From c63428412f2253479f85313a497dda929e91e9db Mon Sep 17 00:00:00 2001
From: Alexander Klein <alex@kleiax.de>
Date: Tue, 31 Jan 2023 08:20:18 +0100
Subject: [PATCH] refactor and cleaning

---
 include/moveControl.h                                |  2 ++
 include/moveControlConfig.h                          |  2 +-
 lib/Menu/menuControl.h                               | 12 ++++++------
 src/SpecialMenus/Route/menuRoute.h                   |  2 +-
 src/SpecialMenus/driveModi/TestMode/menuTestMode.cpp |  2 ++
 src/moveControl.cpp                                  |  2 +-
 6 files changed, 13 insertions(+), 9 deletions(-)

diff --git a/include/moveControl.h b/include/moveControl.h
index c342ce9..79f6d92 100644
--- a/include/moveControl.h
+++ b/include/moveControl.h
@@ -118,6 +118,8 @@ class MoveControl {
          * @return PID* 
          */
         PID* getPID(uint8_t side);
+        Speedometer* getSpeedometerLeft() const { return this->left_speedometer; }
+        Speedometer* getSpeedometerRight() const { return this->right_speedometer; }
 
         /**
          * @brief Set the min delay between each loop
diff --git a/include/moveControlConfig.h b/include/moveControlConfig.h
index f4ace03..efd97da 100644
--- a/include/moveControlConfig.h
+++ b/include/moveControlConfig.h
@@ -41,4 +41,4 @@
     
 // SPEEDOMETER
     #define WHEEL_DIAMETER 0.1263
-    #define ENC_STEPS 1024
+    #define ENC_STEPS 2048
diff --git a/lib/Menu/menuControl.h b/lib/Menu/menuControl.h
index c5a4dd0..3cbd2f2 100644
--- a/lib/Menu/menuControl.h
+++ b/lib/Menu/menuControl.h
@@ -33,12 +33,12 @@ class MenuControl {
          * class.
          */
         ///@{
-        virtual void down() = 0;
-        virtual void up() = 0;
-        virtual void right() = 0;
-        virtual void left() = 0;
-        virtual void yes() = 0;
-        virtual void no() = 0;
+        virtual void down() {};
+        virtual void up()  {};
+        virtual void right() {};
+        virtual void left() {};
+        virtual void yes() {};
+        virtual void no() {};
         ///@}
 
         /**
diff --git a/src/SpecialMenus/Route/menuRoute.h b/src/SpecialMenus/Route/menuRoute.h
index 0828f43..5dc84b1 100644
--- a/src/SpecialMenus/Route/menuRoute.h
+++ b/src/SpecialMenus/Route/menuRoute.h
@@ -42,7 +42,7 @@ class MenuRoute : public MenuControl {
     public:
         MenuRoute(Route* route);
         ~MenuRoute();
-        void printMenu();
+        void printMenu() override;
 
         void down() override;
         void up() override;
diff --git a/src/SpecialMenus/driveModi/TestMode/menuTestMode.cpp b/src/SpecialMenus/driveModi/TestMode/menuTestMode.cpp
index c4d4ec8..134cce6 100644
--- a/src/SpecialMenus/driveModi/TestMode/menuTestMode.cpp
+++ b/src/SpecialMenus/driveModi/TestMode/menuTestMode.cpp
@@ -79,6 +79,8 @@ void MenuTestMode::init() {
     this->testMode = (TestMode*) this->driveManager->getDriveModiPtr();
 
     testMode->setSpeed(15);
+    testMode->setRotationSpeed(100);
+
 
     auto dummy = []() {
         std::cout << "Dummy in Action" <<std::endl;
diff --git a/src/moveControl.cpp b/src/moveControl.cpp
index ab64b20..0e76e7e 100644
--- a/src/moveControl.cpp
+++ b/src/moveControl.cpp
@@ -114,7 +114,7 @@ void MoveControl::setSpeed(double speed) {
 }
 
 void MoveControl::setRotationSpeed(double speed) {
-    if (speed < 0.7 && speed > -0.7)
+    if (speed < 0.1 && speed > -0.1)
         this->rotation_speed = 0;
     else
         this->rotation_speed = speed;