a lot of bullshit

src/driveModi/CaptureRoute/captureRoute.h

@@ -1,22 +0,0 @@
-#ifndef CAPTURE_ROUTE_H
-#define CAPTURE_ROUTE_H
-
-#include "driveModi/manualControl.h"
-#include "debugMqtt.h"
-#include "route.h"
-
-#include "config.h"
-
-class CaptureRoute : ManualControl {
-    public:
-        CaptureRoute();
-
-        void init(Route *route, MoveControl *moveControl, MotorControl *motorControlLeft, MotorControl *motorControlRight);
-        void runCaptureRoute();
-
-    private:
-        Route *route;
-        DebugMqtt *debug;
-};
-
-#endif // CAPTURE_ROUTE_H

src/driveModi/ManualControl/manualControl.cpp

@@ -1,125 +0,0 @@
-#include "manualControl.h"
-
-ManualControl::ManualControl() {
-    this->debug = new DebugMqtt("ManualControl");
-}
-
-void ManualControl::init(MoveControl *moveControl, MotorControl *motorControlLeft, MotorControl *motorControlRight) {
-    debug->sendMsg(Loglevel::info, "Init...");
-
-    this->moveControl = moveControl;
-    this->motorControlLeft = motorControlLeft;
-    this->motorControlRight = motorControlRight;
-
-    debug->sendMsg(Loglevel::info, "Init finished!");
-}
-
-void ManualControl::runManualControl() {
-    //Cancel if delay is not reached
-    if (millis() - this->last_millis < RUN_MANUALCONTROL_DELAY) {
-        return;
-    }
-    //Reset if this function was called a long time ago
-    if (millis() - this->last_millis > 1000) {
-        this->reset();
-        controlMode = ControMode::halt;
-        debug->sendMsg(Loglevel::info, "Changed ControlMode to halt by Timereset");
-    }
-    this->last_millis = millis();
-
-    //Change controlMode
-    if (this->controlMode == ControMode::halt && Ps3.data.button.l3) {
-        this->reset();
-        controlMode = ControMode::joystick;
-        debug->sendMsg(Loglevel::info, "Changed ControlMode to Joystick by Gamepad");
-    } else if (this->controlMode == ControMode::halt && Ps3.data.button.r3) {
-        this->reset();
-        controlMode = ControMode::trigger;
-        debug->sendMsg(Loglevel::info, "Changed ControlMode to ShoulderTrigger by Gamepad");
-    } else if (this->controlMode == ControMode::joystick && Ps3.data.button.r3) {
-        this->reset();
-        controlMode = ControMode::trigger;
-        debug->sendMsg(Loglevel::info, "Changed ControlMode to ShoulderTrigger by Gamepad");
-    } else if (this->controlMode == ControMode::trigger && Ps3.data.button.l3) {
-        this->reset();
-        controlMode = ControMode::joystick;
-        debug->sendMsg(Loglevel::info, "Changed ControlMode to Joystick by Gamepad");
-    }
-
-    switch (this->controlMode) {
-        case ControMode::halt:
-            this->moveControl->setDrivingStatus(DrivingStatus::stop);
-            break;
-
-        case ControMode::joystick: {
-            // DebugTimes driveWithJoyDebug;
-            this->driveWithControllerJoystick();
-            // driveWithJoyDebug.stop("driveWithControllerJoystick", 100);
-
-            // DebugTimes moveControllDebug;
-            this->moveControl->runMoveControl();
-            // moveControllDebug.stop("moveControl", 100);
-            }
-            break;
-
-        case ControMode::trigger:
-            this->driveWithControllerShoulderTrigger();
-            break;
-
-        default:
-            break;
-    }
-}
-
-void ManualControl::driveWithControllerJoystick() {
-    this->moveControl->setDrivingStatus(DrivingStatus::drive);
-    int8_t x = Ps3.data.analog.stick.lx;
-    int8_t y = Ps3.data.analog.stick.ly;
-
-    double value_per_step = MANUALCONTROL_MAX_SPEED * 2 / 256;
-    this->moveControl->setSpeed((y * -1) * value_per_step);
-    this->moveControl->setDrivingStatus(DrivingStatus::drive);
-    // char str[64];
-    // sprintf(str, "driveWithJoy: %f", (y * -1) * value_per_step);
-    // debug->sendMsg(Loglevel::debug, str); // Kommt 1 raus bei vollausschlag
-
-    value_per_step = MANUALCONTROL_MAX_ROTATION * 2 / 256;
-    this->moveControl->setRotationspeed(-x * value_per_step);
-}
-
-void ManualControl::changeDriveMode(ControMode drive_mode) {
-    this->reset();
-    controlMode = drive_mode;
-    debug->sendMsg(Loglevel::info, "Changed ControlMode by function");
-}
-
-void ManualControl::driveWithControllerShoulderTrigger() {
-    uint8_t nowL = Ps3.data.analog.button.l2;
-    uint8_t nowR = Ps3.data.analog.button.r2;;
-
-    nowL = map(nowL, 0, 255, 0, 100);
-    nowR = map(nowR, 0, 255, 0, 100);
-
-    // char str[64];
-    // sprintf(str, "nachher: nowL: %u, nowR: %u", nowL, nowR);
-    // debug->sendMsg(Loglevel::debug, str);
-
-    if (nowL != this->oldL) {
-        this->motorControlLeft->setTargetPower(nowL);
-        this->oldL = nowL;
-    }
-
-    if (nowR != this->oldR) {
-        this->motorControlRight->setTargetPower(nowR);
-        this->oldR = nowR;
-    }
-}
-
-void ManualControl::reset() {
-    this->oldL = 0;
-    this->oldR = 0;
-    motorControlLeft->setTargetPower(0);
-    motorControlRight->setTargetPower(0);
-    moveControl->setRotationspeed(0);
-    moveControl->setSpeed(0);
-}

src/driveModi/ManualControl/manualControl.h

@@ -1,37 +0,0 @@
-#ifndef MANUAL_CONTROL_H
-#define MANUAL_CONTROL_H
-
-#include <Ps3Controller.h>
-
-#include "moveControl.h"
-#include "motorControl.h"
-#include "debugMqtt.h"
-#include "debugTimes.h"
-
-enum ControMode {halt, joystick, trigger};
-class ManualControl {
-    public:
-        ManualControl();
-        void init(MoveControl *moveControl, MotorControl *motorControlLeft, MotorControl *motorControlRight);
-        void runManualControl();
-        void changeDriveMode(ControMode drive_mode);
-
-    private:
-        void driveWithControllerJoystick();
-        void driveWithControllerShoulderTrigger();
-        void reset();
-
-        MoveControl *moveControl;
-        MotorControl *motorControlLeft;
-        MotorControl *motorControlRight;
-        DebugMqtt *debug;
-
-        ControMode controlMode = ControMode::halt;
-        uint32_t last_millis = 0;
-
-        // Is needed for driveWithControllerShoulderTrigger()
-        uint8_t oldL = 0;
-        uint8_t oldR = 0;
-};
-
-#endif // MANUAL_CONTROL_H

src/driveModi/Modi/Autopilot/autopilot.cpp

@@ -1,4 +1,4 @@
-#include "driveModi/autopilot.h"
+#include "driveModi/Modi/Autopilot/autopilot.h"
 
 Autopilot::Autopilot() {
     this->debug = new DebugMqtt("Autopilot");

src/driveModi/Modi/Autopilot/autopilot.h

@@ -6,12 +6,14 @@
 #include "route.h"
 #include "moveControl.h"
 #include "debugMqtt.h"
+#include "driveModi/driveModi.h"
 
-class Autopilot {
+class Autopilot : DriveModi{
     public:
         Autopilot();
 
         void init(Route *route, MoveControl *moveControl);
+        void loop();
         void runAutopilot();
 
 

src/driveModi/Modi/CaptureRoute/captureRoute.cpp

@@ -1,12 +1,10 @@
-#include "driveModi/captureRoute.h"
+#include "driveModi/Modi/CaptureRoute/captureRoute.h"
 
 CaptureRoute::CaptureRoute() {
-    this->debug = new DebugMqtt("CaptureRoute");
 }
 
-void CaptureRoute::init(Route *route, MoveControl *moveControl, MotorControl *motorControlLeft, MotorControl *motorControlRight) {
-    this->route = route;
-    ManualControl::init(moveControl, motorControlLeft, motorControlRight);
+void CaptureRoute::init() {
+    
     
 }
 

src/driveModi/Modi/CaptureRoute/captureRoute.h

@@ -0,0 +1,21 @@
+#ifndef CAPTURE_ROUTE_H
+#define CAPTURE_ROUTE_H
+
+#include "driveModi/Modi/ManualControl/manualControl.h"
+// #include "route.h"
+
+#include "config.h"
+
+class CaptureRoute : ManualControl {
+    public:
+        CaptureRoute();
+
+        void init();
+        void runCaptureRoute();
+
+    private:
+        // Route *route;
+        // DebugMqtt *debug;
+};
+
+#endif // CAPTURE_ROUTE_H

src/driveModi/Modi/ConsolControl/consolControl.h

@@ -4,9 +4,10 @@
 #include <string>
 
 #include "moveControl.h"
+#include "driveModi/driveModi.h"
 #include "debugMqtt.h"
 
-class ConsolControl {
+class ConsolControl : DriveModi{
     public:
         ConsolControl();
         void init(MoveControl *moveControl);

src/driveModi/Modi/ManualControl/manualControl.cpp

@@ -0,0 +1,42 @@
+/**
+ * @file manualControl.cpp
+ * @author Alexander Klein (alex@kleiax.de)
+ * @brief Implementation of the class manualControl.h
+ * @version 0.1
+ * @date 2021-12-13
+ * 
+ * @copyright Copyright (c) 2021
+ * 
+ */
+#include "manualControl.h"
+
+ManualControl::ManualControl() { }
+
+ManualControl::~ManualControl() {
+    this->moveControl->setSpeed(0);
+    this->moveControl->setRotationspeed(0);
+    this->moveControl->setDrivingStatus(DrivingStatus::stop);
+}
+
+void ManualControl::init(MoveControl *moveControl) {
+    this->moveControl = moveControl;
+    this->moveControl->setDrivingStatus(DrivingStatus::drive);
+}
+
+void ManualControl::loop() {
+    static uint32_t last_millis = 0;
+    if (millis() - last_millis < delay) {
+        return;
+    }
+}
+
+void ManualControl::runManualControl() {
+    int8_t x = Ps3.data.analog.stick.lx;
+    int8_t y = Ps3.data.analog.stick.ly;
+
+    double value_per_step = this->max_speed * 2 / 256;
+    this->moveControl->setSpeed((y * -1) * value_per_step);
+
+    value_per_step = this->max_rotation * 2 / 256;
+    this->moveControl->setRotationspeed(-x * value_per_step);
+}

src/driveModi/Modi/ManualControl/manualControl.h

@@ -0,0 +1,91 @@
+/**
+ * @file manualControl.h
+ * @author Alexander Klein (alex@kleiax.de)
+ * @brief A small class to drive the Rover by the controller joystick.
+ * @version 0.1
+ * @date 2021-12-13
+ * 
+ * @copyright Copyright (c) 2021
+ * 
+ */
+#ifndef MANUAL_CONTROL_H
+#define MANUAL_CONTROL_H
+
+#include <Ps3Controller.h>
+
+#include "moveControl.h"
+#include "driveModi/driveModi.h"
+
+/**
+ * @brief Drive the Rover with a Joystick
+ * 
+ * This class gets the x and y value from the PS3 controller
+ * and map the values to moveControl
+ * 
+ * @see MoveControl
+ */
+class ManualControl : public DriveModi{
+    public:
+        ManualControl();
+
+        /**
+         * @brief Destroy the Manual Control object
+         * Set in moveControl speed and rotation to 0 and set DrivingStatus::stop
+         */
+        ~ManualControl();
+
+        /**
+         * @brief Initalize ManualControl
+         * 
+         * set DrivingStatus::drive
+         * 
+         * @param moveControl 
+         */
+        void init(MoveControl *moveControl);
+
+        /**
+         * @brief Calls runManualControl() to update all values.
+         * 
+         * This function should be called every mainloop. If the delay is not reached, than the
+         * functions returns immediately.
+         * @see runSpeedometer()
+         * @see setDelay()
+         */
+        void loop();
+
+        /**
+         * @brief Noramly called repeatedly by loop() to calcluate new values.
+         * Set new values for speed and rotation in moveControl
+         */
+        void runManualControl();
+
+        /**
+         * @brief Set the min delay between each loop
+         * 
+         * @param delay time in Milliseconds
+         */
+        void setDelay(uint8_t delay_) { delay = delay_; }
+
+        /**
+         * @brief Set the max speed
+         * 
+         * @param maxSpeed in m/s 
+         */
+        void setMaxSpeed(double maxSpeed) { max_speed = maxSpeed; }
+        
+        /**
+         * @brief Set the max rotation
+         * 
+         * @param maxRotation in rad/s (maybe) 
+         */
+        void setMaxRotation(double maxRotation) { max_rotation = maxRotation; }
+
+    private:
+        MoveControl *moveControl;
+
+        uint8_t delay = 10;
+        double max_speed = 1;
+        double max_rotation = 7;
+};
+
+#endif // MANUAL_CONTROL_H

src/driveModi/driveManager.cpp

@@ -0,0 +1,72 @@
+/**
+ * @file driveManager.cpp
+ * @author Alexander Klein (alex@kleiax.de)
+ * @brief Implemention of the class driveManager.h.
+ * @version 0.1
+ * @date 2021-12-14
+ * 
+ * @copyright Copyright (c) 2021
+ * 
+ */
+
+#include "driveModi/driveManager.h"
+
+DriveManager::DriveManager(MoveControl *moveControl) {
+    this->moveControl = moveControl;
+}
+
+void DriveManager::loop() {
+    this->currentModus->loop();
+    this->moveControl->loop();
+}
+
+void DriveManager::runDriveManager() {
+    
+}
+
+void DriveManager::nextModus() {
+    
+}
+
+void DriveManager::changeModus(Modi modus) {
+
+    //Set moveControl to a safe state
+    this->moveControl->setSpeed(0);
+    this->moveControl->setRotationspeed(0);
+    this->moveControl->setDrivingStatus(DrivingStatus::stop);
+    delete this->currentModus;
+
+    switch (modus) {
+        case Modi::Off:
+            this->currentModus = nullptr;
+            break;
+
+        case Modi::ManualControl: {
+            ManualControl *ptr = new ManualControl;
+            ptr->init(this->moveControl);
+            this->currentModus = ptr;
+            }
+            break;
+
+        case Modi::CaptureRoute:
+            this->currentModus = nullptr;
+            break;
+
+        case Modi::Autopilot:
+            this->currentModus = nullptr;
+            break;
+
+        case Modi::ConsolControl:
+            this->currentModus = nullptr;
+            break;
+
+        case Modi::TestMode:
+            this->currentModus = nullptr;
+            break;
+        
+        default:
+            this->currentModus = nullptr;
+            break;
+    }
+}
+

src/driveModi/driveManager.h

@@ -0,0 +1,51 @@
+/**
+ * @file driveManager.h
+ * @author Alexander Klein (alex@kleiax.de)
+ * @brief Contains a class to switch the DriveModi
+ * @version 0.1
+ * @date 2021-12-14
+ * 
+ * @copyright Copyright (c) 2021
+ * 
+ */
+
+#ifndef DRIVE_MANAGER_H
+#define DRIVE_MANAGER_H
+
+#include "moveControl.h"
+#include "driveModi/driveModi.h"
+
+// All Drive Modi
+#include "driveModi/Modi/ManualControl/manualControl.h"
+#include "driveModi/Modi/CaptureRoute/captureRoute.h"
+#include "driveModi/Modi/Autopilot/autopilot.h"
+#include "driveModi/Modi/ConsolControl/consolControl.h"
+#include "driveModi/Modi/TestMode/testMode.h"
+
+enum class Modi {   
+                    Off,
+                    ManualControl,
+                    CaptureRoute,
+                    Autopilot,
+                    ConsolControl,
+                    TestMode
+                };
+
+class DriveManager {
+    public:
+        DriveManager(MoveControl *moveControl);
+
+        void loop();
+        void runDriveManager();
+
+        void nextModus();
+        void changeModus(Modi modus);
+
+    private:
+        MoveControl *moveControl;
+        DriveModi *currentModus;
+
+};
+
+
+#endif // DRIVE_MANAGER_H

src/driveModi/driveModi.h

@@ -0,0 +1,22 @@
+/**
+ * @file driveModi.h
+ * @author Alexander Klein (alex@kleiax.de)
+ * @brief Contains a virtual class for all Modi
+ * @version 0.1
+ * @date 2021-12-14
+ * 
+ * @copyright Copyright (c) 2021
+ * 
+ */
+
+#ifndef DRIVEMODI_H
+#define DRIVEMODI_H
+
+class DriveModi {
+    public:
+        DriveModi(){}
+        virtual ~DriveModi(){}
+        virtual void loop() = 0;
+        
+};
+#endif // DRIVEMODI_H

src/main.cpp

@@ -1,208 +1,49 @@
 #include <Arduino.h>
 #include <Ps3Controller.h>
-#include <WiFi.h>
-#include <PubSubClient.h>
-#include <time.h>
 
