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more refactor bug fixes

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kleiax
2023-10-13 14:17:51 +02:00
parent f0474027be
commit a7930e2915
14 changed files with 21 additions and 655 deletions
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.vscode/settings.json
Vendored
+1
View File
@@ -129,6 +129,7 @@
"carr",
"CIPO",
"COPI",
"deadzone",
"Doxygen",
"Dutycycle",
"gast",
doc/Diagrams/classdiagramm.uxf
-157
View File
@@ -1,157 +0,0 @@
<diagram program="umletino" version="14.4.0-SNAPSHOT"><zoom_level>10</zoom_level><element><id>UMLClass</id><coordinates><x>750</x><y>10</y><w>220</w><h>650</h></coordinates><panel_attributes>&lt;&lt;hardware&gt;&gt;
MotorControl
--
- target_power: int8_t
- power: int8_t
- direction: uint8_t
- pwm_pin: uint8_t
- pwm_channel: uint8_t
- pwm_res: uint8_t
- dutycycle_min: uint8_t
- dutycycle_max: uint8_t
- direction_1: uint8_t
- direction_2: uint8_t
- delay: uint8_t
- powersteps: uint8_t
- last_millis: uint32_t
--
+ MotorControl()
+ init(pwm_pin: uint8_t,
  pwm_channel: uint8_t,
  dir_1: uint8_t, dir_2: uint8_t)
+ loop(): uint16_t
+ runMotorControl()
+ setMinPwm(uint8_t)
+ setMaxPwm(uint8_t)
+ setPowerSteps(uint8_t): uint16_t
+ setTargetPower(uint8_t)
+ setDelay(uint8_t): uint16_t
+ stop()
+ emergencyStop()
+ toString()
+ getPower(): int8_t
+ getTargetPower(): int8_t
+ isTargetPowerReached(): bool
+ isAccelerationPositive(): bool
+ isAccelerationNegative(): bool
- setRealPower(power: int8_t)
- increasePower(power: int8_t)
</panel_attributes><additional_attributes></additional_attributes></element><element><id>UMLClass</id><coordinates><x>80</x><y>380</y><w>220</w><h>330</h></coordinates><panel_attributes>&lt;&lt;hardware&gt;&gt;
Speedometer
--
- encoder: ESP32Encoder
- debug: DebugMqtt*
- name: String
- speed: double = 0
- last_millis: uint64_t = 0;
- bufPos: uint8_t
- buf: int16_t[BUF_SIZE]
--
+ Speedometer()
+ init(pinA: uint8_t,
   pinB: uint8_t,
   name: String)
+ runSpeedometer()
+ setTargetPower(power: int8_t)
+ getSpeed(): double
+ getDirection(): uint8_t
- addValToBuf(val: int16_t)
- getAverage(): int16_t</panel_attributes><additional_attributes></additional_attributes></element><element><id>UMLClass</id><coordinates><x>70</x><y>0</y><w>270</w><h>370</h></coordinates><panel_attributes>MoveControl
--
- debug: DebugMqtt*
- left_motor: MotorControl*
- right_motor: MotorControl*
- left_speedometer: Speedometer*
- right_speedometer: Speedometer*
- driving_status: DrivingStatus = stop
- x_speed: double = 0
- rotation_speed: double = 0
- wheelspeed_left_target: double = 0
- wheelspeed_right_target: double = 0
--
+ MoveControl()
+ init(left_motor: MotorControl*,
   right_motor: MotorControl*,
   left_speedometer: Speedometer*,
   right_speedometer: Speedometer*)
+ runMoveControl()
+ setDrivingStatus(status: DrivingStatus)
+ setSpeed(speed: double)
+ setRotationspeed(speed: double)
- calcWheelSpeed()
- regulateMotors()</panel_attributes><additional_attributes></additional_attributes></element><element><id>UMLClass</id><coordinates><x>370</x><y>10</y><w>220</w><h>330</h></coordinates><panel_attributes>&lt;&lt;driveModi&gt;&gt;
ManualControl
--
- encoder: ESP32Encoder
- debug: DebugMqtt*
