+        if (this->checkInput())
+        {
             this->mainMenu->left();
         }
-        else {
+        else
+        {
             this->testMode->abortManeuver();
             this->mainMenu->left();
         }
-    else {
+    else
+    {
         this->parentMenu->printMenu();
     }
 }
 
-void MenuTestMode::yes() {
+void MenuTestMode::yes()
-    if (this->checkInput()) {
+{
+    if (this->checkInput())
+    {
         this->mainMenu->yes();
     }
 }
 
-void MenuTestMode::no() {
+void MenuTestMode::no()
-    if (this->mainMenu->isInSubmenu()) {
+{
+    if (this->mainMenu->isInSubmenu())
+    {
         if (this->checkInput())
             this->mainMenu->no();
-        else {
+        else
+        {
             this->testMode->abortManeuver();
             this->mainMenu->no();
-        }}
+        }
-    else{
+    }
-        this->left();}
+    else
+    {
+        this->left();
+    }
 }
 
-void MenuTestMode::init() {
+void MenuTestMode::init()
+{
     this->testMode = new TestMode();
     this->driveManager->changeModus(this->testMode);
 
-    auto dummy = []() {
+    auto dummy = []()
+    {
         std::cout << "Dummy in Action" << std::endl;
     };
 
@@ -103,7 +127,6 @@ void MenuTestMode::init() {
     auto *encoderLeftMenu = new SpeedometerTest(this->testMode->getSpeedometerLeft());
     auto *encoderRightMenu = new SpeedometerTest(this->testMode->getSpeedometerRight());
 
-
     // Set menus on LCD
     this->mainMenu->setLcd(this->lcd);
     engineMenu->setLcd(this->lcd);
@@ -143,7 +166,6 @@ void MenuTestMode::init() {
     engineBothMenu->setMinMaxSteps(1, 0, secondsMax, 1);
     engineBothMenu->setPrintParentMenu(false);
 
-
     // Entrys for the menus
     auto *engineAction = new MenuAction("Engine", engineMenu);
     auto *engineLeftAction = new MenuAction("Left", engineLeftMenu);
@@ -185,36 +207,47 @@ void MenuTestMode::init() {
     lightMenu->addEntry(lightOffAction);
 }
 
-void MenuTestMode::update() {
+void MenuTestMode::update()
-    if (this->maneuverInAction) {
+{
-        if (millis() - this->lastUpdateTime > updateDelay) {
+    if (this->maneuverInAction)
+    {
+        if (millis() - this->lastUpdateTime > updateDelay)
+        {
             this->printManeuverTime();
             this->lastUpdateTime = millis();
-        }}
+        }
+    }
 }
 
-bool MenuTestMode::checkInput() {
+bool MenuTestMode::checkInput()
-    if (this->testMode->getBusy()) {
+{
+    if (this->testMode->getBusy())
+    {
         this->printManeuverTime();
         this->maneuverInAction = true;
         return false;
     }
 
-    if (this->maneuverInAction) {
+    if (this->maneuverInAction)
+    {
         this->maneuverInAction = false;
     }
 
     return true;
 }
 
-void MenuTestMode::printManeuverTime() {
+void MenuTestMode::printManeuverTime()
+{
     uint8_t maneuverTime = this->testMode->getRemainingManeuverTime();
-    if (maneuverTime) {
+    if (maneuverTime)
+    {
         String lineTwo = "";
         lineTwo.concat(maneuverTime);
         lineTwo.concat(" secs");
         this->print("Maneuver time:", lineTwo);
-    } else {
+    }
+    else
+    {
         this->maneuverInAction = false;
         this->printMenu();
     }
@@ -234,21 +267,25 @@ MenuTestModeWrapper::MenuTestModeWrapper(MenuTestMode* menu, TestModeFunctionDou
 {
 }
 
