bug fix static in motor und speed

lib/Menu/menu.cpp

@@ -20,18 +20,19 @@ void Menu::addEntry(MenuAction* entry) {
     // TODO: Same shit here. Why I get the first element after an increment.
     static uint8_t inc = 0;
     inc++;
-    if (inc == 2) {
+    if (inc == 1) {
         this->it = this->entrys.begin();
     }
 }
 
 void Menu::printMenu() {
-    Serial.println("\n\n");
+    std::cout << std::endl;
     for (std::list<MenuAction*>::iterator iter = this->entrys.begin(); iter != this->entrys.end(); iter++) {
         MenuAction* selectedEntry = *(iter);
         if (this->it == iter)
-            Serial.print("  ");
-        Serial.println(selectedEntry->getName());
+            std::cout << "  " << selectedEntry->getName() << std::endl;
+        else
+            std::cout << selectedEntry->getName() << std::endl;
     }
     this->inSubmenu = false;
 }
@@ -62,11 +63,9 @@ void Menu::up() {
     std::list<MenuAction*>::iterator iter = this->entrys.end();
     iter--;
     if (this->it != this->entrys.begin()) {
-        Serial.println("--");
         this->it--;
     }
     else {
-        Serial.println("begin");
        this->it = iter;
     }
     this->printMenu();
@@ -86,6 +85,8 @@ void Menu::right() {
         selectedEntry->getMenu()->setParentMenu(this);
     } 
     selectedEntry->runAction();
+    if (selectedEntry->getIsMenu())
+        selectedEntry->getMenu()->down();
 }
 
 void Menu::left() {

lib/Menu/menu.h

@@ -13,10 +13,6 @@
 
 #include <list>
 
-// Only for print in consol
-// have to be deleted after display installation
-#include <Arduino.h>
-
 #include "menuAction.h"
 #include "menuControl.h"
 

lib/Menu/menuAction.cpp

@@ -22,6 +22,14 @@ MenuAction::MenuAction(const char* name, void (*function) ()) {
     this->callback = nullptr;
 }
 
+// MenuAction::MenuAction(const char* name, void (DriveManager:: *classFunction) ()) {
+//     this->name = name;
+//     this->classFunction = classFunction;
+//     this->classFunc = true;
+//     this->function = nullptr;
+//     this->callback = nullptr;
+// }
+
 MenuAction::MenuAction(const char* name, MenuControl* menu) {
     this->name = name;
     this->menu = menu;

lib/Menu/menuControl.h

@@ -12,6 +12,8 @@
 #ifndef MENU_CONTROLL_H
 #define MENU_CONTROLL_H
 
+#include <iostream>
+
 class MenuControl {
     public:
 

lib/Menu/menuPidSettings.cpp

@@ -1,86 +0,0 @@
-/**
- * @file pidSettings.cpp
- * @author Alexander Klein (alex@kleiax.de)
- * @brief 
- * @version 0.1
- * @date 2022-01-19
- * 
- * @copyright Copyright (c) 2022
- * 
- */
-
-#include "menuPidSettings.h"
-
-MenuPidSettings::MenuPidSettings(PID* pid) {
-    this->pid = pid;
-    this->values[0] = (uint8_t) pid->GetKp();
-    this->values[1] = (uint8_t) pid->GetKi();
-    this->values[2] = (uint8_t) pid->GetKd();
-}
-
-void MenuPidSettings::down() {
-    if (values[curPos] > 0)
-        values[curPos]--;
-
-    this->printMenu();
-}
-
-void MenuPidSettings::up() {
-    if (values[curPos] < UINT8_MAX)
-        values[curPos]++;
-
-    this->printMenu();
-}
-
-void MenuPidSettings::right() {
-    if (curPos < NUM_VAL - 1)
-        curPos++;
-    else
-        curPos = 0;
-
-    this->printMenu();
-}
-
-void MenuPidSettings::left() {
-    if (curPos > 0)
-        curPos--;
-    else
-        curPos = NUM_VAL - 1;
-
-    this->printMenu();
-}
-
-void MenuPidSettings::no() {
-    if (parentMenu)
-        this->parentMenu->printMenu();
-}
-
-void MenuPidSettings::yes() {
-    this->pid->SetTunings(this->values[0], this->values[1], this->values[2]);
-    if (parentMenu)
-        this->parentMenu->printMenu();
-}
-
-void MenuPidSettings::printMenu() {
-    Serial.println("  P    I    D  ");
-    char pos[16];
-    switch (this->curPos) {
-        case 0:
-            sprintf(pos, "_%d.3_ %d.3  %d.3 ", this->values[0], this->values[1], this->values[2]);
-            break;
-
-        case 1:
-            sprintf(pos, " %d.3 _%d.3_ %d.3 ", this->values[0], this->values[1], this->values[2]);
-            break;
-
-        case 2:
-            sprintf(pos, " %d.3  %d.3 _%d.3_", this->values[0], this->values[1], this->values[2]);
-            break;
-        
-        default:
-            break;
-    }
-    Serial.println(pos);
-}
-
-

