improve pid and other stuff
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ESP32 Rover Pinbelegung
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3V3 GND
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x 23 DirB1
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x 22 DirB2
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x x
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x x
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x 21
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INTA1 32 GND
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INTA2 33 19
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INTB1 25 18
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INTB2 26 5
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PWMA 27 x
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PWMB 14 x
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DirA1 12 4
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GND x
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DirA2 13 2
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x 15
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x x
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CMD x
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5V USB x
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Connector Encoder
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- 2 1 +
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OB 4 3 -
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3V3 6 [5] OA
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8 7
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10 9
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<diagram program="umletino" version="14.4.0-SNAPSHOT"><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></additional_attributes></element><element><id>Relation</id><coordinates><x>40</x><y>20</y><w>130</w><h>30</h></coordinates><panel_attributes>lt=<-</panel_attributes><additional_attributes>110;10;10;10</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
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bg=green</panel_attributes><additional_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
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type=decision</panel_attributes><additional_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=<-</panel_attributes><additional_attributes>10;50;10;10</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
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bg=green</panel_attributes><additional_attributes></additional_attributes></element><element><id>Relation</id><coordinates><x>190</x><y>120</y><w>120</w><h>80</h></coordinates><panel_attributes>lt=<-
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[distance <= 5m]</panel_attributes><additional_attributes>10;60;10;10</additional_attributes></element><element><id>UMLObject</id><coordinates><x>20</x><y>0</y><w>840</w><h>590</h></coordinates><panel_attributes>Autopilot
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valign=top</panel_attributes><additional_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=<-
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[distance > 5m]</panel_attributes><additional_attributes>120;20;10;20</additional_attributes></element><element><id>UMLState</id><coordinates><x>330</x><y>90</y><w>100</w><h>40</h></coordinates><panel_attributes>Error
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bg=red</panel_attributes><additional_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
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bg=green</panel_attributes><additional_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
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bg=green</panel_attributes><additional_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=<-</panel_attributes><additional_attributes>10;60;10;10</additional_attributes></element><element><id>Relation</id><coordinates><x>190</x><y>300</y><w>30</w><h>80</h></coordinates><panel_attributes>lt=<-</panel_attributes><additional_attributes>10;60;10;10</additional_attributes></element><element><id>Relation</id><coordinates><x>90</x><y>280</y><w>80</w><h>120</h></coordinates><panel_attributes>lt=<-</panel_attributes><additional_attributes>60;10;10;10;10;100;60;100</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
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valign=top</panel_attributes><additional_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></additional_attributes></element><element><id>Relation</id><coordinates><x>470</x><y>60</y><w>90</w><h>30</h></coordinates><panel_attributes>lt=-></panel_attributes><additional_attributes>10;10;70;10</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></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></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></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></additional_attributes></element><element><id>Relation</id><coordinates><x>580</x><y>80</y><w>30</w><h>80</h></coordinates><panel_attributes>lt=<-</panel_attributes><additional_attributes>10;60;10;10</additional_attributes></element><element><id>Relation</id><coordinates><x>580</x><y>170</y><w>30</w><h>80</h></coordinates><panel_attributes>lt=<-</panel_attributes><additional_attributes>10;60;10;10</additional_attributes></element><element><id>Relation</id><coordinates><x>620</x><y>580</y><w>80</w><h>30</h></coordinates><panel_attributes>lt=<-</panel_attributes><additional_attributes>60;10;10;10</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></additional_attributes></element><element><id>Relation</id><coordinates><x>750</x><y>160</y><w>30</w><h>90</h></coordinates><panel_attributes>lt=<-</panel_attributes><additional_attributes>10;10;10;70</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
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valign=top</panel_attributes><additional_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></additional_attributes></element><element><id>Relation</id><coordinates><x>470</x><y>380</y><w>90</w><h>30</h></coordinates><panel_attributes>lt=-></panel_attributes><additional_attributes>10;10;70;10</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></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></additional_attributes></element><element><id>Relation</id><coordinates><x>630</x><y>400</y><w>30</w><h>80</h></coordinates><panel_attributes>lt=<-</panel_attributes><additional_attributes>10;60;10;10</additional_attributes></element><element><id>Relation</id><coordinates><x>630</x><y>490</y><w>30</w><h>80</h></coordinates><panel_attributes>lt=<-</panel_attributes><additional_attributes>10;60;10;10</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></additional_attributes></element></diagram>
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