-void MenuTestModeWrapper::action(int16_t* values, uint8_t length) {
+void MenuTestModeWrapper::action(int16_t *values, uint8_t length)
+{
     // This function calls a member function with a pointer
     // Very helpful site:
     // https://isocpp.org/wiki/faq/pointers-to-members#fnptr-vs-memfnptr-types
 
     bool res = false;
 
-    if (length == 2 && static_cast<bool>(this->testModeFunctionDouble)) {
+    if (length == 2 && static_cast<bool>(this->testModeFunctionDouble))
+    {
         res = (this->testMode->*this->testModeFunctionDouble)(values[0], values[1]);
     }
-    else if (length == 1 && static_cast<bool>(this->testModeFunctionSingle)) {
+    else if (length == 1 && static_cast<bool>(this->testModeFunctionSingle))
+    {
         res = (this->testMode->*this->testModeFunctionSingle)(values[0]);
     }
 
-    if (res) {
+    if (res)
+    {
         this->menu->printManeuverTime();
         this->menu->maneuverStarted();
     }

src/SpecialMenus/driveModi/TestMode/menuTestMode.h

@@ -22,7 +22,8 @@
  * @brief Interact with the TestMode
  *
  */
-class MenuTestMode : public MenuControl {
+class MenuTestMode : public MenuControl
+{
 public:
     /**
      * @brief Construct a new Menu Test Mode object
@@ -82,7 +83,8 @@ class MenuTestMode : public MenuControl {
 
 typedef bool (TestMode::*TestModeFunctionSingle)(int16_t);
 typedef bool (TestMode::*TestModeFunctionDouble)(int16_t, int16_t);
-class MenuTestModeWrapper : public MenuIntInputWrapper {
+class MenuTestModeWrapper : public MenuIntInputWrapper
+{
 public:
     MenuTestModeWrapper(MenuTestMode *menu, TestModeFunctionSingle testModeFunction);
     MenuTestModeWrapper(MenuTestMode *menu, TestModeFunctionDouble testModeFunction);

src/SpecialMenus/driveModi/TestMode/speedometerTest.cpp

@@ -17,9 +17,10 @@ SpeedometerTest::SpeedometerTest(Speedometer* speedometer)
     this->speedometer->setDirection(Speedometer::Forward);
 }
 
-
+void SpeedometerTest::printMenu()
-void SpeedometerTest::printMenu() {
+{
-    switch (this->state) {
+    switch (this->state)
+    {
     case State::Off:
         this->print("Press Yes (O)", "to start");
         break;
@@ -28,7 +29,8 @@ void SpeedometerTest::printMenu() {
         this->print("Running, Yes (O)", "to stop");
         break;
 
-        case State::Finished : {
+    case State::Finished:
+    {
         String res = "";
         res.concat(this->result);
         this->print("Result: ", res);
@@ -41,13 +43,15 @@ void SpeedometerTest::printMenu() {
     }
 }
 
-
+void SpeedometerTest::left()
-void SpeedometerTest::left() {
+{
     this->no();
 }
 
-void SpeedometerTest::no() {
+void SpeedometerTest::no()
-    if (this->state == State::Running){
+{
+    if (this->state == State::Running)
+    {
         speedometer->calibrationMeasurementStop();
     }
 
@@ -55,8 +59,10 @@ void SpeedometerTest::no() {
     this->parentMenu->printMenu();
 }
 
-void SpeedometerTest::yes() {
+void SpeedometerTest::yes()
-    switch (this->state) {
+{
+    switch (this->state)
+    {
     case State::Off:
         this->state = State::Running;
         this->speedometer->calibrationMeasurementStart();

src/SpecialMenus/driveModi/TestMode/speedometerTest.h

@@ -18,12 +18,14 @@
  * @brief Tests the wheel encoder.
  *
  */
-class SpeedometerTest : public MenuControl {
+class SpeedometerTest : public MenuControl
+{
 public:
     /**
      * @brief The states of the test.
      */
-        enum State {
+    enum State
+    {
         Off,
         Running,
         Finished

src/SpecialMenus/driveModi/menuDriveMode.cpp

@@ -16,9 +16,31 @@ MenuDriveMode::MenuDriveMode(DriveManager* driveManager)
 {
 }
 
-void MenuDriveMode::left() {
+MenuDriveMode::~MenuDriveMode()
-    if (static_cast<bool>(this->activeMenu)) {
+{
-        if (static_cast<bool>(this->activeMenu)) {
+    if (this->selfCreatedMenuSpeed)
+    {
+        delete this->menuSpeed;
+    }
+}
+
+void MenuDriveMode::addSpeedMenu(MenuIntInput *menuSpeed)
+{
+    if (this->selfCreatedMenuSpeed)
+    {
+        delete this->menuSpeed;
+        this->selfCreatedMenuSpeed = false;
+    }
+
+    this->menuSpeed = menuSpeed;
+}
+
+void MenuDriveMode::left()
+{
+    if (static_cast<bool>(this->activeMenu))
+    {
+        if (static_cast<bool>(this->activeMenu))
+        {
             this->activeMenu->left();
         }
         return;
@@ -31,52 +53,65 @@ void MenuDriveMode::left() {
     MenuInformationSites::left();
 }
 
-void MenuDriveMode::right() {
+void MenuDriveMode::right()
-    if (static_cast<bool>(this->activeMenu)) {
+{
+    if (static_cast<bool>(this->activeMenu))
+    {
         this->activeMenu->right();
         return;
     }
     MenuInformationSites::right();
 }
 
-void MenuDriveMode::up() {
+void MenuDriveMode::up()
-    if (static_cast<bool>(this->activeMenu)) {
+{
+    if (static_cast<bool>(this->activeMenu))
+    {
         this->activeMenu->up();
         return;
     }
     MenuInformationSites::up();
 }
 
-void MenuDriveMode::down() {
+void MenuDriveMode::down()
-    if (static_cast<bool>(this->activeMenu)) {
+{
+    if (static_cast<bool>(this->activeMenu))
+    {
         this->activeMenu->down();
         return;
     }
     MenuInformationSites::down();
 }
 
-void MenuDriveMode::yes() {
+void MenuDriveMode::yes()
-    if (static_cast<bool>(this->activeMenu)) {
+{
+    if (static_cast<bool>(this->activeMenu))
+    {
         this->activeMenu->yes();
         return;
     }
     MenuInformationSites::yes();
 }
 
-void MenuDriveMode::no() {
+void MenuDriveMode::no()
-    if (static_cast<bool>(this->activeMenu)) {
+{
+    if (static_cast<bool>(this->activeMenu))
+    {
         this->activeMenu->no();
         return;
     }
     MenuInformationSites::no();
 }
 
-void MenuDriveMode::prepareReenterMenu() {
+void MenuDriveMode::prepareReenterMenu()
+{
     this->activeMenu = nullptr;
 }
 
-void MenuDriveMode::printMenu() {
+void MenuDriveMode::printMenu()
-    if (static_cast<bool>(this->activeMenu)) {
+{
+    if (static_cast<bool>(this->activeMenu))
+    {
         this->activeMenu->printMenu();
         return;
     }
@@ -84,15 +119,23 @@ void MenuDriveMode::printMenu() {
     MenuInformationSites::printMenu();
 }
 
-void MenuDriveMode::init() {
+void MenuDriveMode::init()
+{
     this->activeMenu = nullptr;
 }
 
-void MenuDriveMode::activateSpeedMenu() {
+void MenuDriveMode::activateSpeedMenu()
-    if (!this->driveManager->isActive()) {
+{
+    if (!this->driveManager->isActive())
+    {
         return;
     }
 
+    if (this->selfCreatedMenuSpeed)
+    {
+        delete this->menuSpeed;
+    }
+
     DrivingSpeeds &speeds = this->driveManager->getDriveModiPtr()->getSpeedsRef();
     auto *menu = new MenuIntInput(2, new MenuSpeed(speeds));
 
