Update doxygen comments

include/config.h

@@ -23,7 +23,13 @@
  */
 #define NO_GLOBAL_INSTANCES
 
+/**
+ * @name SPI-Pins
+ * @brief Pins for SPI communication with the gnss module
+ */
+///@{
 #define UBLOX_GNSS_SPI_CS 17
 #define UBLOX_GNSS_SPI_COPI 16
 #define UBLOX_GNSS_SPI_CIPO 4
 #define UBLOX_GNSS_SPI_SCK 5
+///@}

include/moveControl.h

@@ -98,7 +98,22 @@ class MoveControl {
          */
         void setRotationSpeed(double speed);
 
+        /**
+         * @brief Set Raw Power Left
+         * 
+         * This value has only an effect if DrivingStatus is raw.
+         * 
+         * @param power between -100 and 100
+         */
         void setRawPowerLeft(int16_t power);
+
+        /**
+         * @brief Set the Raw Power Right
+         * 
+         * This value has only an effect if DrivingStatus is raw.
+         * 
+         * @param power between -100 and 100
+         */
         void setRawPowerRight(int16_t power);
 
         /**
@@ -118,7 +133,19 @@ class MoveControl {
          * @return PID* 
          */
         PID* getPID(uint8_t side);
+
+        /**
+         * @brief Get the Speedometer Left object
+         * 
+         * @return Speedometer* 
+         */
         Speedometer* getSpeedometerLeft() const { return this->left_speedometer; }
+
+        /**
+         * @brief Get the Speedometer Right object
+         * 
+         * @return Speedometer* 
+         */
         Speedometer* getSpeedometerRight() const { return this->right_speedometer; }
 
         /**

lib/Navigation/navigation.cpp

@@ -57,7 +57,6 @@ void Navigation::init(Route* route) {
     else
         this->route = new Route();
 
-    this->ntripClient = new NTRIPClient();
     this->compass = new QMC5883LCompass();
 
     // Init Compass
@@ -77,7 +76,7 @@ Navigation::~Navigation() {
 }
 
 void Navigation::initNtrip(String host, uint16_t port, String mountPoint, String user, String password) {
-    this->ntripClient->init(this->gps, host.c_str(), port, mountPoint.c_str(), user.c_str(), password.c_str());
+    this->ntripClient = new NTRIPClient(this->gps, host.c_str(), port, mountPoint.c_str(), user.c_str(), password.c_str());
     this->ntripClient->gpsConfiguration();
     this->ntripClient->loop();
     this->ntripClient->setActivated(false);
@@ -93,7 +92,7 @@ void Navigation::loop() {
         Navigation::newData = false;
     }
 
-    if (this->isNtripInit)
+    if (this->ntripClient)
         this->ntripClient->loop();
 
     if (millis() - this->lastMillis > AZIMUTH_UPDATE_DELAY) {
@@ -169,12 +168,12 @@ bool Navigation::addCurrentPosToRoute() {
     return false;
 }
 
-bool Navigation::setPointBeforeTurn() {
+// bool Navigation::setPointBeforeTurn() {
-    if (millis() - this->currentPosition.getCreationTime() > 1000)
+//     if (millis() - this->currentPosition.getCreationTime() > 1000)
-        return false;
+//         return false;
-    this->beforeTurnPoint = this->currentPosition;
+//     this->beforeTurnPoint = this->currentPosition;
-    return true;
+//     return true;
-}
+// }
 
 void Navigation::updateCurrentLocation() {
     if (Navigation::ubxUpdateTimeStatic == this->ubxUpdateTime)

lib/Navigation/navigation.h

@@ -128,14 +128,8 @@ class Navigation {
          */
         bool addCurrentPosToRoute();
 
-        bool setPointBeforeTurn();
+    	// TODO: can be deleted?
-
+        // bool setPointBeforeTurn();
-        // /**
-        //  * @brief Returns the GPS object
-        //  * 
-        //  * @return SFE_UBLOX_GNSS* 
-        //  */
-        // SFE_UBLOX_GNSS* getGPS() { return this->gps; }
         