- name: String
- speed: double = 0
- last_millis: uint64_t = 0;
- bufPos: uint8_t
- buf: int16_t[BUF_SIZE]
--
+ Speedometer()
+ init(pinA: uint8_t,
   pinB: uint8_t,
   name: String)
+ runSpeedometer()
+ setTargetPower(power: int8_t)
+ getSpeed(): double
+ getDirection(): uint8_t
- addValToBuf(val: int16_t)
- getAverage(): int16_t</panel_attributes><additional_attributes></additional_attributes></element><element><id>UMLClass</id><coordinates><x>1270</x><y>10</y><w>210</w><h>240</h></coordinates><panel_attributes>MenuControl
--
# parentMenu: MenuControl*
# lcd: LiquidCrystal_I2C*
--
/+down()/
/+up()/
/+right()/
/+left()/
/+yes()/
/+no()/
/+update()/
/+printMenu()/
+ setParentMenu(MenuControl*)
+ setLcd(LiquidCrystal_I2C*)</panel_attributes><additional_attributes></additional_attributes></element><element><id>UMLClass</id><coordinates><x>980</x><y>10</y><w>280</w><h>270</h></coordinates><panel_attributes>MenuAction
--
- name: char*
- *function: void
- *callback: void
- isMenu: bool
- menu: MenuControl
--
+ MenuAction(const char*, (*function), (*callback))
+ MenuAction(const char*, (*function))
+ MenuAction(const char*, MenuControl* menu)
+ runAction()
+ getName(): const char*
+ getIsMenu(): bool
+ getMenu(): MenuControl*
</panel_attributes><additional_attributes></additional_attributes></element><element><id>UMLClass</id><coordinates><x>1220</x><y>360</y><w>280</w><h>160</h></coordinates><panel_attributes>Menu
--
- inSubmenu: bool
- entrys: list&lt;MenuAction*&gt;
- selectedEntry: list&lt;MenuAction*&gt;::iterator
- isMenu: bool
- menu: MenuControl
--
+ addEntry(MenuAction* entry)
</panel_attributes><additional_attributes></additional_attributes></element><element><id>Relation</id><coordinates><x>1350</x><y>240</y><w>30</w><h>140</h></coordinates><panel_attributes>lt=&lt;&lt;-</panel_attributes><additional_attributes>10;10;10;120</additional_attributes></element><element><id>Relation</id><coordinates><x>1080</x><y>270</y><w>160</w><h>190</h></coordinates><panel_attributes>lt=-
m1=*
m2=0..1</panel_attributes><additional_attributes>10;10;10;160;140;160</additional_attributes></element></diagram>
doc/Diagrams/statesAutopilot.uxf
-390
View File
@@ -1,390 +0,0 @@
<?xml version="1.0" encoding="UTF-8" standalone="no"?>
<diagram program="umlet" version="14.3.0">
<zoom_level>10</zoom_level>
<element>
<id>UMLSpecialState</id>
<coordinates>
<x>40</x>
<y>20</y>
<w>20</w>
<h>20</h>
</coordinates>
<panel_attributes>type=initial</panel_attributes>
<additional_attributes/>
</element>
<element>
<id>Relation</id>
<coordinates>
<x>40</x>
<y>20</y>
<w>130</w>
<h>30</h>
</coordinates>
<panel_attributes>lt=&lt;-</panel_attributes>
<additional_attributes>110.0;10.0;10.0;10.0</additional_attributes>
</element>
<element>
<id>UMLState</id>
<coordinates>
<x>150</x>
<y>10</y>
<w>100</w>
<h>40</h>
</coordinates>
<panel_attributes>search next point
bg=green</panel_attributes>
<additional_attributes/>
</element>
<element>
<id>UMLSpecialState</id>
<coordinates>
<x>180</x>
<y>90</y>
<w>40</w>
<h>40</h>
</coordinates>
<panel_attributes>bg=green
type=decision</panel_attributes>
<additional_attributes/>
</element>
<element>
<id>Relation</id>
<coordinates>
<x>190</x>
<y>40</y>
<w>30</w>
<h>70</h>
</coordinates>
