comments for Doxygen all private Libs

lib/Debug/MQTT/debugMqtt.cpp

@@ -1,12 +1,21 @@
+/**
+ * @file debugMqtt.cpp
+ * @author Alexander Klein (alex@kleiax.de)
+ * @brief Implemention of the class debugMqtt.h
+ * @see debugMqtt.h
+ * @version 0.1
+ * @date 2021-12-13
+ * 
+ * @copyright Copyright (c) 2021
+ * 
+ */
 #include "debugMqtt.h"
 
 PubSubClient* DebugMqtt::client;
 Loglevel DebugMqtt::loglevel;
 bool DebugMqtt::isInit = false;
-char DebugMqtt::msg[MQTT_BUFFER_SITE];
+char DebugMqtt::msg[MQTT_BUFFER_SIZE];
-char DebugMqtt::topic[MQTT_BUFFER_SITE];
+char DebugMqtt::topic[MQTT_BUFFER_SIZE];
-unsigned long long int DebugMqtt::real_millis = 0;
-unsigned long int DebugMqtt::last_millis = 0;
 
 
 DebugMqtt::DebugMqtt(const char* name) {
@@ -14,7 +23,7 @@ DebugMqtt::DebugMqtt(const char* name) {
 }
 
 void DebugMqtt::sendMsg(Loglevel loglevel, String topic, String msg) {
-    snprintf (DebugMqtt::msg, MQTT_BUFFER_SITE, "%s: %s",this->name ,msg.c_str());
+    snprintf (DebugMqtt::msg, MQTT_BUFFER_SIZE, "%s: %s",this->name ,msg.c_str());
     this->sendData(loglevel, topic, DebugMqtt::msg);
 }
 
@@ -26,8 +35,8 @@ void DebugMqtt::sendData(Loglevel loglevel, String topic, String data) {
     if (!DebugMqtt::isInit) {return;}
 
     if (loglevel <= DebugMqtt::loglevel && loglevel > Loglevel::none) {
-        snprintf (DebugMqtt::topic, MQTT_BUFFER_SITE, "%s%s", DebugMqtt::enum_to_string(loglevel).c_str(), topic.c_str());
+        snprintf (DebugMqtt::topic, MQTT_BUFFER_SIZE, "%s%s", DebugMqtt::enum_to_string(loglevel).c_str(), topic.c_str());
-        snprintf (DebugMqtt::msg, MQTT_BUFFER_SITE, "%s", data.c_str());
+        snprintf (DebugMqtt::msg, MQTT_BUFFER_SIZE, "%s", data.c_str());
         client->publish(DebugMqtt::topic, DebugMqtt::msg);
     }
 }
@@ -36,24 +45,14 @@ void DebugMqtt::sendData(Loglevel loglevel, String data){
     this->sendData(loglevel, "", data);
 }
 
-void DebugMqtt::writeToInflux(String measurement_name, String field_set, float measurement) {
+void DebugMqtt::writeToInflux(String measurement_name, String field_set, float measurement, uint64_t nanos) {
     // Example String: "weather temperature=82 1465839830100400200";
 
-    unsigned long long int nanos = DebugMqtt::getUpdatedRealMillis() * 1000000;
+    snprintf(DebugMqtt::msg, MQTT_BUFFER_SIZE, "%s %s=%f %llu", measurement_name.c_str(), field_set.c_str(), measurement, nanos);
-    snprintf(DebugMqtt::msg, MQTT_BUFFER_SITE, "%s %s=%f %llu", measurement_name.c_str(), field_set.c_str(), measurement, nanos);
     this->sendData(Loglevel::influx, DebugMqtt::msg);
 }
 
-void DebugMqtt::sendTime() {
+void DebugMqtt::init(PubSubClient *client, Loglevel max_loglevel) {
-    struct tm timeinfo;
-    if(!getLocalTime(&timeinfo)){
-        snprintf(DebugMqtt::msg, MQTT_BUFFER_SITE, "Failed to obtain time");
-    }
-    snprintf(DebugMqtt::msg, MQTT_BUFFER_SITE, "%d %d %d %d %d %d %llu", timeinfo.tm_year, timeinfo.tm_mon, timeinfo.tm_mday, timeinfo.tm_hour, timeinfo.tm_min, timeinfo.tm_sec, DebugMqtt::getUpdatedRealMillis());
-    this->sendMsg(Loglevel::info, DebugMqtt::msg);
-}
-
-void DebugMqtt::init(PubSubClient *client, Loglevel loglevel) {
     DebugMqtt::client = client;
     DebugMqtt::loglevel = loglevel;
     DebugMqtt::isInit = true;
@@ -63,40 +62,29 @@ void DebugMqtt::changeLoglevel(Loglevel loglevel) {
     DebugMqtt::loglevel = loglevel;
 }
 
