added dutyCycle to menuManualControl

include/moveControl.h

@@ -154,6 +154,9 @@ class MoveControl {
          */
         Speedometer* getSpeedometerRight() const { return this->right_speedometer; }
 
+        uint16_t getDutycycleLeft() const { return this->left_motor->getDutycycle(); }
+        uint16_t getDutycycleRight() const { return this->right_motor->getDutycycle(); }
+
         /**
          * @brief Set the min delay between each loop
          * 

lib/MotorControl/motorControl.cpp

@@ -159,7 +159,7 @@ bool MotorControl::isAccelerationNegative() {
 
 void MotorControl::setRealPower(int8_t power) {
     //TODO: Exceptionhandling
-    if (power <= 100 || power <= -100) {
+    if (power <= 100 && power >= -100) {
         this->power = power;
     } else {
         return;
@@ -170,6 +170,7 @@ void MotorControl::setRealPower(int8_t power) {
         digitalWrite(this->dir_1, LOW);
         digitalWrite(this->dir_2, LOW);
         ledcWrite(this->pwm_channel, 0);
+        this->dutycycle = 0;
         return;
     }
 
@@ -186,6 +187,7 @@ void MotorControl::setRealPower(int8_t power) {
     }
 
     ledcWrite(this->pwm_channel, pwm_val);
+    this->dutycycle = pwm_val;
 }
 
 void MotorControl::increasePower(int8_t power) {

lib/MotorControl/motorControl.h

@@ -142,6 +142,8 @@ class MotorControl {
          * @return int8_t percent of power (-100 to 100)
          */
         int8_t getTargetPower();
+
+        uint16_t getDutycycle() const { return this->dutycycle; }
         bool isTargetPowerReached();
         bool isAccelerationPositive();
         bool isAccelerationNegative();
@@ -157,6 +159,7 @@ class MotorControl {
         uint8_t pwm_pin;
         uint8_t pwm_channel;
         uint8_t pwm_res = PWMRES;
+        uint16_t dutycycle = 0;
         uint8_t dutycycle_min;
         uint8_t dutycycle_max;
         uint8_t dir_1;

src/SpecialMenus/driveModi/ManualDrive/menuManualDrive.cpp

@@ -43,6 +43,16 @@ void MenuManualControl::printPage() const {
             lineTwo = "Decrease by 0.1";
             break;
 
+        case 5:
+            lineOne = "Dutycycle Left:";
+            lineTwo.concat(this->manualControl->getDutycycleLeft());
+            break;
+
+        case 6:
+            lineOne = "Dutycycle Right:";
+            lineTwo.concat(this->manualControl->getDutycycleRight());
+            break;
+        
         default:
             this->printDefault();
         return;
@@ -55,7 +65,8 @@ void MenuManualControl::init() {
     this->firstPrint = false;
     this->driveManager->changeModus(Modi::ManualControl);
     this->manualControl = (ManualControl*) this->driveManager->getDriveModiPtr();
-    this->setCountPages(5);   
+    this->setCountPages(7);
+    this->updateDelay = 500; 
 }
 
 void MenuManualControl::runCommand() const {

src/driveModi/Modi/ManualControl/manualControl.h

@@ -76,6 +76,9 @@ class ManualControl : public DriveModi {
         void decreaseMaxRotation(double increase = 0.1) { max_rotation -= increase; }
         double getMaxRotation() { return this->max_rotation; }
 
+        uint16_t getDutycycleLeft() const { return this->moveControl->getDutycycleLeft(); }
+        uint16_t getDutycycleRight() const { return this->moveControl->getDutycycleRight(); }
+
     protected:
         MoveControl *moveControl;
         const ControlPadInput* input;

src/moveControl.cpp

@@ -123,7 +123,7 @@ void MoveControl::emergencyStop() {
 }
 
 void MoveControl::setSpeed(double speed) {
-    if (speed < 0.1 && speed > -0.1) {
+    if (speed < 0.2 && speed > -0.2) {
         this->x_speed = 0;
         return;
     }