<panel_attributes>lt=&lt;-</panel_attributes>
<additional_attributes>10.0;50.0;10.0;10.0</additional_attributes>
</element>
<element>
<id>UMLState</id>
<coordinates>
<x>150</x>
<y>180</y>
<w>100</w>
<h>40</h>
</coordinates>
<panel_attributes>detect alignment
bg=green</panel_attributes>
<additional_attributes/>
</element>
<element>
<id>Relation</id>
<coordinates>
<x>190</x>
<y>120</y>
<w>130</w>
<h>80</h>
</coordinates>
<panel_attributes>lt=&lt;-
[distance &lt;= 5m]</panel_attributes>
<additional_attributes>10.0;60.0;10.0;10.0</additional_attributes>
</element>
<element>
<id>UMLObject</id>
<coordinates>
<x>20</x>
<y>0</y>
<w>840</w>
<h>590</h>
</coordinates>
<panel_attributes>Autopilot
valign=top</panel_attributes>
<additional_attributes/>
</element>
<element>
<id>Relation</id>
<coordinates>
<x>210</x>
<y>90</y>
<w>140</w>
<h>40</h>
</coordinates>
<panel_attributes>lt=&lt;-
[distance &gt; 5m]</panel_attributes>
<additional_attributes>120.0;20.0;10.0;20.0</additional_attributes>
</element>
<element>
<id>UMLState</id>
<coordinates>
<x>330</x>
<y>90</y>
<w>100</w>
<h>40</h>
</coordinates>
<panel_attributes>Error
bg=red</panel_attributes>
<additional_attributes/>
</element>
<element>
<id>UMLState</id>
<coordinates>
<x>150</x>
<y>270</y>
<w>100</w>
<h>40</h>
</coordinates>
<panel_attributes>correct alignment
bg=green</panel_attributes>
<additional_attributes/>
</element>
<element>
<id>UMLState</id>
<coordinates>
<x>150</x>
<y>360</y>
<w>100</w>
<h>40</h>
</coordinates>
<panel_attributes>drive to point
bg=green</panel_attributes>
<additional_attributes/>
</element>
<element>
<id>Relation</id>
<coordinates>
<x>190</x>
<y>210</y>
<w>30</w>
<h>80</h>
</coordinates>
<panel_attributes>lt=&lt;-</panel_attributes>
<additional_attributes>10.0;60.0;10.0;10.0</additional_attributes>
</element>
<element>
<id>Relation</id>
<coordinates>
<x>190</x>
<y>300</y>
<w>30</w>
<h>80</h>
</coordinates>
<panel_attributes>lt=&lt;-</panel_attributes>
<additional_attributes>10.0;60.0;10.0;10.0</additional_attributes>
</element>
<element>
<id>Relation</id>
<coordinates>
<x>90</x>
<y>280</y>
<w>80</w>
<h>120</h>
</coordinates>
<panel_attributes>lt=&lt;-</panel_attributes>
<additional_attributes>60.0;10.0;10.0;10.0;10.0;100.0;60.0;100.0</additional_attributes>
</element>
<element>
<id>UMLState</id>
<coordinates>
<x>440</x>
<y>10</y>
<w>410</w>
<h>300</h>
</coordinates>
<panel_attributes>detect alignment
valign=top</panel_attributes>
<additional_attributes/>
</element>
<element>
<id>UMLSpecialState</id>
<coordinates>
<x>460</x>
<y>60</y>
<w>20</w>
<h>20</h>
</coordinates>
<panel_attributes>type=final</panel_attributes>
<additional_attributes/>
</element>
<element>
<id>Relation</id>
<coordinates>
<x>470</x>
<y>60</y>
<w>90</w>
<h>30</h>
</coordinates>
<panel_attributes>lt=-&gt;</panel_attributes>
<additional_attributes>10.0;10.0;70.0;10.0</additional_attributes>
</element>
<element>
<id>UMLState</id>
<coordinates>
<x>540</x>
<y>50</y>
<w>110</w>
<h>40</h>
</coordinates>
<panel_attributes>drive 1m forward</panel_attributes>
<additional_attributes/>
</element>
<element>
<id>UMLState</id>
<coordinates>
<x>540</x>
<y>140</y>
<w>110</w>
<h>40</h>
</coordinates>
<panel_attributes>drive 2m backward</panel_attributes>