@@ -100,21 +143,26 @@ void MenuDriveMode::activateSpeedMenu() {
     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->selfCreatedMenuSpeed = true;
     this->addSpeedMenu(menu);
 }
 
-void MenuDriveMode::enterSpeedMenu() {
+void MenuDriveMode::enterSpeedMenu()
+{
     this->activeMenu = this->menuSpeed;
     this->enterMenu();
 }
 
-void MenuDriveMode::enterSensorMenu() {
+void MenuDriveMode::enterSensorMenu()
+{
     this->activeMenu = this->menuSensor;
     this->enterMenu();
 }
 
-void MenuDriveMode::enterMenu() {
+void MenuDriveMode::enterMenu()
-    if (!static_cast<bool>(this->activeMenu)) {
+{
+    if (!static_cast<bool>(this->activeMenu))
+    {
         return;
     }
 

src/SpecialMenus/driveModi/menuDriveMode.h

@@ -20,7 +20,8 @@
  * @brief A base class for Menus about DriveModi
  *
  */
-class MenuDriveMode : public MenuInformationSites {
+class MenuDriveMode : public MenuInformationSites
+{
 public:
     /**
      * @brief Construct a new Menu Drive Mode object
@@ -29,8 +30,10 @@ class MenuDriveMode : public MenuInformationSites {
      */
     MenuDriveMode(DriveManager *driveManager);
 
+    ~MenuDriveMode();
+
     void addSensorMenu(MenuSensorData *menuSensor) { this->menuSensor = menuSensor; }
-        void addSpeedMenu(MenuIntInput* menuSpeed) { this->menuSpeed = menuSpeed; }
+    void addSpeedMenu(MenuIntInput *menuSpeed);
 
     /**
      * @brief Goes back to the parentMenu.
@@ -47,9 +50,35 @@ class MenuDriveMode : public MenuInformationSites {
 
 protected:
     void init() override;
+
+    /**
+     * @brief Prepare leaving the menu
+     *
+     * Can be overwritten to add extra functionality to safely
+     * exit the menu. This function is called before the parentMenu
+     * is printed.
+     */
     virtual void configureOnLeave() {}
+
+    /**
+     * @brief Creates an own SpeedMenu
+     *
+     * This function uses addSpeedMenu() at the end to that the new menu
+     */
     void activateSpeedMenu();
+
+    /**
+     * @brief Enter a Menu to edit the speeds
+     *
+     * To enter this menu it has to be set by addSpeedMenu() or activateSpeedMenu()
+     */
     void enterSpeedMenu();
+
+    /**
+     * @brief Enter a Menu with the SensorData
+     *
+     * To enter this menu it has to be set by addSensorMenu()
+     */
     void enterSensorMenu();
 
     DriveManager *driveManager;
@@ -62,5 +91,7 @@ class MenuDriveMode : public MenuInformationSites {
     MenuControl *activeMenu = nullptr;
     MenuSensorData *menuSensor = nullptr;
     MenuIntInput *menuSpeed = nullptr;
+
+    bool selfCreatedMenuSpeed = false;
 };
 #endif // MENU_DRIVE_MODI_H

src/driveModi/Modi/Autopilot/autopilot.h

@@ -12,7 +12,6 @@
 #ifndef AUTOPILOT_H
 #define AUTOPILOT_H
 
-
 #include "navigation.h"
 #include "driveModi/Modi/ManualControl/manualControl.h"
 
@@ -27,9 +26,11 @@ class DirectionChangeSignal;
  * switch to automatic drive.
  *
  */
-class Autopilot : public ManualControl {
+class Autopilot : public ManualControl
+{
 public:
-        enum State {
+    enum State
+    {
         InsufficientAccuracy = -2,
         NoRoute = -1,
         None = 0,
@@ -116,7 +117,8 @@ class Autopilot : public ManualControl {
     double minRemainingDistance = 0.25;
 };
 
