added possibility to change max speeds in

manualControl

src/SpecialMenus/driveModi/ManualDrive/menuManualDrive.cpp

@@ -14,16 +14,33 @@ void MenuManualControl::printPage() const {
     String lineOne = "";
     String lineTwo = "";
 
-    uint8_t currentPage = this->getCurrentPage();
+    switch (this->getCurrentPage()) {
-
-    switch (currentPage) {
         case 0:
             lineOne = "-Ready to drive-";
             break;
 
         case 1:
             lineOne = "Speed: ";
-            lineTwo = "Warp 3";
+            lineOne.concat(this->manualControl->getMaxSpeed());
+            lineTwo = "Increase by 0.1";
+            break;
+
+        case 2:
+            lineOne = "Speed: ";
+            lineOne.concat(this->manualControl->getMaxSpeed());
+            lineTwo = "Decrease by 0.1";
+            break;
+
+        case 3:
+            lineOne = "RotSpeed: ";
+            lineOne.concat(this->manualControl->getMaxRotation());
+            lineTwo = "Increase by 0.1";
+            break;
+
+        case 4:
+            lineOne = "RotSpeed: ";
+            lineOne.concat(this->manualControl->getMaxRotation());
+            lineTwo = "Decrease by 0.1";
             break;
         
         default:
@@ -37,5 +54,30 @@ void MenuManualControl::printPage() const {
 void MenuManualControl::init() {
     this->firstPrint = false;
     this->driveManager->changeModus(Modi::ManualControl);
-    this->setCountPages(4);   
+    this->manualControl = (ManualControl*) this->driveManager->getDriveModiPtr();
+    this->setCountPages(5);   
+}
+
+void MenuManualControl::runCommand() const {
+    switch (this->getCurrentPage()) {
+
+        case 1:
+            this->manualControl->increaseMaxSpeed();
+            break;
+
+        case 2:
+            this->manualControl->decreaseMaxSpeed();
+            break;
+
+        case 3:
+            this->manualControl->increaseMaxRotation();
+            break;
+
+        case 4:
+            this->manualControl->increaseMaxRotation();
+            break;
+        
+        default:
+            break;
+    }
 }

src/SpecialMenus/driveModi/ManualDrive/menuManualDrive.h

@@ -39,6 +39,10 @@ class MenuManualControl : public MenuDriveMode {
 
     protected:
         void init() override;
+        void runCommand() const override;
+
+    private:
+        ManualControl* manualControl;
 };
 
 #endif // MENU_MANUAL_DRIVE_H

src/driveModi/Modi/ManualControl/manualControl.h

@@ -62,6 +62,9 @@ class ManualControl : public DriveModi {
          * @param maxSpeed in m/s 
          */
         void setMaxSpeed(double maxSpeed) { max_speed = maxSpeed; }
+        void increaseMaxSpeed(double increase = 0.1) { max_speed += increase; }
+        void decreaseMaxSpeed(double increase = 0.1) { max_speed -= increase; }
+        double getMaxSpeed() { return this->max_speed; }
         
         /**
          * @brief Set the max rotation
@@ -69,6 +72,9 @@ class ManualControl : public DriveModi {
          * @param maxRotation in rad/s (maybe) 
          */
         void setMaxRotation(double maxRotation) { max_rotation = maxRotation; }
+        void increaseMaxRotation(double increase = 0.1) { max_rotation += increase; }
+        void decreaseMaxRotation(double increase = 0.1) { max_rotation -= increase; }
+        double getMaxRotation() { return this->max_rotation; }
 
     protected:
         MoveControl *moveControl;