-void DebugMqtt::initRealMillis() {
-    time_t now;
-    struct tm timeinfo;
-    if(!getLocalTime(&timeinfo)){
-        snprintf(DebugMqtt::msg, MQTT_BUFFER_SITE, "Failed to obtain time in initRealMillis()");
-        DebugMqtt::client->publish(DebugMqtt::enum_to_string(Loglevel::error).c_str(), DebugMqtt::msg);
-        return;
-    }
-    time(&now);
-    DebugMqtt::last_millis = millis();
-    DebugMqtt::real_millis = now;
-    DebugMqtt::real_millis = DebugMqtt::real_millis * 1000 + DebugMqtt::last_millis;
-}
-
-unsigned long long int DebugMqtt::getUpdatedRealMillis() {
-    DebugMqtt::real_millis = DebugMqtt::real_millis + (millis() - DebugMqtt::last_millis);
-    DebugMqtt::last_millis = millis();
-    return DebugMqtt::real_millis;
-}
-
 String DebugMqtt::enum_to_string(Loglevel loglevel) {
-      switch(loglevel){
+    String topic = "";
-        case Loglevel::error :
+    topic += MQTT_DEBUG_TOPIC;
-            return "Rover/Error";
+    switch(loglevel){
-        case Loglevel::warn :
+    case Loglevel::error :
-            return "Rover/Warn";
+        topic += "/Error";
-        case Loglevel::info :
+        break;
-            return "Rover/Info";
+    case Loglevel::warn :
-        case Loglevel::debug :
+        topic += "/Warn";
-            return "Rover/Debug";
+        break;
-        case Loglevel::influx :
+    case Loglevel::info :
-            return "Rover/Influx";
+        topic += "/Info";
-         default:
+        break;
-            return "INVALID ENUM";
+    case Loglevel::debug :
-      }
+        topic += "/Debug";
+        break;
+    case Loglevel::influx :
+        topic += "/Influx";
+        break;
+    default:
+        topic += "/NoLoglovel";
+        break;
+    }
+    return topic;
  }
 

lib/Debug/MQTT/debugMqtt.h

@@ -1,10 +1,51 @@
+/**
+ * @file debugMqtt.h
+ * @author Alexander Klein (alex@kleiax.de)
+ * @brief Inherits a class to send debug messages over MQTT
+ * @version 0.1
+ * @date 2021-12-13
+ * 
+ * @copyright Copyright (c) 2021
+ * 
+ */
 #ifndef DEBUG_MQTT_H
 #define DEBUG_MQTT_H
 
 #include <PubSubClient.h>
 
-#include "config.h"
+/**
+ * @brief 
+ * 
+ * If you want to change the default topic
+ * to an other value, than you have to define this define
+ * in your code befor you include this File.
+ */
+#ifndef MQTT_DEBUG_TOPIC
+#define MQTT_DEBUG_TOPIC "Rover"
+#endif // MQTT_DEBUG_TOPIC
 
+/**
+ * @brief Defualt for max message size
+ * 
+ * If you want to change the default size of 128 Byte
+ * to an other value, than you have to define this define
+ * in your code befor you include this File.
+ */
+#ifndef MQTT_BUFFER_SIZE
+#define MQTT_BUFFER_SIZE 128
+#endif //MQTT_BUFFER_SIZE
+
+/**
+ * @brief An enum to set the log level
+ * 
+ * The log level is the last part of the MQTT topic.
+ * Unless you give sendMsg() or sendData() a additional
+ * topic as String.
+ * 
+ * @see sendMsg()
+ * @see sendData()
+ * 
+ */
 enum Loglevel { none,
                 error,
                 warn,
@@ -12,21 +53,95 @@ enum Loglevel { none,
                 debug,
                 influx};
 