-class DirectionChangeSignal : public DirectionChangeWrapper {
+class DirectionChangeSignal : public DirectionChangeWrapper
+{
 public:
     DirectionChangeSignal(Autopilot *pilot);
     ~DirectionChangeSignal();

src/driveModi/Modi/CalibrateCompass/calibrateCompassM.cpp

@@ -11,12 +11,15 @@
 
 #include "calibrateCompassM.h"
 
-
+void CalibrateCompassM::setCalibrateCompass(CalibrateCompass *caliCompass)
-void CalibrateCompassM::setCalibrateCompass(CalibrateCompass *caliCompass) {
+{
-    if (static_cast<bool>(caliCompass)) {
+    if (static_cast<bool>(caliCompass))
+    {
         this->caliCompass = caliCompass;
         this->addChildComponent(this->caliCompass);
-    } else if (static_cast<bool>(this->caliCompass)) {
+    }
+    else if (static_cast<bool>(this->caliCompass))
+    {
         this->removeChildComponent(this->caliCompass);
         this->caliCompass = caliCompass;
     }

src/driveModi/Modi/CalibrateCompass/calibrateCompassM.h

@@ -1,7 +1,7 @@
 /**
  * @file calibrateCompassM.h
  * @author Alexander Klein (alex@kleiax.de)
- * @brief 
+ * @brief Contains a Menu class to calibrate the compass
  * @version 0.1
  * @date 2023-09-03
  *
@@ -16,8 +16,17 @@
 
 #include "driveModi/Modi/ManualControl/manualControl.h"
 
-class CalibrateCompassM : public ManualControl {
+/**
+ * @brief A Menu class to interact with CalibrateCompass class
+ */
+class CalibrateCompassM : public ManualControl
+{
 public:
+    /**
+     * @brief Set the CalibrateCompass object
+     *
+     * @param caliCompass
+     */
     void setCalibrateCompass(CalibrateCompass *caliCompass = nullptr);
 
 private:

src/driveModi/Modi/CaptureRoute/captureRoute.h

@@ -25,7 +25,8 @@
  * you can add a Point everytime you want.
  *
  */
-class CaptureRoute : public ManualControl {
+class CaptureRoute : public ManualControl
+{
 public:
     /**
      * @brief Destroy the Capture Route object
@@ -34,19 +35,13 @@ class CaptureRoute : public ManualControl {
      */
     ~CaptureRoute();
 
-        // /**
-        //  * @brief Get the Navigation object
-        //  * 
-        //  * @return Navigation* 
-        //  */
-        // Navigation* getNavigation() const { return this->navigation; }
-
     /**
      * @brief Get the Route Info object
      *
      * @return RouteInfo
      */
     RouteInfo getRouteInfo() const { return this->routeInfo; }
+
     Navigation::Status getLastStatus() const { return this->status; }
     Navigation *getNavigation() const { return this->navigation; }
 
@@ -64,6 +59,7 @@ class CaptureRoute : public ManualControl {
      * @return false
      */
     bool shouldUpdate();
+
 private:
     void run() override;
     void afterActivate() override;

src/driveModi/Modi/ManualControl/manualControl.h

@@ -13,7 +13,8 @@
 
 #include "driveModi/driveModi.h"
 
-class DirectionChangeWrapper {
+class DirectionChangeWrapper
+{
 public:
     virtual void action() = 0;
 };
@@ -21,21 +22,37 @@ class DirectionChangeWrapper {
 /**
  * @brief Drive the Rover with a Joystick
  *
- * This class gets the x and y value from the PS3 controller
+ * This class gets the x and y value from the ControlPad
  * and map the values to moveControl
  *
  * @see MoveControl
  */
-class ManualControl : public DriveModi {
+class ManualControl : public DriveModi
+{
 public:
-        enum class InputMode : uint8_t {
+    /**
+     * @brief The enum is used to change the interpretation of the joystick data
+     */
+    enum class InputMode : uint8_t
+    {
         Analog,
         Digital
     };
 