lib/Menu/menuPidSettings.h

@@ -1,44 +0,0 @@
-/**
- * @file pidSettings.h
- * @author Alexander Klein (alex@kleiax.de)
- * @brief 
- * @version 0.1
- * @date 2022-01-19
- * 
- * @copyright Copyright (c) 2022
- * 
- */
-
-#ifndef PID_SETTINGS_H
-#define PID_SETTINGS_H
-
-#include "menuControl.h"
-#include <PID_v1.h>
-#include <stdint.h>
-
-// TODO: delete after installtion of display
-#include <Arduino.h>
-
-#define NUM_VAL 3
-
-class MenuPidSettings : public MenuControl {
-    public:
-        MenuPidSettings(PID* pid);
-
-        void down();
-        void up();
-        void right();
-        void left();
-        void no();
-        void yes();
-
-        void printMenu();
-
-    private:
-        PID* pid;
-        uint8_t values[NUM_VAL];
-        uint8_t curPos = 0;
-
-};
-
-#endif // PID_SETTINGS_H

lib/MotorControl/motorControl.cpp

@@ -34,23 +34,24 @@ void MotorControl::init(uint8_t pwm_pin, uint8_t pwm_channel, uint8_t dir_1, uin
     ledcWrite(this->pwm_channel, 0);
 }
 
-void MotorControl::loop() {
-    static uint32_t last_millis = 0;
+uint16_t MotorControl::loop() {
     uint32_t time = millis();
+    uint16_t elapsed_time = time - this->last_millis;
 
     //Cancel if delay is not reached
-    if (time - last_millis < delay) {
-        return;
-    }
+    if (elapsed_time < delay)
+        return elapsed_time;
+
     runMotorControl();
-    last_millis = time;
+    this->last_millis = time;
+    return elapsed_time;
 }
 
 void MotorControl::runMotorControl() {
-    // Absolute difference between target_power and speed
+    // Absolute difference between target_power and power
     uint8_t abs_difference = abs(this->target_power - this->power);
 
-    // Difference between target_power and speed
+    // Difference between target_power and power
     int16_t difference = this->target_power - this->power;
 
     // Check that the target speed is close to 0 and that the abs_difference is lower than powersteps

lib/MotorControl/motorControl.h

@@ -48,8 +48,9 @@ class MotorControl {
          * functions returns immediately.
          * @see runMotorControl()
          * @see DELAY
+         * @return time since the last call in Milliseconds
          */
-        void loop();
+        uint16_t loop();
 
         /**
          * @brief Normaly called repeatedly by loop() to update the pwm signal.
@@ -161,6 +162,8 @@ class MotorControl {
         uint8_t dir_2;
         uint8_t delay = DELAY;
         uint8_t powersteps = POWERSTEPS;
+
+        uint32_t last_millis = 0;
         
 };
 

lib/Speedometer/speedometer.cpp

@@ -29,24 +29,24 @@ void Speedometer::init(uint8_t pinA, uint8_t pinB, double diameter, uint16_t ste
     this->isInit = true;
 }
 
-void Speedometer::loop() {
-    static uint32_t last_millis = 0;
+uint16_t Speedometer::loop() {
     uint32_t time = millis();
+    uint16_t elapsed_time = time - this->last_millis_loop;
 
     //Cancel if delay is not reached
-    if (time - last_millis < delay) {
-        return;
+    if (elapsed_time < delay) {
+        return elapsed_time;
     }
     runSpeedometer();
-    last_millis = time;
+    this->last_millis_loop = time;
+    return elapsed_time;
 }
 
 void Speedometer::runSpeedometer() {
-    static uint32_t last_millis = 0;
     uint32_t time = millis();
 
-    uint16_t elapsed_time = time - last_millis;
-    last_millis = time;
+    uint16_t elapsed_time = time - last_millis_calc;
+    last_millis_calc = time;
 
     int16_t count = encoder.getCount();
     this->addValToBuf(count);

lib/Speedometer/speedometer.h

@@ -58,8 +58,9 @@ class Speedometer {
          * functions returns immediately.
          * @see runSpeedometer()
          * @see DELAY_SPEEDOMETER
+         * @return time since the last call in Milliseconds
          */
-        void loop();
+        uint16_t loop();
 
         /**
          * @brief Noramly called repeatedly by loop() to calcluate new values.
@@ -115,6 +116,9 @@ class Speedometer {
         uint8_t delay = DELAY_SPEEDOMETER;
 
         int16_t *buf;
+
+        uint32_t last_millis_loop = 0;
+        uint32_t last_millis_calc = 0;
 };
 
 #endif // SPEEDOMETER_H