+/**
+ * @brief A class to send debug messages over MQTT
+ * 
+ * This class send debug messages over MQTT with different topics
+ * by the enum Loglevel. Besides that this class supports to send
+ * data via Telegraf into Grafana.
+ * 
+ * @see Loglevel
+ */
 class DebugMqtt {
     public:
+        /**
+         * @brief Construct a new Debug Mqtt object.
+         * 
+         * @param name A String with send with every Message.
+         */
         DebugMqtt(const char* name);
+
+        /**
+         * @brief Send a Message via MQTT
+         * 
+         * This funtion uses sendData to send the given string and
+         * add the name to the message given by the constructer.
+         * 
+         * @see sendData()
+         * @see Loglevel
+         * 
+         * @param loglevel Loglevel given by the enum Loglevel
+         * @param topic Additional topic behind loglevel
+         * @param msg The message to send as String
+         */
         void sendMsg(Loglevel loglevel, String topic, String msg);
         void sendMsg(Loglevel loglevel, String msg);
+
+        /**
+         * @brief Send a Message via MQTT
+         * 
+         * This funtion sends the Data via MQTT with the given topic
+         * from Loglevel or followed by given String topic.
+         * Normaly this function is called by sendMsg() or by
+         * writeToInflux()
+         * 
+         * @see sendData()
+         * @see writeToInflux()
+         * @see Loglevel
+         * 
+         * @param loglevel Loglevel given by the enum Loglevel
+         * @param topic Additional topic behind loglevel
+         * @param data The message to send as String
+         */
         void sendData(Loglevel loglevel, String topic, String data);
         void sendData(Loglevel loglevel, String data);
-        void writeToInflux(String measurement_name, String field_set, float measurement);
 
-        void sendTime();
+        /**
+         * @brief Send a Message via MQTT for InfluxDB
+         * 
+         * This funtion sends a MQTT message which is intended for
+         * Telegraf. Telegraf can listen on MQTT messages and put 
+         * them in an Influx Database.
+         * 
+         * @param measurement_name like a category
+         * @param field_set the name of the value e.g temperature
+         * @param measurement the real value
+         */
+        void writeToInflux(String measurement_name, String field_set, float measurement, uint64_t nanos);
 
-        static void init(PubSubClient *client, Loglevel loglevel);
+        /**
+         * @brief Initalize debugMQTT for all instances
+         * 
+         * You only have to call this function once for your project.
+         * If you call this funtion again you overwrite the client and
+         * the loglevel. If you only eant du overwrite the max_loglevel
+         * use changeLoglevel()
+         * 
+         * @see changeLoglevel()
+         * 
+         * @param client PubSubClient
+         * @param max_loglevel Max loglevel to send.
+         */
+        static void init(PubSubClient *client, Loglevel max_loglevel);
+
+        /**
+         * @brief Change loglevel
+         * 
+         * This function changes the maximum loglevel which be send.
+         * 
+         * @param loglevel 
+         */
         static void changeLoglevel(Loglevel loglevel);
-        static void initRealMillis();
-        static unsigned long long int getUpdatedRealMillis();
 
     private:
         const char* name;
@@ -36,12 +151,8 @@ class DebugMqtt {
         static PubSubClient* client;
         static Loglevel loglevel;
         static bool isInit;
-        static char msg[MQTT_BUFFER_SITE];
+        static char msg[MQTT_BUFFER_SIZE];
-        static char topic[MQTT_BUFFER_SITE];
+        static char topic[MQTT_BUFFER_SIZE];
-
-        static unsigned long long int real_millis;
-        static unsigned long int last_millis;
-
 };
 
 #endif // DEBUG_MQTT_H

lib/Debug/Times/debugTimes.cpp

@@ -1,10 +1,28 @@
+/**
+ * @file debugTimes.cpp
+ * @author Alexander Klein (alex@kleiax.de)
+ * @brief Implemention of the class debugTimes.h.
+ * @version 0.1
+ * @date 2021-12-13
+ * 
+ * @copyright Copyright (c) 2021
+ * 
+ */
 #include "debugTimes.h"
 