+    /**
+     * @brief Change the InputMode to the opposite
+     */
     void switchInputMode();
     void setInputMode(InputMode mode) { this->inputMode = mode; }
     InputMode getInputMode() const { return this->inputMode; }
+
+    /**
+     * @brief Set the DirectionChangeWrapper object
+     *
+     * This callback is used to inform the CalcAzimuth Component about a direction change
+     *
+     * @param callback
+     */
     void setDirectionChangeCallback(DirectionChangeWrapper *callback) { this->directionChangeWrapper = callback; }
 
     uint16_t getDutycycleLeft() const { return this->moveControl->getDutycycleLeft(); }

src/driveModi/Modi/TestMode/testMode.cpp

@@ -15,7 +15,8 @@ void TestMode::run()
     if (this->maneuver == Maneuver::Turn)
     {
         uint16_t delta = abs(this->azimuth - this->getSensorData()->getRealAzimuth());
-        if (delta > this->degree) {
+        if (delta > this->degree)
+        {
             this->abort = true;
         }
     }
@@ -31,7 +32,8 @@ void TestMode::run()
 
 bool TestMode::drive(int16_t cmDistance, int16_t degree)
 {
-    if (this->busy){
+    if (this->busy)
+    {
         return false;
     }
 
@@ -43,10 +45,12 @@ bool TestMode::drive(int16_t cmDistance, int16_t degree)
         // Only left or right
         this->moveControl->setSpeed(0);
 
-        if (degree < 0){
+        if (degree < 0)
+        {
             this->moveControl->setRotationSpeed(-this->maxSpeeds.rot);
         }
-        else if (degree > 0){
+        else if (degree > 0)
+        {
             this->moveControl->setRotationSpeed(this->maxSpeeds.rot);
         }
 
@@ -62,10 +66,12 @@ bool TestMode::drive(int16_t cmDistance, int16_t degree)
         // Only forward or backward
         this->moveControl->setRotationSpeed(0);
 
-        if (cmDistance < 0){
+        if (cmDistance < 0)
+        {
             this->moveControl->setSpeed(-this->maxSpeeds.x);
         }
-        else if (cmDistance > 0){
+        else if (cmDistance > 0)
+        {
             this->moveControl->setSpeed(this->maxSpeeds.x);
         }
 
@@ -78,10 +84,12 @@ bool TestMode::drive(int16_t cmDistance, int16_t degree)
     {
         // forward or backward and left or right
         //  TODO: Calculate roationspeed
-        if (cmDistance < 0){
+        if (cmDistance < 0)
+        {
             this->moveControl->setSpeed(-this->maxSpeeds.x);
         }
-        else if (cmDistance > 0){
+        else if (cmDistance > 0)
+        {
             this->moveControl->setSpeed(this->maxSpeeds.x);
         }
 
@@ -137,7 +145,8 @@ void TestMode::abortManeuver()
 
 uint8_t TestMode::getRemainingManeuverTime() const
 {
-    if (this->busy){
+    if (this->busy)
+    {
         return static_cast<uint8_t>((this->maneuverTime - (millis() - this->actionStart)) / 1000);
     }
     return 0;
@@ -145,13 +154,16 @@ uint8_t TestMode::getRemainingManeuverTime() const
 
 bool TestMode::engineInit(int16_t powerPercentage, int16_t seconds)
 {
-    if (this->busy){
+    if (this->busy)
+    {
         return false;
     }
-    if (powerPercentage > TestMode::maxPercentage || powerPercentage < -TestMode::maxPercentage){
+    if (powerPercentage > TestMode::maxPercentage || powerPercentage < -TestMode::maxPercentage)
+    {
         return false;
     }
-    if (seconds < 0){
+    if (seconds < 0)
+    {
         return false;
     }
 

src/driveModi/Modi/TestMode/testMode.h

@@ -26,7 +26,6 @@ class TestMode : public DriveModi
 public:
     /**
      * @brief Different states to test the engine
-     *
      */
     enum Maneuver
     {
@@ -38,6 +37,14 @@ public:
         Drive
     };
 