 #include "config.h"
 
-#include "motorControl.h"
-#include "speedometer.h"
-#include "driveModi/autopilot.h"
-#include "driveModi/captureRoute.h"
-#include "driveModi/manualControl.h"
-#include "driveModi/consolControl.h"
+
+#include "driveModi/Modi/ManualControl/manualControl.h"
+#include "driveModi/driveManager.h"
 #include "moveControl.h"
-#include "route.h"
-#include "debugMqtt.h"
-#include "debugTimes.h"
+#include "network.h"
 
 void callbackControllerAction();
 void callbackControllerConnect();
 void controllerPrintBattery();
 
-bool reconnectMqtt();
-
-MotorControl left_motor;
-MotorControl right_motor;
-Speedometer speedometer_left;
-Speedometer speedometer_right;
 MoveControl moveController;
-Route route;
-DebugMqtt debugger("main");
-
-ManualControl manualControl;
-CaptureRoute captureRoute;
-Autopilot autopilot;
-ConsolControl consolControl;
-
-IPAddress local_IP(WLAN_IP);
-IPAddress gateway(WLAN_GATEWAY);
-IPAddress subnet(WLAN_SUBNETMASK);
-IPAddress mqtt_server(MQTT_SERVER);
-
-WiFiClient wifi_client;
-PubSubClient mqtt_client(wifi_client);
-
-uint64_t lastReconnectAttempt = 0;
-int controller_battery = -1;
-enum DriveMode {autopilot_e, captureRoute_e, manualControl_e, consolControl_e};
-DriveMode driveMode = manualControl_e;
-
+DriveManager driveManager(&moveController);
 
 void setup() {
     Serial.begin(115200);
 
-    // Configures static IP address
-    if (!WiFi.config(local_IP, gateway, subnet)) {
-        Serial.println("STA Failed to configure");
-    }
-
-    // Connect to Wi-Fi network with SSID and password
-    Serial.print("Connecting to ");
-    Serial.println(WLAN_SSID);
-    WiFi.begin(WLAN_SSID, WLAN_PASSWORD);
-    while (WiFi.status() != WL_CONNECTED) {
-        delay(500);
-        Serial.print(".");
-    }
-
-    // Print local IP address and start web server
-    Serial.println("");
-    Serial.println("WiFi connected.");
-    Serial.println("IP address: ");
-    Serial.println(WiFi.localIP());
-
-    mqtt_client.setServer(mqtt_server, MQTT_PORT);
-    // mqtt_client.setServer(MQTT_SERVER, MQTT_PORT);
-    mqtt_client.setSocketTimeout(1);
-    reconnectMqtt();
-
-    //FIXME: make it from config.h
-    configTime(3600, 3600, "2.de.pool.ntp.org");
-
-    DebugMqtt::init(&mqtt_client, Loglevel::debug);
+    setIps();
+    connectWifi();
+    setupMQTT();
 
     Ps3.attach(callbackControllerAction);
     Ps3.attachOnConnect(callbackControllerConnect);
-    // Ps3.attachOnDisconnect(callbackControllerDisconnect);
     Serial.println("\nReady to connect a PS3 Controller... \n");
     Ps3.begin();
-
-    // Init hardware
-    left_motor.init(M_PWM_1, PWM_CHANNEL_M1, M_DIR_11, M_DIR_12);
-    right_motor.init(M_PWM_2, PWM_CHANNEL_M2, M_DIR_21, M_DIR_22);
-
-    speedometer_left.init(M_ENCODE_1A, M_ENCODE_1B, WHEEL_DIAMETER, ENC_STEPS);
-    speedometer_right.init(M_ENCODE_2A, M_ENCODE_2B, WHEEL_DIAMETER, ENC_STEPS);
-
-    moveController.init(&left_motor, &right_motor, &speedometer_left, &speedometer_right);
-
-    // Init driveModi
-    manualControl.init(&moveController, &left_motor, &right_motor);
-    captureRoute.init(&route, &moveController, &left_motor, &right_motor);
-    autopilot.init(&route, &moveController);
-    consolControl.init(&moveController);
 }
 