 DebugTimes::DebugTimes() {
     this->startTime = millis();
 }
 
-void DebugTimes::stop(const char* name, uint16_t minTime) {
+void DebugTimes::restart() {
+    this->startTime = millis();
+}
+
+uint16_t DebugTimes::stop() {
+    return millis() - this->startTime;
+}
+
+void DebugTimes::stopConsol(const char* name, uint16_t minTime) {
     uint64_t time = millis() - this->startTime;
     if (time > minTime)
         Serial.printf("%s needs %llu ms\n", name, time);

lib/Debug/Times/debugTimes.h

@@ -1,3 +1,14 @@
+/**
+ * @file debugTimes.h
+ * @author Alexander Klein (alex@kleiax.de)
+ * @brief Inherits a class to measure times of functions.
+ * @version 0.1
+ * @date 2021-12-13
+ * 
+ * @copyright Copyright (c) 2021
+ * 
+ */
+
 #ifndef DEBUG_TIMES_H
 #define DEBUG_TIMES_H
 
@@ -6,10 +17,44 @@
 
 #include <Arduino.h>
 
+/**
+ * @brief A class to measure times of functions.
+ * 
+ * This simple class only save the value of the millis()
+ * function when you call the constructor or restart().
+ * To get the elapsed time call stop() or stopConsol().
+ * 
+ * @warning This class is not very accurate
+ * It only give you the time in milliseconds.
+ */
 class DebugTimes {
     public:
+        /**
+         * @brief Construct a new Debug Times object
+         * Starts to count milliseconds 
+         */
+
         DebugTimes();
-        void stop(const char* name, uint16_t minTime = 0);
+        /**
+         * @brief Set the counter to 0
+         */
+
+        void restart();
+
+        /**
+         * @brief Give the elapsed time
+         * 
+         * @return uint16_t elapsed milliseconds 
+         */
+        uint16_t stop();
+
+        /**
+         * @brief Print the elapsed time to consol
+         * 
+         * @param name Functionname to print
+         * @param minTime A minimum time before printing
+         */
+        void stopConsol(const char* name, uint16_t minTime = 0);
 
     private:
         uint64_t startTime;

lib/Hardware/MotorControl/motorControl.cpp

@@ -1,6 +1,21 @@
+/**
+ * @file motorControl.cpp
+ * @author Alexander Klein (alex@kleiax.de)
+ * @brief Implemention of the class motorControl.h.
+ * @see motorControl.h
+ * @version 0.1
+ * @date 2021-12-13
+ * 
+ * @copyright Copyright (c) 2021
+ * 
+ */
+
 #include "motorControl.h"
 
-MotorControl::MotorControl() {}
+MotorControl::MotorControl() {
+    this->setMinPwm(PWMMIN);
+    this->setMaxPwm(PWMMAX);
+}
 
 void MotorControl::init(uint8_t pwm_pin, uint8_t pwm_channel, uint8_t dir_1, uint8_t dir_2) {
     this->pwm_pin = pwm_pin;
@@ -14,7 +29,7 @@ void MotorControl::init(uint8_t pwm_pin, uint8_t pwm_channel, uint8_t dir_1, uin
     digitalWrite(this->dir_1, LOW);
     digitalWrite(this->dir_2, LOW);
 
-    ledcSetup(this->pwm_channel, PWMFREQ, PWMRES);
+    ledcSetup(this->pwm_channel, PWMFREQ, this->pwm_res);
     ledcAttachPin(this->pwm_pin, this->pwm_channel);
     ledcWrite(this->pwm_channel, 0);
 }
@@ -76,6 +91,25 @@ void MotorControl::runMotorControl() {
     }
 }
 
+void MotorControl::setMinPwm(uint8_t min) {
+    if (min > 80) min = 80;
+    //transform percentage to real pwm value
+    min = (uint8_t) ((1 >> pwm_res - 1) * (min / 100));
+    this->dutycycle_min = min;
+}
+
+void MotorControl::setMaxPwm(uint8_t max) {
+    if (max > 100) max = 100;
+    //transform percentage to real pwm value
+    max = (uint8_t) ((1 >> pwm_res - 1) * (max / 100));
+    this->dutycycle_max = max;
+}
+
+uint16_t MotorControl::setPowerSteps(uint8_t increment) {
+    this->powersteps = increment;
+    return (uint16_t) (delay * ( 100 / powersteps ));
+}
+
 void MotorControl::setTargetPower(int8_t power) {
     if (power <= 100 && power >= -100) {
         this->target_power = power;
@@ -85,17 +119,17 @@ void MotorControl::setTargetPower(int8_t power) {
     }
 }
 
