improve pid and other stuff

src/config.h

@@ -46,14 +46,14 @@
 #define BUF_SIZE 10
 
 //MoveControl config
-#define RUN_MOVE_CONTROL_DELAY 30 // Normal 10 untested
+#define RUN_MOVE_CONTROL_DELAY 10
 #define ACCELERATE_STEPS 1
 #define PID_LEFT_P 40
-#define PID_LEFT_I 20
-#define PID_LEFT_D 10
+#define PID_LEFT_I 0
+#define PID_LEFT_D 0
 #define PID_RIGHT_P 40
-#define PID_RIGHT_I 20
-#define PID_RIGHT_D 10
+#define PID_RIGHT_I 0
+#define PID_RIGHT_D 0
 #define PID_OUT_MIN -100
 #define PID_OUT_MAX 100
 #define PID_SAMPLETIME 30
@@ -63,6 +63,10 @@
 #define MANUALCONTROL_MAX_SPEED 1.0
 #define MANUALCONTROL_MAX_ROTATION 1.0
 
+//MQTT global config
+#define MQTT_BUFFER_SITE 128
+#define MQTT_TIME_RECONNECT 2500
+
 // PS3 Controller
 // ESP32 MAC BL 24:62:AB:F2:4B:3A
 
@@ -77,7 +81,6 @@
 #define WLAN_GATEWAY 0x0100a8c0     //192.168.0.1
 #define MQTT_SERVER 0x0701A8C0      //192.168.1.7
 #define MQTT_PORT 1883
-#define MQTT_BUFFER_SITE 128
 #define MQTT_AUTH
 #define MQTT_USER "kleiax"
 #define MQTT_PASSWORD "p?{$_~5%hBM7wrcFkr55KWr#"
@@ -94,7 +97,6 @@
 #define WLAN_GATEWAY 0x0100a8c0     //192.168.0.1
 #define MQTT_SERVER 0xD84016AC      // 172.22.64.216
 #define MQTT_PORT 1883
-#define MQTT_BUFFER_SITE 128
 #define NTP_SERVER "2.de.pool.ntp.org"
 #endif //HW1 
 
@@ -107,7 +109,6 @@
 #define WLAN_GATEWAY 0xfe01a8c0     //192.168.1.254
 #define MQTT_SERVER 0x0201a8c0      //192.168.1.2
 #define MQTT_PORT 1883
-#define MQTT_BUFFER_SITE 128
 #define NTP_SERVER 0x0201a8c0       //192.168.1.2
 #endif //FRENZY 
 
@@ -120,7 +121,6 @@
 #define WLAN_GATEWAY 0x0101a8c0     //192.168.1.1
 #define MQTT_SERVER 0x0201a8c0      //192.168.1.2
 #define MQTT_PORT 1883
-#define MQTT_BUFFER_SITE 128
 #define NTP_SERVER 0x0201a8c0       //192.168.1.2
 #endif //TPMOBIL