 void loop() {
-
-
-    if (!mqtt_client.connected()) {
-    long now = millis();
-    if (now - lastReconnectAttempt > MQTT_TIME_RECONNECT) {
-      lastReconnectAttempt = now;
-      // Attempt to reconnect
-      if (reconnectMqtt()) {
-        lastReconnectAttempt = 0;
-      }
-    }
-  } else {
-    // Client connected
-    mqtt_client.loop();
-  }   
-  
-    left_motor.runMotorControl();
-    right_motor.runMotorControl();
-    
-    speedometer_left.runSpeedometer();
-    speedometer_right.runSpeedometer();
-    // TODO: Auskommentiert weil macht vielleicht komische Sachen
-    // route.runRoute();
-
-    switch (driveMode) {
-        case manualControl_e:
-            manualControl.runManualControl();
-            break;
-
-        case captureRoute_e:
-            captureRoute.runCaptureRoute();
-            break;
-
-        case autopilot_e:
-            autopilot.runAutopilot();
-            break;
-
-        case consolControl_e:
-            consolControl.run();
-            break;
-
-        default:
-            break;
-    }
-}
-
-bool reconnectMqtt() {
-    // Create a random client ID
-    String clientId = "ESP32Rover-";
-    clientId += String(random(0xffff), HEX);
-    #ifdef MQTT_AUTH
-    if (mqtt_client.connect(clientId.c_str(), MQTT_USER, MQTT_PASSWORD)) {
-    #endif //MQTT_AUTH
-    #ifndef MQTT_AUTH
-    if (mqtt_client.connect(clientId.c_str())) {
-    #endif //MQTT_AUTH
-        // Once connected, publish an announcement...
-        mqtt_client.publish("Rover/Info", "Connected to Mqtt-Broker");
-    }
-    return mqtt_client.connected();
+    checkMQTT();
+    driveManager.loop();
 }
 
 void callbackControllerAction() {
-    if (Ps3.event.button_down.ps) {
-        switch (driveMode) {
-        case manualControl_e:
-            driveMode = DriveMode::captureRoute_e;
-            debugger.sendMsg(Loglevel::info, "New driveMode = CaptureRoute");
-            break;
 
-        case captureRoute_e:
-            driveMode = DriveMode::autopilot_e;
-            debugger.sendMsg(Loglevel::info, "New driveMode = Autopilot");
-            break;
-
-        case autopilot_e:
-            driveMode = DriveMode::consolControl_e;
-            debugger.sendMsg(Loglevel::info, "New driveMode = ConsolControl");
-            break;
-
-        case consolControl_e:
-            driveMode = DriveMode::manualControl_e;
-            debugger.sendMsg(Loglevel::info, "New driveMode = ManualControl");
-            break;
-
-        default:
-            break;
-        }
-    }
 }
 
 void callbackControllerConnect() {
     Serial.println("Controller connected to ESP32");
-    debugger.sendMsg(Loglevel::info, "Controller connected to ESP32");
 }
 
 void controllerPrintBattery() {
+    static uint8_t controller_battery = -1;
     if( controller_battery != Ps3.data.status.battery ){
         controller_battery = Ps3.data.status.battery;
     }

src/moveControl.cpp

@@ -1,9 +1,11 @@
 #include "moveControl.h"
 
-#include <Arduino.h>
-
 MoveControl::MoveControl() {
-    this->debug = new DebugMqtt("MoveControl");
+    this->left_motor = new MotorControl;
+    this->right_motor = new MotorControl;
+    this->left_speedometer = new Speedometer;
+    this->right_speedometer = new Speedometer;
+
     this->left_pid = new PID(   &this->wheelspeed_left,
                                 &this->left_pid_out,
                                 &this->wheelspeed_left_target,
@@ -21,49 +23,42 @@ MoveControl::MoveControl() {
 
     this->right_pid->SetOutputLimits(PID_OUT_MIN, PID_OUT_MAX);
     this->right_pid->SetSampleTime(PID_SAMPLETIME);
-    this->right_pid->SetMode(AUTOMATIC);                                
+    this->right_pid->SetMode(AUTOMATIC); 
+
+    this->left_motor->init(M_PWM_1, PWM_CHANNEL_M1, M_DIR_11, M_DIR_12);
+    this->right_motor->init(M_PWM_2, PWM_CHANNEL_M2, M_DIR_21, M_DIR_22);
+
+    this->left_speedometer->init(M_ENCODE_1A, M_ENCODE_1B, WHEEL_DIAMETER, ENC_STEPS);
+    this->right_speedometer->init(M_ENCODE_2A, M_ENCODE_2B, WHEEL_DIAMETER, ENC_STEPS);                               
 }
 
