bug fix static in motor und speed

src/SpecialMenus/menuManualDrive.cpp

@@ -0,0 +1,20 @@
+#include "menuManualDrive.h"
+
+MenuManualControl::MenuManualControl(DriveManager* driveManager) {
+    this->driveManager = driveManager;
+}
+
+void MenuManualControl::left() {
+    this->driveManager->changeModus(Modi::Off);
+    if (parentMenu)
+        this->parentMenu->printMenu();
+}
+
+void MenuManualControl::no() {
+    this->left();
+}
+
+void MenuManualControl::printMenu() {
+    this->driveManager->changeModus(Modi::ManualControl);
+    std::cout << "Jetzt kannst du\n fahren. :-)" << std::endl;
+}

src/SpecialMenus/menuManualDrive.h

@@ -0,0 +1,42 @@
+/**
+ * @file menuManualDrive.h
+ * @author Alexander Klein (alex@kleiax.de)
+ * @brief 
+ * @version 0.1
+ * @date 2022-01-20
+ * 
+ * @copyright Copyright (c) 2022
+ * 
+ */
+
+#ifndef MENU_MANUAL_DRIVE_H
+#define MENU_MANUAL_DRIVE_H
+
+#include "menuControl.h"
+#include "driveModi/driveManager.h"
+
+// TODO: delete after installtion of display
+#include <Arduino.h>
+
+
+
+class MenuManualControl : public MenuControl {
+    public:
+        MenuManualControl(DriveManager* driveManager);
+
+        void down(){}
+        void up(){}
+        void right(){}
+        void left();
+        void no();
+        void yes(){}
+
+        void printMenu();
+
+    private:
+        DriveManager* driveManager;
+        
+
+};
+
+#endif // MENU_MANUAL_DRIVE_H

src/SpecialMenus/menuPidSettings.cpp

@@ -0,0 +1,84 @@
+/**
+ * @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() {
+    std::cout << "  P    I    D  " << std::endl;
+    switch (this->curPos) {
+        case 0:
+            printf("_%3.d_ %3.d  %3.d \n", this->values[0], this->values[1], this->values[2]);
+            break;
+
+        case 1:
+            printf(" %3.d _%3.d_ %3.d \n", this->values[0], this->values[1], this->values[2]);
+            break;
+
+        case 2:
+            printf(" %3.d  %3.d _%3.d_\n", this->values[0], this->values[1], this->values[2]);
+            break;
+        
+        default:
+            break;
+    }
+}
+
+

src/SpecialMenus/menuPidSettings.h

@@ -0,0 +1,44 @@
+/**
+ * @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