bug fix static in motor und speed

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