         /**
          * @brief Get the Ubx Data object
@@ -163,8 +157,25 @@ class Navigation {
          */
         RouteInfo getRouteInfo() const { return this->route->getRouteInfo(); }
         Route* getRoute() const { return this->route; }
+
+        /**
+         * @brief Get azimuth
+         * 
+         * This value represents the angle between north and 
+         * the line of sight. Clockwise.
+         * 
+         * @return uint16_t degree
+         */
         uint16_t getAzimuth() const { return this->azimuth; }
 
+        /**
+         * @brief Set the output status for PVTdata.
+         * 
+         * If this is true, a lot of information from the gnss module will be printed in
+         * the interval of navigation frequency.
+         * 
+         * @param status 
+         */
         static void setOutputStatusPrintPVTdata(bool status);
 
     private:

lib/Navigation/route.cpp

@@ -1,7 +1,7 @@
 /**
  * @file route.cpp
  * @author Alexander Klein (alex@kleiax.de)
- * @brief Implements the class Route
+ * @brief Implements the class Route and Point
  * @version 0.1
  * @date 2022-01-31
  * 

lib/Navigation/route.h

@@ -1,7 +1,7 @@
 /**
  * @file route.h
  * @author Alexander Klein (alex@kleiax.de)
- * @brief Contains a class which hold multiple Points
+ * @brief Contains the class Point and Route
  * @version 0.1
  * @date 2022-01-31
  * 
@@ -30,6 +30,10 @@
  */
 class Point{
     public:
+        /**
+         * @brief Hold the data longitude and latitude
+         * 
+         */
         struct Coordinates {
             double lon;
             double lat;
@@ -39,6 +43,10 @@ class Point{
             }
         };
 
+        /**
+         * @brief The Accuracy is set by the constructor
+         * 
+         */
         enum PointAccuracy {
             none,
             fourDigOfCM,
@@ -54,6 +62,9 @@ class Point{
          * 
          * @param lat latitude
          * @param lon longitude
+         * @param horizontalAccuracy mm
+         * @param coords Coordinates
+         * @param imported if true than highest accuracy
          */
         Point(double lat, double lon, uint32_t horizontalAccuracy = 0);
         Point(int32_t lat, int32_t lon, uint32_t horizontalAccuracy = 0);
@@ -62,7 +73,7 @@ class Point{
         Point();
 
         /**
-         * @brief checks if to points are equal
+         * @brief Checks if to points are equal.
          * 
          * @param rhs 
          * @return true 
@@ -71,16 +82,38 @@ class Point{
         bool operator==(const Point& rhs) const;
 
         /**
-         * @brief Checks if the Point is initalized.
+         * @brief Checks if the point is initalized.
          * 
          * @return true 
          * @return false 
          */
         bool isInit() const { return this->coordinates.lat + this->coordinates.lon; }
+
+        /**
+         * @brief Checks if the point is valid.
+         * 
+         * If the accuracy is higher than zero, true will be returned.
+         * 
+         * @return true 
+         * @return false 
+         */
         bool isValid() const { return (this->accuracy > 0) ? true : false; }
 
+        /**
+         * @brief Calculates the distance between to points.
+         * 
+         * @param point 
+         * @return double meter
+         */
         double distanceTo(const Coordinates& point) const;
         double distanceTo(const Point& point) const;
+
+        /**
+         * @brief Calculates the course to an other point.
+         * 
+         * @param point 
+         * @return int16_t degree
+         */
         int16_t courseTo(const Coordinates& point) const;
         int16_t courseTo(const Point& point) const;
 
@@ -89,6 +122,14 @@ class Point{
         double getLatitude() const { return this->coordinates.lat; }
         Coordinates getCoordinates() const { return this->coordinates; }
 
+        /**
+         * @brief Get the Accuracy object
+         * 
+         * The higher the value, the greater the accuracy.
+         * You can check it by PointAccuracy.
+         * 
+         * @return PointAccuracy 
+         */
         PointAccuracy getAccuracy() { return this->accuracy; }
 
     private:
@@ -124,32 +165,49 @@ struct RouteInfo{
 class Route {
     public:
         /**
-         * @brief Construct a new Route object
+         * @brief Construct a new Route object.
          */
         Route();
 
