bug fix static in motor und speed

src/main.cpp

@@ -1,5 +1,6 @@
 #include <Arduino.h>
 #include <Ps3Controller.h>
+#include <iostream>
 
 #include "config.h"
 
@@ -11,26 +12,26 @@
 
 #include "menu.h"
 #include "menuAction.h"
-#include "menuPidSettings.h"
-
-// Platzhalter, muss irgendwann weg
-void dummy(){Serial.println("Dummy in Action");}
-
-void callbackControllerAction();
-void callbackControllerConnect();
-void controllerPrintBattery();
-void p_f();
-void i_f();
-void d_f();
-int32_t displaySelectValue();
+#include "SpecialMenus/menuPidSettings.h"
+#include "SpecialMenus/menuManualDrive.h"
 
 MoveControl moveController;
 DriveManager driveManager(&moveController);
 Menu* main_m;
 
+// TODO: Platzhalter, muss irgendwann weg
+void dummy(){std::cout << "Dummy in Action" <<std::endl;}
+
+
+void callbackControllerAction();
+void callbackControllerConnect();
+void controllerPrintBattery();
+
+void exitDriveMode() {driveManager.changeModus(Modi::Off);}
+
 void setup() {
     Serial.begin(115200);
-    Serial.println("Welcome to Kleiax-Rover");
+    std::cout << "Welcome to Kleiax-Rover" << std::endl;
 
     Network::setIps();
     Network::connectWifi();
@@ -38,7 +39,7 @@ void setup() {
 
     Ps3.attach(callbackControllerAction);
     Ps3.attachOnConnect(callbackControllerConnect);
-    Serial.println("\nReady to connect a PS3 Controller... \n");
+    std::cout << "\nReady to connect a PS3 Controller... \n";
     Ps3.begin();
 
     Serial1.begin(GPS_BAUD, SERIAL_8N1, GPS_RX, GPS_TX);
@@ -49,6 +50,7 @@ void setup() {
     Menu* pid_m = new Menu();
     MenuPidSettings* pidl_m = new MenuPidSettings(moveController.getPID(0));
     MenuPidSettings* pidr_m = new MenuPidSettings(moveController.getPID(1));
+    MenuManualControl* man_m = new MenuManualControl(&driveManager);
 
     // Entry for the main menu
     MenuAction* mode_e = new MenuAction("Mode", mode_m);
@@ -62,7 +64,7 @@ void setup() {
     MenuAction* autopilot_e = new MenuAction("Autopilot", dummy);
     MenuAction* captureRoute_e = new MenuAction("Capture Route", dummy);
     MenuAction* consolControl_e = new MenuAction("Consol Control", dummy);
-    MenuAction* manualControl_e = new MenuAction("Manual Control", dummy);
+    MenuAction* manualControl_e = new MenuAction("Manual Control", man_m);
     MenuAction* testMode_e = new MenuAction("Test Mode", dummy);
     mode_m->addEntry(autopilot_e);
     mode_m->addEntry(captureRoute_e);
@@ -82,7 +84,8 @@ void loop() {
     Network::checkMQTT();
     driveManager.loop();
     while (Serial1.available() > 0)
-        Serial.print(Serial1.read());
+        std::cout << "In while von gps in loop in main.cpp" << std::endl;
+        // Serial.print(Serial1.read());
 }
 
 bool isDelayReached() {
@@ -112,16 +115,15 @@ void callbackControllerAction() {
         else if (Ps3.data.button.circle)
             main_m->yes();
         else if (Ps3.data.button.cross)
-            main_m->no();
-        else if (Ps3.data.button.select)
-            main_m->printMenu();
+            main_m->no();   
         else if (Ps3.data.button.ps)
             controllerPrintBattery();
     }
 }
 
 void callbackControllerConnect() {
-    Serial.println("Controller connected to ESP32");
+    std::cout << "Controller connected to ESP32" << std::endl;
+    main_m->printMenu();
 }
 
 void controllerPrintBattery() {
@@ -131,11 +133,11 @@ void controllerPrintBattery() {
     }
 
     Serial.print("The controller battery is ");
-    if( controller_battery == ps3_status_battery_charging )      Serial.println("charging");
-    else if( controller_battery == ps3_status_battery_full )     Serial.println("FULL");
-    else if( controller_battery == ps3_status_battery_high )     Serial.println("HIGH");
-    else if( controller_battery == ps3_status_battery_low)       Serial.println("LOW");
-    else if( controller_battery == ps3_status_battery_dying )    Serial.println("DYING");
-    else if( controller_battery == ps3_status_battery_shutdown ) Serial.println("SHUTDOWN");
-    else Serial.println("UNDEFINED");
+    if( controller_battery == ps3_status_battery_charging )      printf("charging\n");
+    else if( controller_battery == ps3_status_battery_full )     printf("FULL\n");
+    else if( controller_battery == ps3_status_battery_high )     printf("HIGH\n");
+    else if( controller_battery == ps3_status_battery_low)       printf("LOW\n");
+    else if( controller_battery == ps3_status_battery_dying )    printf("DYING\n");
+    else if( controller_battery == ps3_status_battery_shutdown ) printf("SHUTDOWN\n");
+    else printf("UNDEFINED\n");
 }