a lot of bullshit

include/moveControl.h

@@ -1,47 +1,151 @@
+/**
+ * @file moveControl.h
+ * @author Alexander Klein (alex@kleiax.de)
+ * @brief Contrains the MoveControl class
+ * @version 0.1
+ * @date 2021-12-14
+ * 
+ * @copyright Copyright (c) 2021
+ * 
+ */
 #ifndef MOVE_CONTROL_H
 #define MOVE_CONTROL_H
 
 #include <cstdint>
 #include <PID_v1.h>
+#include <Arduino.h>
 
 #include "motorControl.h"
 #include "speedometer.h"
-#include "config.h"
-#include "debugMqtt.h"
-#include "debugTimes.h"
+#include "moveControlConfig.h"
 
+/**
+ * @brief used to set driving status
+ * 
+ * When set to stop all motors are set to halt
+ * 
+ */
 enum DrivingStatus {stop,
                     drive};
 
-
+/**
+ * @brief This class manages the motors and the encoders
+ * 
+ * The controler uses two PIDs to control the motors. The PIDs
+ * use the Speedometer class to get the current speed and the
+ * given target speed to calculate a new duty cycle for the motors.
+ * 
+ */
 class MoveControl {
     public:
+        /**
+         * @brief Construct a new Move Control object
+         * 
+         * Initalize the motors, encoders and PIDs with given
+         * values in moveControlConfig.h
+         */
         MoveControl();
-        void init(MotorControl *left_motor, MotorControl *right_motor,
-                    Speedometer *left_encoder, Speedometer *right_encoder);
+
+        /**
+         * @brief Destroy the Move Control object
+         * 
+         * Stops the motors with emergencyStop()
+         */
+        ~MoveControl();
+
+        /**
+         * @brief Calls runMoveControl() to update all Values.
+         * 
+         * Besides that this function calls the loop() functions for the motors and encodes.
+         * This function should be called every mainloop. If the delay is not reached, than the
+         * functions returns immediately.
+         * @see runMoveControl()
+         * @see setDelay()
+         */
+        void loop();
+
+        /**
+         * @brief Noramly called repeatedly by loop() to calcluate new values.
+         */
         void runMoveControl();
+
+        /**
+         * @brief Set the DrivingStatus
+         * 
+         * @see DrDrivingStatus
+         * @param status 
+         */
         void setDrivingStatus(DrivingStatus status);
+
+        /**
+         * @brief Set the target speed
+         * 
+         * If the given speed is close to zero, then the
+         * target speed is set to zero.
+         * @param speed in m/s
+         */
         void setSpeed(double speed);
+
+        /**
+         * @brief Set the rotationspeed
+         * 
+         * If the given rotationspeed is close to zero, then the
+         * target rotationspeed is set to zero.
+         * @param speed rad/s
+         */
         void setRotationspeed(double speed);
+
+        /**
+         * @brief Set the pid tunings
+         * 
+         * TODO: check if the function is working or indicates seg fault
+         * 
+         * @param side 0 -> left, 1 -> right
+         * @param p 
+         * @param i 
+         * @param d 
+         */
         void setPidTunings(uint8_t side, double p, double i, double d);
 
-    private:
-        void calcWheelSpeed();
-        void regulateMotors();
-        void updateWheelSpeed();
+        /**
+         * @brief Set the min delay between each loop
+         * 
+         * @param delay time in Milliseconds
+         */
+        void setDelay(uint8_t delay_) { delay = delay_; }
 
-        DebugMqtt *debug;
+    private:
+        /**
+         * @brief Converts values into wheel speeds
+         * 
+         * Converts target speed and target rotationspeed into
+         * wheel speeds
+         */
+        void calcTargetWheelSpeed();
+
+        /**
+         * @brief Set the target power to motors
+         * 
+         * Checks if the driving_status is set to drive.
+         * If yes, then the motors get the pid_out values as targetpower.
+         * If no, then the motors target power is set to zero.
+         */
+        void regulateMotors();
+
+        /**
+         * @brief Updates the wheel speeds with speedometer
+         */
+        void updateCurrentWheelSpeed();
 
         MotorControl *left_motor;
         MotorControl *right_motor;
         Speedometer *left_speedometer;
         Speedometer *right_speedometer;
-
-        DrivingStatus driving_status = DrivingStatus::stop;
-
         PID *left_pid;
         PID *right_pid;
 
+        DrivingStatus driving_status = DrivingStatus::stop;
+
         double x_speed = 0;
         double rotation_speed = 0;
 
@@ -52,6 +156,6 @@ class MoveControl {
         double left_pid_out;
         double right_pid_out;
 
+        uint8_t delay = 30;
 };
-
 #endif // MOVE_CONTROL_H