+uint16_t MotorControl::setDelay(uint8_t delay) {
+    this->delay = delay;
+    return (uint16_t) (delay * ( 100 / powersteps ));
+}
+
 void MotorControl::stop() {
     this->target_power = 0;
 }
 
 void MotorControl::emergencyStop() {
     setRealPower(0);
-    while(1)
-}
-
-void MotorControl::toString() {
-    Serial.printf("Target power: %d, power: %d, direction: %d \n", this->target_power, this->power, this->direction);
 }
 
 int8_t MotorControl::getPower() {
@@ -140,7 +174,7 @@ void MotorControl::setRealPower(int8_t power) {
         return;
     }
 
-    uint8_t pwm_val = map(abs(power), 0, 100, this->pwm_min, this->pwm_max);
+    uint8_t pwm_val = map(abs(power), 0, 100, this->dutycycle_min, this->dutycycle_max);
 
     if ((this->direction == 1 || this->direction == 0) && power < 0){  // new direction backward
         this->direction = 2;

lib/Hardware/MotorControl/motorControl.h

@@ -0,0 +1,164 @@
+/**
+ * @file motorControl.h
+ * @author Alexander Klein (alex@kleiax.de)
+ * @brief Inherits a class to control a motor with pwm signal.
+ * @version 0.1
+ * @date 2021-12-09
+ * 
+ * @copyright Copyright (c) 2021
+ * 
+ */
+#ifndef MOTOR_CONTROL_H
+#define MOTOR_CONTROL_H
+
+#include <cstdint>
+#include <string>
+#include <Arduino.h>
+
+#define DELAY 10
+#define PWMFREQ 16000
+#define PWMRES 8
+#define POWERSTEPS 2       //  A total of 20 levels ( 100 / SPEED_STEPS ) * RUN_MOTOR_CONTROL_DELAY = 500ms
+#define PWMMIN 50
+#define PWMMAX 95         // Max 98% of 2^PWM_RES
+
+/**
+ * @brief A class which use PWM to control the power of DC Motor
+ * You can control the acceleration of the motor, for example to
+ * prevent a damage on your H-Bridge.
+ */
+class MotorControl {
+    public:
+        MotorControl();
+
+        /**
+         * @brief Initalize the motorcontroler
+         * 
+         * @param pwm_pin The output pin for the signal on the esp.
+         * @param pwm_channel One of the pwm channels from the esp.
+         * @param dir_1 First direction pin for the H-Bridge.
+         * @param dir_2 Second direction pin for the H-Bridge.
+         */
+        void init(uint8_t pwm_pin, uint8_t pwm_channel, uint8_t dir_1, uint8_t dir_2);
+
+        /**
+         * @brief Calls runMotorControl() to update the pwm signal
+         * 
+         * This function should be called every mainloop. If the delay is not reached, than the
+         * functions returns immediately.
+         * @see runMotorControl()
+         * @see DELAY
+         */
+        void loop();
+
+        /**
+         * @brief Normaly called repeatedly by loop() to update the pwm signal.
+         * 
+         * Checks the difference between target power and current power to
+         * increase or decrease the duty cycle. The amount of decrease or increase
+         * is set by setPowerSetps() (default = 2).
+         */
+        void runMotorControl();
+
+        /**
+         * @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 Power Steps
+         * 
+         * Set the increment of the steps with which the dutycycle is
+         * increased or decreased. Note the dependency between the increment
+         * and delay().
+         * 
+         * The formula for the time between 0% and 100% power is:
+         *      time[ms] = delay * ( 100 / increment )
+         *      500 ms are recommended
+         * 
+         * @see setDelay()
+         * 
+         * @param increment 
+         * @return time from 0% power to 100% power in Milliseconds
+         */
+        uint16_t setPowerSteps(uint8_t increment);
+
+        /**
+         * @brief Set the Target Power
+         * 
+         * @param power power in percent 
+         */
+        void setTargetPower(int8_t power);
+
+        /**
+         * @brief Set the min delay between each loop
+         * 
+         * Note the dependency between delay and
+         * setPowerSteps().
+         * 
+         * @see setPowerSteps()
+         * 
+         * @param delay time in Milliseconds
+         * @return time from 0% power to 100% power in Milliseconds
+         */
+        uint16_t setDelay(uint8_t delay);
+
+        /**
+         * @brief Stops the motor like setTargetPower() to 0
+         * 
+         */
+        void stop();
+
+        /**
+         * @brief Stops the motor immediately
+         * 
+         */
+        void emergencyStop();
+
+        /**
+         * @brief Get the current power
+         * 
+         * @return int8_t percent of power (-100 to 100)
+         */
+        int8_t getPower();
+
+        /**
+         * @brief Get the target power
+         * 
+         * @return int8_t percent of power (-100 to 100)
+         */
+        int8_t getTargetPower();
+        bool isTargetPowerReached();
+        bool isAccelerationPositive();
+        bool isAccelerationNegative();
+
+    private:
+        void setRealPower(int8_t power);
+        void increasePower(int8_t power);
+
+        int8_t target_power = 0;
+        int8_t power = 0;
+        uint8_t direction = 0; // 0 = stop, 1 = forward, 2 = backward
+
+        uint8_t pwm_pin;
+        uint8_t pwm_channel;
+        uint8_t pwm_res = PWMRES;
+        uint8_t dutycycle_min;
+        uint8_t dutycycle_max;
+        uint8_t dir_1;
+        uint8_t dir_2;
+        uint8_t delay = DELAY;
+        uint8_t powersteps = POWERSTEPS;
+        
+};
+
+#endif // MOTOR_CONTROL_H