<additional_attributes/>
</element>
<element>
<id>UMLState</id>
<coordinates>
<x>540</x>
<y>230</y>
<w>110</w>
<h>40</h>
</coordinates>
<panel_attributes>drive 1m forward</panel_attributes>
<additional_attributes/>
</element>
<element>
<id>UMLState</id>
<coordinates>
<x>700</x>
<y>230</y>
<w>120</w>
<h>40</h>
</coordinates>
<panel_attributes>calculate straight line</panel_attributes>
<additional_attributes/>
</element>
<element>
<id>Relation</id>
<coordinates>
<x>580</x>
<y>80</y>
<w>30</w>
<h>80</h>
</coordinates>
<panel_attributes>lt=&lt;-</panel_attributes>
<additional_attributes>10.0;60.0;10.0;10.0</additional_attributes>
</element>
<element>
<id>Relation</id>
<coordinates>
<x>580</x>
<y>170</y>
<w>30</w>
<h>80</h>
</coordinates>
<panel_attributes>lt=&lt;-</panel_attributes>
<additional_attributes>10.0;60.0;10.0;10.0</additional_attributes>
</element>
<element>
<id>UMLSpecialState</id>
<coordinates>
<x>750</x>
<y>150</y>
<w>20</w>
<h>20</h>
</coordinates>
<panel_attributes>type=termination</panel_attributes>
<additional_attributes/>
</element>
<element>
<id>Relation</id>
<coordinates>
<x>750</x>
<y>160</y>
<w>30</w>
<h>90</h>
</coordinates>
<panel_attributes>lt=&lt;-</panel_attributes>
<additional_attributes>10.0;10.0;10.0;70.0</additional_attributes>
</element>
<element>
<id>UMLState</id>
<coordinates>
<x>440</x>
<y>320</y>
<w>410</w>
<h>260</h>
</coordinates>
<panel_attributes>correct alignment
valign=top</panel_attributes>
<additional_attributes/>
</element>
<element>
<id>UMLState</id>
<coordinates>
<x>540</x>
<y>370</y>
<w>190</w>
<h>40</h>
</coordinates>
<panel_attributes>calculate relativ target position</panel_attributes>
<additional_attributes/>
</element>
<element>
<id>Relation</id>
<coordinates>
<x>470</x>
<y>380</y>
<w>90</w>
<h>30</h>
</coordinates>
<panel_attributes>lt=-&gt;</panel_attributes>
<additional_attributes>10.0;10.0;70.0;10.0</additional_attributes>
</element>
<element>
<id>UMLSpecialState</id>
<coordinates>
<x>460</x>
<y>380</y>
<w>20</w>
<h>20</h>
</coordinates>
<panel_attributes>type=final</panel_attributes>
<additional_attributes/>
</element>
<element>
<id>UMLState</id>
<coordinates>
<x>580</x>
<y>460</y>
<w>120</w>
<h>40</h>
</coordinates>
<panel_attributes>rotate x degree</panel_attributes>
<additional_attributes/>
</element>
<element>
<id>Relation</id>
<coordinates>
<x>630</x>
<y>400</y>
<w>30</w>
<h>80</h>
</coordinates>
<panel_attributes>lt=&lt;-</panel_attributes>
<additional_attributes>10.0;60.0;10.0;10.0</additional_attributes>
</element>
<element>
<id>Relation</id>
<coordinates>
<x>630</x>
<y>490</y>
<w>30</w>
<h>80</h>
</coordinates>
<panel_attributes>lt=&lt;-</panel_attributes>
<additional_attributes>10.0;60.0;10.0;10.0</additional_attributes>
</element>
<element>
<id>UMLSpecialState</id>
<coordinates>
<x>630</x>
<y>550</y>
<w>20</w>
<h>20</h>
</coordinates>
<panel_attributes>type=termination</panel_attributes>
<additional_attributes/>
</element>
</diagram>
doc/TODO allgemein.txt
-39
View File
@@ -1,45 +1,6 @@
Maybe:
-> Time Measurement in component interface
-> Time warnings
Do later:
-> Program underfloorLighting
-> Add an beeper
-> Program the beeper
-> Engine slow down without curve in motorControl
-> Network clean up (Mqtt remove?)
