refactor and cleaning

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

include/moveControlConfig.h

@@ -41,4 +41,4 @@
     
 // SPEEDOMETER
     #define WHEEL_DIAMETER 0.1263
-    #define ENC_STEPS 1024
+    #define ENC_STEPS 2048

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() {};
         ///@}
 
         /**

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;

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;

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;