lib/Hardware/Speedometer/speedometer.cpp

@@ -1,3 +1,14 @@
+/**
+ * @file speedometer.cpp
+ * @author Alexander Klein (alex@kleiax.de)
+ * @brief Implemention of the class speedometer.h
+ * @see speedometer.h
+ * @version 0.1
+ * @date 2021-12-13
+ * 
+ * @copyright Copyright (c) 2021
+ * 
+ */
 #include "speedometer.h"
 
 Speedometer::Speedometer() {}

lib/Hardware/Speedometer/speedometer.h

@@ -62,7 +62,7 @@ class Speedometer {
         void loop();
 
         /**
-         * @brief Noramly called repeatedly by loop to calcluate new values.
+         * @brief Noramly called repeatedly by loop() to calcluate new values.
          * 
          * Add a new Value to the average and update the speed.
          */

lib/MotorControl/motorControl.h

@@ -1,86 +0,0 @@
-/**
- * @file motorControl.h
- * @author Alexander Klein (alex@kleiax.de)
- * @brief 
- * @version 0.1
- * @date 2021-12-09
- * 
- * @copyright Copyright (c) 2021
- * 
- */
-#ifndef MOTOR_CONTROL_H
-#define MOTOR_CONTROL_H
-
-#include <cstdint>
-#include <string>
-#include <Arduino.h>
-
-#define DELAY 10
-#define PWMFREQ 16000
-#define PWMRES 8
-#define POWERSTEPS 2       //  A total of 20 levels ( 100 / SPEED_STEPS ) * RUN_MOTOR_CONTROL_DELAY = 500ms
-#define PWMMIN 50
-#define PWMMAX 95         // Max 98% of 2^PWM_RES
-
-/**
- * @brief 
- * 
- */
-class MotorControl {
-    public:
-        MotorControl();
-        void init(uint8_t pwm_pin, uint8_t pwm_channel, uint8_t dir_1, uint8_t dir_2);
-        void loop();
-        void runMotorControl();
-
-        /**
-         * @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);
-
-        void setPowerSteps(uint8_t steps); // Min anfahrkurve einbauen 
-        void setTargetPower(int8_t power);
-        void setDelay(uint8_t delay); // Min anfahrkurve einbauen
-        void stop();
-
-        /**
-         * @brief 
-         * 
-         */
-        void emergencyStop();
-
-        int8_t getPower();
-        int8_t getTargetPower();
-        bool isTargetPowerReached();
-        bool isAccelerationPositive();
-        bool isAccelerationNegative();
-
-    private:
-        void setRealPower(int8_t power);
-        void increasePower(int8_t power);
-
-        int8_t target_power = 0;
-        int8_t power = 0;
-        uint8_t direction = 0; // 0 = stop, 1 = forward, 2 = backward
-
-        uint8_t pwm_pin;
-        uint8_t pwm_channel;
-        uint8_t pwm_min = PWMMIN;
-        uint8_t pwm_max = PWMMAX;
-        uint8_t dir_1;
-        uint8_t dir_2;
-        uint8_t delay = DELAY;
-        uint8_t powersteps = POWERSTEPS;
-        
-};
-
-#endif // MOTOR_CONTROL_H