-> Extra class for maneuver, autopilot should inherit from int16_t
-> Remote Control
- Leds for gnss rtk etc
- what happens exactly when no data is arriving
-> Test Menu for big curve driving
-> Api with Names and show on Maps in Browser
-> Menu structure mit add functions for each menu mit pointer return to config (additional not replace)
-> Menu Display from parent as run() to make Menu as Component
-> Racing Mode
-> ConsolControl
-> Menü für Einstellungen
- WiFi (save in Flash)
-> Battery
- tabelle mit eigenen Werten übergeben und nicht in header (wiederverwendbarkeit)
- kalibrierungsmethode mit Menü
- Daten in flash speichern können
-> Check speration between Ui and Route (RouteMenu)
-> update sparkfun gnss auf v3 für SPI korrekturdatenüvbetragung
-> Rover Objekt mit Error zustand freeze, damit das wenn möglich auch auf dem Display angezeigt wird.
-> ESP und Sensoren in den DeepSleep für Auschalten oder Akkuschutz
-> Doxygen comments
- navigation
- autopilot
Do now:
Code:
Fernbedienung!
Latex:
Anhang: Liste mit allen Komponenten und Kurzbeschreibung
Unterschied funktionale und nicht funktionale Anforderungen
Overfull H-Boxen
Test Motor, Zeiten kontrolieren. Wenn einfach so dann bezug auf fehler bei Timing und freeRtos
Was mit den nicht erfüllten Anforderungen machen?
include/moveControl.h
+1
View File
@@ -87,6 +87,7 @@ public:
* @param status
*/
void setDrivingStatus(Status status);
Status getDrivingStatus() const { return this->driving_status; }
/**
* @brief Stops the engine immediately
include/networkConfig.h
+1 -1
View File
@@ -14,7 +14,7 @@
#include <stdint.h>
#define HW1
#define HOTSPOT
#ifdef HOTSPOT
namespace NetworkConfig
lib/Menu
Submodule
+1
Submodule lib/Menu added at 35b1478666
lib/MotorControl/motorControl.cpp
+5 -24
View File
@@ -33,6 +33,7 @@ void MotorControl::init(uint8_t pwmPin, uint8_t pwmChannel, uint8_t dir_1, uint8
ledcSetup(this->pwmChannel, MotorControl::pwmFreq, MotorControl::pwmRes);
ledcAttachPin(this->pwmPin, this->pwmChannel);
ledcWrite(this->pwmChannel, 0);
std::cout << "Init pwm" << std::endl;
}
void MotorControl::run()
@@ -56,7 +57,7 @@ void MotorControl::run()
return;
}
// Positive or negative tagret speed
// Positive or negative target speed
if (this->targetPower >= 0)
{
// Positive or negative speed
@@ -97,28 +98,6 @@ void MotorControl::run()
}
}
void MotorControl::setMinPwm(uint8_t min)
{
if (min > MotorControl::maxPwmMin)
{
min = MotorControl::maxPwmMin;
}
// transform percentage to real pwm value
min = static_cast<uint8_t>(((static_cast<uint8_t>(1) << pwmRes) - 1) * (min / 100.0));
this->dutycycleMin = min;
}
void MotorControl::setMaxPwm(uint8_t max)
{
if (max > 100)
{
max = 100;
}
// transform percentage to real pwm value
max = static_cast<uint8_t>(((static_cast<uint8_t>(1) << pwmRes) - 1) * (max / 100.0));
this->dutycycleMax = max;
}
void MotorControl::setTargetPower(int8_t power)
{
if (power <= 100 && power >= -100)
@@ -174,10 +153,11 @@ void MotorControl::setRealPower(int8_t power)
digitalWrite(this->dir_2, LOW);
ledcWrite(this->pwmChannel, 0);
this->dutycycle = 0;
std::cout << "abort" << std::endl;
return;
}
const uint8_t pwm_val = map(abs(power), 0, 100, this->dutycycleMin, this->dutycycleMax);
const uint8_t pwm_val = map(abs(power), 0, 100, MotorControl::minPwmVal, MotorControl::maxPwmVal);
if ((this->direction == 1 || this->direction == 0) && power < 0)
