autopilot inherits speed from manualControl

spelling
refactor

src/driveModi/Modi/Autopilot/autopilot.cpp

@@ -139,12 +139,15 @@ void Autopilot::init() {
         this->courseCorrection.correction = 0;
         this->courseCorrection.distance = 0;
         this->updateDisplay = true;
+
+        this->maxRotationSpeed = 4.5;
+        this->maxForwardSpeed = 1;
 }
 
 void Autopilot::drive() {
     this->moveControl->setRotationSpeed(0);
     if (this->courseCorrection.distance >= this->minRemainingDistance) 
-        this->moveControl->setSpeed(this->drivingSpeed);
+        this->moveControl->setSpeed(this->maxForwardSpeed);
     else
         this,moveControl->setSpeed(0);
 }
@@ -158,9 +161,9 @@ void Autopilot::beginRotate() {
 
         this->moveControl->setSpeed(0);
         if (this->courseCorrection.correction > 0)
-            this->moveControl->setRotationSpeed(-this->rotationSpeed);
+            this->moveControl->setRotationSpeed(-this->maxRotationSpeed);
         else
-            this->moveControl->setRotationSpeed(this->rotationSpeed);
+            this->moveControl->setRotationSpeed(this->maxRotationSpeed);
     }
 }
 

src/driveModi/Modi/Autopilot/autopilot.h

@@ -144,8 +144,6 @@ class Autopilot : public ManualControl {
 
         int16_t rotationAimAzimuth;
 
-        double drivingSpeed = 1;
-        double rotationSpeed = 4.5;
         double minRemainingDistance = 0.25;
 };
 

src/driveModi/Modi/ManualControl/manualControl.cpp

@@ -59,10 +59,10 @@ void ManualControl::analogControl() {
     //     std::cout << "x: " << (int) x << " y: " << (int) y << std::endl;
     // }
 
-    double value_per_step = this->max_speed * 2 / UINT8_MAX;
+    double value_per_step = this->maxForwardSpeed * 2 / UINT8_MAX;
     this->moveControl->setSpeed(-y * value_per_step);
 
-    value_per_step = this->max_rotation * 2 / UINT8_MAX;
+    value_per_step = this->maxRotationSpeed * 2 / UINT8_MAX;
     this->moveControl->setRotationSpeed(x * value_per_step);
 }
 
@@ -71,16 +71,16 @@ void ManualControl::digitalControl() {
     int16_t x = this->input->y - 127;
 
     if (y > 120)
-        this->moveControl->setSpeed(-this->max_speed);
+        this->moveControl->setSpeed(-this->maxForwardSpeed);
     else if (y < -120)
-        this->moveControl->setSpeed(this->max_speed);
+        this->moveControl->setSpeed(this->maxForwardSpeed);
     else
         this->moveControl->setSpeed(0);
 
     if (x > 120)
-        this->moveControl->setRotationSpeed(this->max_rotation);
+        this->moveControl->setRotationSpeed(this->maxRotationSpeed);
     else if (x < -120)
-        this->moveControl->setRotationSpeed(-this->max_rotation);
+        this->moveControl->setRotationSpeed(-this->maxRotationSpeed);
     else
         this->moveControl->setRotationSpeed(0);
 

src/driveModi/Modi/ManualControl/manualControl.h

@@ -66,20 +66,20 @@ class ManualControl : public DriveModi {
          * 
          * @param maxSpeed in m/s 
          */
-        void setMaxSpeed(double maxSpeed) { max_speed = maxSpeed; }
+        void setMaxSpeed(double maxForwardSpeed) { maxForwardSpeed = maxForwardSpeed; }
-        void increaseMaxSpeed(double increase = 0.1) { max_speed += increase; }
+        void increaseMaxSpeed(double increase = 0.1) { maxForwardSpeed += increase; }
-        void decreaseMaxSpeed(double increase = 0.1) { max_speed -= increase; }
+        void decreaseMaxSpeed(double increase = 0.1) { maxForwardSpeed -= increase; }
-        double getMaxSpeed() { return this->max_speed; }
+        double getMaxSpeed() { return this->maxForwardSpeed; }
         
         /**
          * @brief Set the max rotation
          * 
          * @param maxRotation in rad/s (maybe) 
          */
-        void setMaxRotation(double maxRotation) { max_rotation = maxRotation; }
+        void setMaxRotation(double maxRotation) { maxRotationSpeed = maxRotation; }
-        void increaseMaxRotation(double increase = 0.1) { max_rotation += increase; }
+        void increaseMaxRotation(double increase = 0.1) { maxRotationSpeed += increase; }
-        void decreaseMaxRotation(double increase = 0.1) { max_rotation -= increase; }
+        void decreaseMaxRotation(double increase = 0.1) { maxRotationSpeed -= increase; }
-        double getMaxRotation() { return this->max_rotation; }
+        double getMaxRotation() { return this->maxRotationSpeed; }
 
         void setCalibrateCompass(CalibrateCompass* val = nullptr) { this->caliCompass = val; }
 
@@ -94,6 +94,8 @@ class ManualControl : public DriveModi {
     protected:
         MoveControl *moveControl;
         const ControlPadInput* input;
+        double maxForwardSpeed = 1;
+        double maxRotationSpeed = 7;
 
     private:
         /**
@@ -106,8 +108,6 @@ class ManualControl : public DriveModi {
         bool lastLoopTurned = false;
         uint8_t delay = 10;
         uint32_t lastMillis = 0;
-        double max_speed = 1;
-        double max_rotation = 7;
         CalibrateCompass* caliCompass = nullptr;
         DirectionChangeWrapper* directionChangeWrapper = nullptr;
         InputMode inputMode = InputMode::Analog;