-void MoveControl::init(MotorControl *left_motor, MotorControl *right_motor,
-                        Speedometer *left_speedometer, Speedometer *right_speedometer) {
-    debug->sendMsg(Loglevel::info, "Init...");
-    this->left_motor = left_motor;
-    this->right_motor = right_motor;
-    this->left_speedometer = left_speedometer;
-    this->right_speedometer = right_speedometer;
-    debug->sendMsg(Loglevel::info, "Init finished!");
+MoveControl::~MoveControl() {
+    this->left_motor->emergencyStop();
+    this->right_motor->emergencyStop();
+}
+
+void MoveControl::loop() {
+    this->left_motor->loop();
+    this->right_motor->loop();
+    this->left_speedometer->loop();
+    this->right_speedometer->loop();
+
+    static uint64_t last_millis = 0;
+    if (millis() - last_millis < delay) 
+        return;
+
+    this->runMoveControl();
+    last_millis = millis();
 }
 
 void MoveControl::runMoveControl() {
-        static uint64_t last_millis = 0;
-    if (millis() - last_millis < RUN_MOVE_CONTROL_DELAY) {
-        return;
-    }
-    last_millis = millis();
+    this->updateCurrentWheelSpeed();
+    this->calcTargetWheelSpeed();
 
-    this->updateWheelSpeed();
-    this->calcWheelSpeed();
-
-    DebugTimes pidTimes;
     this->right_pid->Compute();
     this->left_pid->Compute();
-    pidTimes.stopConsol("PID Calulate", 100);
 
-    DebugTimes regMotorTime;
     this->regulateMotors();
-    regMotorTime.stopConsol("regulateMotors", 100);
-
-    static uint32_t functioncalls = 0;
-    functioncalls++;
-    if (functioncalls % 50 == 0) {
-        char str[128];
-        sprintf(str, "x_speed: %3.2f, rotation_speed: %3.2f, left: %3.2f, right: %3.2f",
-            this->x_speed, this->rotation_speed, this->wheelspeed_left,
-            this->wheelspeed_right);
-        DebugTimes debugMsgTime;
-        debug->sendMsg(Loglevel::debug, str);
-        debugMsgTime.stopConsol("debug Msg", 100);
-    }
 }
 
 void MoveControl::setDrivingStatus(DrivingStatus status) {
@@ -75,7 +70,6 @@ void MoveControl::setSpeed(double speed) {
         this->x_speed = 0;
     else
         this->x_speed = speed;
-    // Serial.printf("New speed: %f in moveControll.cpp \n", speed);
 }
 
 void MoveControl::setRotationspeed(double speed) {
@@ -83,7 +77,6 @@ void MoveControl::setRotationspeed(double speed) {
         this->rotation_speed = 0;
     else
         this->rotation_speed = speed;
-    
 }
 
 void MoveControl::setPidTunings(uint8_t side, double p, double i, double d) {
@@ -94,10 +87,9 @@ void MoveControl::setPidTunings(uint8_t side, double p, double i, double d) {
         selectedPID = this->right_pid;
 
     selectedPID->SetTunings(p, i, d);
-    
 }
 
-void MoveControl::calcWheelSpeed() {
+void MoveControl::calcTargetWheelSpeed() {
     /* original formula:
        (1 / r) / 1  b \ / x \ = / Xl \
                \ 1 -b / \ T /   \ Xr /  */
@@ -109,8 +101,6 @@ void MoveControl::calcWheelSpeed() {
 
     this->wheelspeed_right_target = (A * this->x_speed + B * this->rotation_speed) * (WHEEL_DIAMETER / 2);
     this->wheelspeed_left_target  = (A * this->x_speed + (-B) * this->rotation_speed) * (WHEEL_DIAMETER / 2);
-    //debug->writeToInflux("moveControl", "wheelspeed_right_target", this->wheelspeed_right_target);
-    //debug->writeToInflux("moveControl", "wheelspeed_left_target", this->wheelspeed_left_target);
 }
 
 void MoveControl::regulateMotors() {
@@ -132,7 +122,7 @@ void MoveControl::regulateMotors() {
     }
 }
 
