From 75a1eb749cfc0756f8949c24ee7381c3ff5038a4 Mon Sep 17 00:00:00 2001
From: Alexander Klein <alex@kleiax.de>
Date: Mon, 9 Jan 2023 15:36:03 +0100
Subject: [PATCH] small fixes

---
 lib/MotorControl/motorControl.cpp |  8 +++-----
 src/moveControl.cpp               | 13 ++-----------
 2 files changed, 5 insertions(+), 16 deletions(-)

diff --git a/lib/MotorControl/motorControl.cpp b/lib/MotorControl/motorControl.cpp
index 36be868..ac22f5b 100644
--- a/lib/MotorControl/motorControl.cpp
+++ b/lib/MotorControl/motorControl.cpp
@@ -112,12 +112,10 @@ uint16_t MotorControl::setPowerSteps(uint8_t increment) {
 }
 
 void MotorControl::setTargetPower(int8_t power) {
-    if (power <= 100 && power >= -100) {
+    if (power <= 100 && power >= -100)
         this->target_power = power;
-    } else {
-        char str[64];
-        sprintf(str, "Invalid Argument (power: %d) in setTargetPower!", power);
-    }
+    else
+        std::cout << " MotorControl::setTargetPower: Invalid Argument - Power: " << power << std::endl;
 }
 
 uint16_t MotorControl::setDelay(uint8_t delay) {
diff --git a/src/moveControl.cpp b/src/moveControl.cpp
index 86f859d..43d1507 100644
--- a/src/moveControl.cpp
+++ b/src/moveControl.cpp
@@ -121,12 +121,12 @@ void MoveControl::setRotationSpeed(double speed) {
 }
 
 void MoveControl::setRawPowerLeft(int16_t power) {
-    if (power <= 100 && power >= 100)
+    if (power <= 100 && power >= -100)
         this->rawPowerLeft = power;
 }
 
 void MoveControl::setRawPowerRight(int16_t power) {
-    if (power <= 100 && power >= 100)
+    if (power <= 100 && power >= -100)
         this->rawPowerRight = power;
 }
 
@@ -168,15 +168,6 @@ void MoveControl::regulateMotors() {
         case DrivingStatus::stop :
             this->left_motor->setTargetPower(0);
             this->right_motor->setTargetPower(0);
-            // Serial.println("in stop MoveControl::regulateMotors");
-            // if (abs(left_speedometer->getSpeed()) > 0.2) {
-            //     Serial.printf("Left Motor Target: %d, Ist: %d\n", this->left_motor->getTargetPower(), this->left_motor->getPower());
-            //     Serial.printf("Left Speedometer speed: %f\n", this->left_speedometer->getSpeed());
-            // }
-            // if (abs(right_speedometer->getSpeed()) > 0.2) {
-            //     Serial.printf("Right Motor Target: %d, Ist: %d\n", this->right_motor->getTargetPower(), this->right_motor->getPower());
-            //     Serial.printf("Right Speedometer speed: %f\n", this->right_speedometer->getSpeed());
-            // }
             break;
 
         case DrivingStatus::drive :