+    /**
+     * @brief Let the rover drive
+     *
+     * @param cmDistance to drive
+     * @param degree degree to rotate over the hole distance
+     * @return true
+     * @return false
+     */
     bool drive(int16_t cmDistance = 0, int16_t degree = 0);
 
     /**
@@ -89,6 +96,7 @@ public:
      * @return false
      */
     bool getBusy() const { return this->busy; }
+
     Maneuver getManeuver() const { return this->maneuver; }
     Speedometer *getSpeedometerLeft() const { return this->moveControl->getSpeedometerLeft(); }
     Speedometer *getSpeedometerRight() const { return this->moveControl->getSpeedometerRight(); }

src/driveModi/driveManager.h

@@ -20,9 +20,13 @@
 #include "component.h"
 #include "sensorData.h"
 
-class DriveManager : public Component {
+/**
+ * @brief A class to manage and hold the different DriveModi
+ *
+ */
+class DriveManager : public Component
+{
 public:
-
     /**
      * @brief Construct a new Drive Manager object
      *
@@ -73,5 +77,4 @@ class DriveManager : public Component {
     DrivingSpeeds drivingSpeeds = {1, 7};
 };
 
-
 #endif // DRIVE_MANAGER_H

src/driveModi/driveModi.cpp

@@ -1,26 +1,30 @@
 #include "driveModi.h"
 
-DriveModi::~DriveModi() {
+DriveModi::~DriveModi()
+{
     this->moveControl->setSpeed(0);
     this->moveControl->setRotationSpeed(0);
     this->moveControl->setDrivingStatus(MoveControl::Status::Stop);
 }
 
-void DriveModi::activate(MoveControl* moveControl, ControlPadInput* input, SensorData* sensorData) {
+void DriveModi::activate(MoveControl *moveControl, ControlPadInput *input, SensorData *sensorData)
+{
     this->moveControl = moveControl;
     this->input = input;
     this->sensorData = sensorData;
     this->init();
 }
 
-void DriveModi::activate(DriveModiParams params){
+void DriveModi::activate(DriveModiParams params)
+{
     this->moveControl = params.moveControl;
     this->input = params.input;
     this->sensorData = params.sensorData;
     this->init();
 }
 
-void DriveModi::init() {
+void DriveModi::init()
+{
     this->moveControl->setDrivingStatus(MoveControl::Status::Drive);
     this->loopDelay = DriveModi::defaultDelay;
     this->afterActivate();

src/driveModi/driveModi.h

@@ -17,7 +17,11 @@
 #include "controlPadInput.h"
 #include "sensorData.h"
 
-struct DriveModiParams {
+/**
+ * @brief The struct contains all objects needed by a DriveMode
+ */
+struct DriveModiParams
+{
     MoveControl *moveControl;
     const ControlPadInput *input;
     const SensorData *sensorData;
@@ -29,12 +33,23 @@ struct DriveModiParams {
  * This class must be inherited by other classes which want to be
  * act as a DriveModi, because the DriveModi structure uses polymorphism.
  */
-class DriveModi : public Component {
+class DriveModi : public Component
+{
 public:
     virtual ~DriveModi();
 
     const SensorData *getSensorData() const { return this->sensorData; }
 
+    /**
+     * @brief This activates a DriveMode
+     *
+     * This function have to be called to provide the DriveMode
+     * with this objects
+     *
+     * @param moveControl
+     * @param input
+     * @param sensorData
+     */
     void activate(MoveControl *moveControl, ControlPadInput *input, SensorData *sensorData);
     void activate(DriveModiParams params);
 
@@ -43,6 +58,13 @@ class DriveModi : public Component {
     DrivingSpeeds &getSpeedsRef() { return this->maxSpeeds; }
 
 protected:
+    /**
+     * @brief Prepare other things
+     *
+     * This function can be overwritten to prepare things
+     * for the specific DriveModi. This function will be
+     * called after activate().
+     */
     virtual void afterActivate() {}
 
     MoveControl *moveControl = nullptr;