-void MoveControl::updateWheelSpeed() {
+void MoveControl::updateCurrentWheelSpeed() {
     this->wheelspeed_left = this->left_speedometer->getSpeed();
     this->wheelspeed_right = this->right_speedometer->getSpeed();
 }

src/network.cpp

@@ -0,0 +1,76 @@
+/**
+ * @file network.cpp
+ * @author Alexander Klein (alex@kleiax.de)
+ * @brief Contains function implementation of network.h
+ * @version 0.1
+ * @date 2021-12-14
+ * 
+ * @copyright Copyright (c) 2021
+ * 
+ */
+
+#include "network.h"
+void setIps() {
+    local_IP.fromString(WLAN_IP);
+    gateway.fromString(WLAN_GATEWAY);
+    subnet.fromString(WLAN_SUBNETMASK);
+    mqtt_server.fromString(MQTT_SERVER);
+}
+
+void setupMQTT() {
+    mqtt_client.setServer(mqtt_server, MQTT_PORT);
+    // mqtt_client.setServer(MQTT_SERVER, MQTT_PORT);
+    mqtt_client.setSocketTimeout(1);
+    connectMQTT();
+}
+
+bool connectMQTT() {
+    // Create a random client ID
+    String clientId = "ESP32Rover-";
+    clientId += String(random(0xffff), HEX);
+    #ifdef MQTT_AUTH
+    if (mqtt_client.connect(clientId.c_str(), MQTT_USER, MQTT_PASSWORD)) {
+    #endif //MQTT_AUTH
+    #ifndef MQTT_AUTH
+    if (mqtt_client.connect(clientId.c_str())) {
+    #endif //MQTT_AUTH
+        // Once connected, publish an announcement...
+        mqtt_client.publish("Rover/Info", "Connected to Mqtt-Broker");
+    }
+    return mqtt_client.connected();
+}
+void connectWifi() {
+   // Configures static IP address
+    if (!WiFi.config(local_IP, gateway, subnet)) {
+        Serial.println("STA Failed to configure");
+    }
+
+    // Connect to Wi-Fi network with SSID and password
+    Serial.print("Connecting to ");
+    Serial.println(WLAN_SSID);
+    WiFi.begin(WLAN_SSID, WLAN_PASSWORD);
+    while (WiFi.status() != WL_CONNECTED) {
+        delay(500);
+        Serial.print(".");
+    }
+
+    // Print local IP address and start web server
+    Serial.println("");
+    Serial.println("WiFi connected.");
+    Serial.println("IP address: ");
+    Serial.println(WiFi.localIP()); 
+}
+
+void checkMQTT() {
+    static uint64_t lastReconnectAttempt = 0;
+    if (!mqtt_client.connected()) {
+        long now = millis();
+        if (now - lastReconnectAttempt > MQTT_TIME_RECONNECT) {
+            lastReconnectAttempt = now;
+            // Attempt to reconnect
+            if (connectMQTT()) 
+                lastReconnectAttempt = 0;
+        }
+    } else
+    mqtt_client.loop();
+}

src/route.cpp

@@ -1,4 +1,5 @@
 #include "route.h"
+#include "config.h"
 
 Route::Route() {
     Serial1.begin(GPS_BAUD, SERIAL_8N1, GPS_RX, GPS_TX);
@@ -7,7 +8,7 @@ Route::Route() {
 
 void Route::runRoute() {
     static uint64_t last_millis = 0;
-    if (millis() - last_millis < RUN_ROUTE_DELAY) {
+    if (millis() - last_millis < 123456789) {
         return;
     }
     last_millis = millis();
@@ -73,7 +74,7 @@ double Route::getDis(Point point_1, Point point_2) {
 }
 
 bool Route::nearlySameLocation(Point p1, Point p2) {
-    if (this->getDis(p1, p2) < DISTANCE_BETWEEN_POINTS)
+    if (this->getDis(p1, p2) < 0.5)
         return true;
     return false;
 }