{ // new direction backward
@@ -192,6 +172,7 @@ void MotorControl::setRealPower(int8_t power)
digitalWrite(this->dir_2, LOW);
}
std::cout << "MotorControl::setRealPower pwm_val: " << (int) pwm_val << " channel:" << (int) this->pwmChannel << std::endl;
ledcWrite(this->pwmChannel, pwm_val);
this->dutycycle = pwm_val;
}
lib/MotorControl/motorControl.h
+2 -16
View File
@@ -38,20 +38,6 @@ public:
*/
void init(uint8_t pwmPin, uint8_t pwmChannel, uint8_t dir_1, uint8_t dir_2);
/**
* @brief Set the minimum duty cycle
*
* @param min duty cycle in percent
*/
void setMinPwm(uint8_t min);
/**
* @brief Set the maximum duty cycle
*
* @param max duty cycle in percent
*/
void setMaxPwm(uint8_t max);
/**
* @brief Set the Target Power
*
@@ -103,6 +89,8 @@ private:
static constexpr uint8_t pwmRes = 8;
static constexpr uint8_t powerSteps = 2; // A total of 20 levels ( 100 / SPEED_STEPS ) * RUN_MOTOR_CONTROL_DELAY = 500ms
static constexpr uint8_t maxPwmMin = 80;
static constexpr uint8_t maxPwmVal = 250;
static constexpr uint8_t minPwmVal = 55; // Max 98% of 2^PWM_RES
int8_t targetPower = 0;
int8_t power = 0;
@@ -111,8 +99,6 @@ private:
uint8_t pwmPin = 0;
uint8_t pwmChannel = 0;
uint16_t dutycycle = 0;
uint8_t dutycycleMin = 55;
uint8_t dutycycleMax = 98; // Max 98% of 2^PWM_RES
uint8_t dir_1 = 0;
uint8_t dir_2 = 0;
};
lib/Sensors/sensorData.h
-1
View File
@@ -13,7 +13,6 @@
#define SENSOR_DATA_H
#include <SPI.h>
#include <I2Cdev.h>
#include <iostream>
#include "component.h"
platformio.ini
+2 -22
View File
@@ -15,16 +15,14 @@ board_build.partitions = no_ota.csv
framework = arduino
monitor_speed = 115200
upload_speed = 921600
; monitor_port = COM6
monitor_port = COM6
lib_deps =
https://git.kleiax.de/PlatformIO-Libs/SparkFunGNSS.git
knolleary/PubSubClient@^2.8
br3ttb/PID@^1.2.1
marcoschwartz/LiquidCrystal_I2C@^1.1.4
bblanchon/ArduinoJson@^6.20.0
mprograms/QMC5883LCompass@^1.2.0
jrowberg/I2Cdevlib-MPU6050@^1.0.0
; upload_port = COM6
upload_port = COM6
test_ignore = test_desktop
build_type = debug
monitor_filters = esp32_exception_decoder
@@ -42,21 +40,3 @@ test_ignore = test_embedded
[platformio]
description = A Rover who should be drive a route by gps.
; Bei Möglichkeit folgendes aus clang tidy entfernen
; cppcoreguidelines-owning-memory
;
;
;
;
;
;
;
;
;
;
;
;
;
#
src/SpecialMenus/driveModi/menuDriveMode.cpp
-1
View File
@@ -48,7 +48,6 @@ void MenuDriveMode::left()
this->firstPrint = true;
this->configureOnLeave();
delete this->menuSpeed;
this->driveManager->changeModus();
MenuInformationSites::left();
}
src/driveModi/Modi/ManualControl/manualControl.cpp
+1 -1
View File
@@ -47,7 +47,7 @@ void ManualControl::analogControl()
void ManualControl::digitalControl()
{
static constexpr uint8_t deadzone = 120;
static constexpr uint8_t deadzone = 110;
const int16_t yAxis = this->input->x - 127;
const int16_t xAxis = this->input->y - 127;
src/main.cpp
+6 -2
View File
@@ -129,12 +129,16 @@ void setup()
{
wifiIndicator = '-';
}
lcdWrapper = new LcdWrapper(lcd);
lcdWrapper->setCallback(lcdWrapperCallback);
lcdWrapper->loop();
lcd->backlight();
lcd->setCursor(0, 0);
lcd->printf("%c Kleiax-Rover %c", wifiIndicator, wifiIndicator);
lcd->setCursor(0, 1);
lcd->printf("WiFi channel %u", Network::getCurrentChannel());
lcdWrapper = new LcdWrapper(lcd);
lcdWrapper->setCallback(lcdWrapperCallback);
makeMenu();