Little improvements

include/moveControlConfig.h

@@ -27,7 +27,7 @@
     #define PID_OUT_MAX 100
     #define PID_SAMPLETIME 30
     // Left PID
-    #define PID_LEFT_P 85
+    #define PID_LEFT_P 75
     #define PID_LEFT_I 0
     #define PID_LEFT_D 0
     // Right PID

lib/Battery/battery.cpp

@@ -51,6 +51,7 @@ void Battery::calculateBatteryPercent() {
             break;
     }
     if (i == 0) {
+        if (this->batteryVoltage > 6)
             std::cout << "Critical low battery!" << std::endl;
     } else if (i == size - 1) {
 

lib/Battery/battery.h

@@ -80,7 +80,7 @@ class Battery {
 
         uint8_t pin;
         uint8_t batteryPercent;
-        uint16_t delay = 5000;
+        uint16_t delay = 20000;
         uint32_t r1;
         uint32_t r2;
         uint64_t lastMillis = 0;

src/main.cpp

@@ -51,6 +51,7 @@ bool wifiIsActive;
 
 void callbackControllerAction(void);
 void callbackControllerConnect(void);
+void callbackControllerDisconnect(void);
 void i2cScanner(void);
 void makeMenu(void);
 
@@ -87,6 +88,7 @@ void setup() {
 
     Ps3.attach(callbackControllerAction);
     Ps3.attachOnConnect(callbackControllerConnect);
+    Ps3.attachOnDisconnect(callbackControllerDisconnect);
     std::cout << "\nReady to connect a PS3 Controller... \n";
 
     // Need to be connected befor an other device connect
@@ -168,6 +170,11 @@ void callbackControllerConnect() {
     main_m->printMenu();
 }
 
+void callbackControllerDisconnect() {
+    std::cout << "Controller disconnected..." << std::endl;
+    // Ps3.end();
+}
+
 void i2cScanner() {
     std::cout << "\nI2C Scanner" << std::endl;
 
@@ -210,6 +217,10 @@ void makeMenu() {
         ESP.restart();
     };
 
+    auto disconnectController = [&]() {
+        Ps3.end();
+    };
+
     // Create Menu
     main_m = new Menu();
     Menu* mode_m = new Menu();
@@ -241,10 +252,12 @@ void makeMenu() {
     MenuAction* pid_e = new MenuAction("PID", pid_m);
     MenuAction* restart_e = new MenuAction("Restart", restart);
     MenuAction* akku_e = new MenuAction("Akku", akku_m);
+    MenuAction* contr_e = new MenuAction("Remove PS3", disconnectController);
     main_m->addEntry(mode_e);
     main_m->addEntry(gps_e);
     main_m->addEntry(pid_e);
     main_m->addEntry(akku_e);
+    main_m->addEntry(contr_e);
     main_m->addEntry(restart_e);
 
     // Entry for the mode Menu