fix pwm channel

doc/TODO allgemein.txt

@@ -6,7 +6,6 @@ Do later:
     -> Program underfloorLighting
     -> Add an beeper
     -> Program the beeper
-    -> Update GNSS Lib to v3
     -> Engine slow down without curve in motorControl
     -> Network clean up (Mqtt remove?)
     -> Extra class for maneuver, autopilot should inherit from int16_t
@@ -19,16 +18,7 @@ Do later:
     -> Menu Display from parent as run() to make Menu as Component
     -> Racing Mode
     -> ConsolControl
-    -> Menü für Sensordaten (kann in jedem Betriebsmodus aufgerufen werden)
-        - GNSS
-        - Ntrip
-        - CalcCompass
-        - RealCompass
-        - Gyroskop
-        - Geschwindigkeiten (vielleicht)
     -> Menü für Einstellungen
-        - PID
-        - Geschwindigkeiten
         - WiFi (save in Flash)
     -> Battery
         - tabelle mit eigenen Werten übergeben und nicht in header (wiederverwendbarkeit)
@@ -44,8 +34,6 @@ Do now:
 Code:
     Doxygen Kommentare aktualisieren
     magic numbers etc
-    Menu in Lib Folder packen
-    testMode einzelner Motor testen klappt nicht
     Fernbedienung!
 
 Latex:
@@ -53,8 +41,6 @@ Latex:
     Unterschied funktionale und nicht funktionale Anforderungen
     Overfull H-Boxen
     Test Motor, Zeiten kontrolieren. Wenn einfach so dann bezug auf fehler bei Timing und freeRtos
-    Bild mit RPY einbinden
+    Was mit den nicht erfüllten Anforderungen machen?
+    Hardware doppelt erklärt
 
-3D:
-    
-Rover:

include/config.h

@@ -30,7 +30,7 @@ namespace PinNumbers {
         constexpr uint8_t dir2 = 23;
         constexpr uint8_t pwm  = 22;
         constexpr uint8_t encoder = 33;
-        constexpr uint8_t pmwChannel = 0;
+        constexpr uint8_t pmwChannel = 1;
     }
 }
 

include/networkConfig.h

@@ -14,7 +14,7 @@
 
 #include <stdint.h>
 
-#define HOTSPOT
+#define HW1
 
 #ifdef HOTSPOT
 namespace NetworkConfig {
@@ -28,6 +28,18 @@ namespace NetworkConfig {
 }
 #endif //HOTSPOT
 
+#ifdef HW1
+namespace NetworkConfig {
+    const char ssid[] = "hw1_gast";
+    const char password[] = "KeineAhnung";
+    const char ip[] = "192.168.0.4";
+    const char subnet[] = "255.255.255.0";
+    const char gateway[] = "192.168.0.1";
+    const char dns[] = "8.8.8.8";
+    const bool mqtt = false;
+}
+#endif //HW1
+
 //Network config Rhede
 #ifdef RHEDE
 namespace NetworkConfig {

platformio.ini

@@ -15,7 +15,7 @@ board_build.partitions = no_ota.csv
 framework = arduino
 monitor_speed = 115200
 upload_speed = 921600
-monitor_port = COM3
+monitor_port = COM6
 lib_deps = 
 	https://git.kleiax.de/PlatformIO-Libs/SparkFunGNSS.git
 	knolleary/PubSubClient@^2.8
@@ -23,9 +23,8 @@ lib_deps =
 	marcoschwartz/LiquidCrystal_I2C@^1.1.4
 	bblanchon/ArduinoJson@^6.20.0
 	mprograms/QMC5883LCompass@^1.2.0
-	https://git.kleiax.de/PlatformIO-Libs/Menu.git
 	jrowberg/I2Cdevlib-MPU6050@^1.0.0
-upload_port = COM3
+upload_port = COM6
 test_ignore = test_desktop
 build_type = debug
 monitor_filters = esp32_exception_decoder

src/driveModi/Modi/TestMode/testMode.cpp

@@ -17,7 +17,7 @@ void TestMode::run() {
             this->abort = true;
     }
 
-    if (millis() - this->actionStart > this->maneuverTime || this->abort) {
+    if (this->busy && millis() - this->actionStart > this->maneuverTime || this->abort) {
         this->busy = false;
         this->abort = false;
         this->moveControl->setDrivingStatus(MoveControl::Status::Stop);
@@ -83,6 +83,7 @@ bool TestMode::leftEngine(int16_t powerPercentage, int16_t seconds) {
     if (this->engineInit(powerPercentage, seconds)) {
         this->moveControl->setRawPowerLeft(powerPercentage);
         this->maneuver = Maneuver::LeftEngine;
+        std::cout << "TestMode::leftEngine" << std::endl;
         return true;
     }
     return false;

src/moveControl.cpp

@@ -44,7 +44,7 @@ MoveControl::MoveControl() {
     this->right_motor->init(PinNumbers::RightMotor::pwm, PinNumbers::RightMotor::pmwChannel, PinNumbers::RightMotor::dir1, PinNumbers::RightMotor::dir2);
 
     this->addChildComponent(this->left_motor);
-    this->addChildComponent(this->right_motor); 
+    this->addChildComponent(this->right_motor);
     this->addChildComponent(this->left_speedometer);
     this->addChildComponent(this->right_speedometer);                             
 }
@@ -80,11 +80,15 @@ void MoveControl::setDrivingStatus(Status status) {
     this->driving_status = status;
     // switch (this->driving_status) {
     //     case Status::Stop :
-    //         Serial.println("New drivingState = Stop in MoveControl::setDrivingStatus");
+    //         std::cout << "New drivingState = Stop in MoveControl::setDrivingStatus" << std::endl;
     //         break;
 
     //     case Status::Drive :
-    //         Serial.println("New drivingState = Drive in MoveControl::setDrivingStatus");
+    //         std::cout << "New drivingState = Drive in MoveControl::setDrivingStatus" << std::endl;
+    //         break;
+
+    //     case Status::Raw :
+    //         std::cout << "New drivingState = Raw in MoveControl::setDrivingStatus" << std::endl;
     //         break;
 
     //     default: