Merge branch 'main' into projektarbeit

src/driveModi/Modi/CalibrateCompass/calibrateCompassM.cpp

@@ -0,0 +1,24 @@
+/**
+ * @file calibrateCompassM.cpp
+ * @author Alexander Klein (alex@kleiax.de)
+ * @brief 
+ * @version 0.1
+ * @date 2023-09-03
+ * 
+ * @copyright Copyright (c) 2023
+ * 
+ */
+
+#include "calibrateCompassM.h"
+
+CalibrateCompassM::CalibrateCompassM(DriveModiParams params) : ManualControl(params) {}
+
+void CalibrateCompassM::setCalibrateCompass(CalibrateCompass *caliCompass) {
+    if (caliCompass) {
+        this->caliCompass = caliCompass;
+        this->addChildComponent(this->caliCompass);
+    } else if (this->caliCompass) {
+        this->removeChildComponent(this->caliCompass);
+        this->caliCompass = caliCompass;
+    }
+}

src/driveModi/Modi/CalibrateCompass/calibrateCompassM.h

@@ -0,0 +1,29 @@
+/**
+ * @file calibrateCompassM.h
+ * @author Alexander Klein (alex@kleiax.de)
+ * @brief 
+ * @version 0.1
+ * @date 2023-09-03
+ * 
+ * @copyright Copyright (c) 2023
+ * 
+ */
+
+#ifndef CALIBRATE_COMPASS_M_H
+#define CALIBRATE_COMPASS_M_H
+
+#include "calibrateCompass.h"
+
+#include "driveModi/Modi/ManualControl/manualControl.h"
+
+class CalibrateCompassM : public ManualControl {
+    public:
+        CalibrateCompassM(DriveModiParams params);
+
+        void setCalibrateCompass(CalibrateCompass* caliCompass = nullptr);
+
+    private:
+        CalibrateCompass* caliCompass = nullptr;
+};
+
+#endif //CALIBRATE_COMPASS_M_H

src/driveModi/Modi/ConsolControl/consolControl.cpp

@@ -1,13 +0,0 @@
-/**
- * @file consolControl.cpp
- * @author Alexander Klein (alex@kleiax.de)
- * @brief 
- * @version 0.1
- * @date 2022-02-15
- * 
- * @copyright Copyright (c) 2022
- * 
- */
-
-#include "consolControl.h"
-

src/driveModi/Modi/ConsolControl/consolControl.h

@@ -1,20 +0,0 @@
-/**
- * @file consolControl.h
- * @author Alexander Klein (alex@kleiax.de)
- * @brief 
- * @version 0.1
- * @date 2022-02-15
- * 
- * @copyright Copyright (c) 2022
- * 
- */
-
-#ifndef CONSOL_CONTROL_H
-#define CONSOL_CONTROL_H
-
-#include "driveModi/driveModi.h"
-class ConsolControl : DriveModi{
-
-};
-
-#endif // CONSOL_CONTROL_H

src/driveModi/Modi/ManualControl/manualControl.cpp

@@ -10,15 +10,6 @@
  */
 #include "manualControl.h"
 
-ManualControl::ManualControl(MoveControl* moveControl, const ControlPadInput *input)
-                : DriveModi(moveControl) { 
-    this->input = input;
-}
-
-ManualControl::~ManualControl() {
-    
-}
-
 void ManualControl::run() {    
     switch (this->inputMode) {
         case InputMode::Analog :
@@ -34,16 +25,6 @@ void ManualControl::run() {
     }
 }
 
-void ManualControl::setCalibrateCompass(CalibrateCompass *caliCompass) {
-    if (caliCompass) {
-        this->caliCompass = caliCompass;
-        this->addChildComponent(this->caliCompass);
-    } else if (this->caliCompass) {
-        this->removeChildComponent(this->caliCompass);
-        this->caliCompass = caliCompass;
-    }
-}
-
 void ManualControl::switchInputMode() {
     this->inputMode = (this->inputMode == InputMode::Analog) ? InputMode::Digital : InputMode::Analog;
 }
@@ -51,7 +32,7 @@ void ManualControl::switchInputMode() {
 void ManualControl::analogControl() {
     // Have to be int16_t to avoid overflow (int8_t = 255 - 127 = -128)
     int16_t x = this->input->x - 127;
-    int16_t y = this->input->y - 127;
+    int16_t y = this-> input->y - 127;
 
     // static int counter = 0;
     // if (counter % 60 == 0) {

src/driveModi/Modi/ManualControl/manualControl.h

@@ -11,10 +11,7 @@
 #ifndef MANUAL_CONTROL_H
 #define MANUAL_CONTROL_H
 
-#include "moveControl.h"
 #include "driveModi/driveModi.h"
-#include "controlPadInput.h"
-#include "calibrateCompass.h"
 
 class DirectionChangeWrapper {
     public:
@@ -36,10 +33,7 @@ class ManualControl : public DriveModi {
             Digital
         };
 
-        ManualControl(MoveControl *moveControl, const ControlPadInput *input);
-        ~ManualControl();
-
-        void setCalibrateCompass(CalibrateCompass* caliCompass = nullptr);
+        ManualControl(DriveModiParams params) : DriveModi(params){};
 
         void switchInputMode();
         void setInputMode(InputMode mode) { this->inputMode = mode; }
@@ -51,14 +45,12 @@ class ManualControl : public DriveModi {
 
     protected:
         void run() override;
-        const ControlPadInput* input;
 
     private:
         void analogControl();
         void digitalControl();
 
         bool lastLoopTurned = false;
-        CalibrateCompass* caliCompass = nullptr;
         DirectionChangeWrapper* directionChangeWrapper = nullptr;
         InputMode inputMode = InputMode::Analog;
 };

src/driveModi/Modi/TestMode/testMode.cpp

@@ -10,8 +10,8 @@
  */
 #include "testMode.h"
 
-TestMode::TestMode(MoveControl *moveControl,  Navigation* navigation) 
-        : DriveModi(moveControl) {
+TestMode::TestMode(DriveModiParams params,  Navigation* navigation) 
+        : DriveModi(params) {
     this->navigation = navigation;
 }
 
@@ -21,7 +21,7 @@ TestMode::~TestMode() {
 
 void TestMode::run() {
     if (this->maneuver == Maneuver::Turn) {
-        uint16_t delta = abs(this->azimuth - this->navigation->getAzimuth());
+        uint16_t delta = abs(this->azimuth - this->getSensorData()->getRealAzimuth());
         if (delta > this->degree)
             this->abort = true;
     }
@@ -50,7 +50,7 @@ bool TestMode::drive(int16_t cm, int16_t degree) {
         else if (degree > 0)
             this->moveControl->setRotationSpeed(this->maxRotationSpeed);
         
-        this->azimuth = this->navigation->getAzimuth();
+        this->azimuth = this->getSensorData()->getRealAzimuth();
         this->degree = degree;
 
         this->maneuverTime = 5 * 1000;

src/driveModi/Modi/TestMode/testMode.h

@@ -44,7 +44,7 @@ class TestMode : public DriveModi {
          * @param moveControl 
          * @param navigation 
          */
-        TestMode(MoveControl *moveControl, Navigation* navigation);
+        TestMode(DriveModiParams params, Navigation* navigation);
         ~TestMode();
 
         bool drive(int16_t cm = 0, int16_t degree = 0);