         /**
-         * @brief Adds a point to the list
+         * @brief Adds a point to the list.
          * 
          * @param point 
          */
         void addPointToRoute(Point point);
+
+        /**
+         * @brief Delete all points.
+         * 
+         */
         void clear();
 
         /**
-         * @brief Select the first point as target
+         * @brief Select the first point as target.
          * 
          * @return Point 
          */
         Point startRoute();
+
+        /**
+         * @brief Select the last point as target.
+         * 
+         * @return Point 
+         */
         Point endRoute();
 
         /**
-         * @brief Get the next point and set it as target
+         * @brief Get the next point and set it as target.
          * 
-         * @return Point is zero if there are no more Points
+         * @return Point is zero if there are no more Points.
          */
         Point getNextPoint();
+
+        /**
+         * @brief Get the previous point and set it as target.
+         * 
+         * @return Point 
+         */
         Point getPreviousPoint();
 
         /**
@@ -158,6 +216,16 @@ class Route {
          * @return RouteInfo 
          */
         RouteInfo getRouteInfo();
+
+        /**
+         * @brief Get the Started object
+         * 
+         * The Route will be marked as started when startRoute or 
+         * endRoute has been called.
+         * 
+         * @return true 
+         * @return false 
+         */
         bool getStarted() const { return this->started; }
 
     private:

lib/NtripClient/ntripClient.cpp

@@ -1,7 +1,7 @@
 /**
  * @file NTRIPClient.cpp
  * @author Alexander Klein (alex@kleiax.de)
- * @brief 
+ * @brief Contains the implementation of the class NTRIPClient.
  * @version 0.1
  * @date 2022-09-18
  * 
@@ -11,15 +11,8 @@
 
 #include "ntripClient.h"
 
-NTRIPClient::NTRIPClient() {
 
-}
+NTRIPClient::NTRIPClient(SFE_UBLOX_GNSS* gps, const char* host, uint16_t port, const char* mountPoint, const char* user, const char* password) {
-
-NTRIPClient::~NTRIPClient() {
-    delete this->ntripClient;
-}
-
-void NTRIPClient::init(SFE_UBLOX_GNSS* gps, const char* host, uint16_t port, const char* mountPoint, const char* user, const char* password) {
     this->gps = gps;
     strcpy(this->host, host);
     this->port = port;
@@ -31,6 +24,10 @@ void NTRIPClient::init(SFE_UBLOX_GNSS* gps, const char* host, uint16_t port, con
     this->state = NTRIPClientStates::closeConnection;
 }
 
+NTRIPClient::~NTRIPClient() {
+    delete this->ntripClient;
+}
+
 void NTRIPClient::loop() {
     if (millis() - this->lastLoopTime < this->delayTime)
         return;

lib/NtripClient/ntripClient.h

@@ -1,3 +1,14 @@
+/**
+ * @file ntripClient.h
+ * @author Alexander Klein (alex@kleiax.de)
+ * @brief Contains the class NTRIPClient
+ * @version 0.1
+ * @date 2023-02-13
+ * 
+ * @copyright Copyright (c) 2023
+ * 
+ */
+
 #ifndef NTRIP_CLIENT
 #define NTRIP_CLIENT
 
@@ -9,6 +20,10 @@
 
 #include "debugTimes.h"
 
+/**
+ * @brief States for the state machine. 
+ * 
+ */
 enum NTRIPClientStates {
         openConnection,
         pushData,
@@ -16,24 +31,73 @@ enum NTRIPClientStates {
         wait,
         notAvailable
 };
+
+/**
+ * @brief Ntrip Client
+ * 
+ * This class can connect to a ntrip server to pull correction
+ * data and push it to a given gnss module. This module have to be compatible
+ * with the SparkFun u-blox GNSS Arduino Library.
+ */
 class NTRIPClient {
     public:
-        NTRIPClient();
+        /**
+         * @brief Construct a new NTRIPClient object
+         * 
+         * @param gps The Gnss module
+         * @param host 
+         * @param port 
+         * @param mountPoint 
+         * @param user 
+         * @param password 
+         */
+        NTRIPClient(SFE_UBLOX_GNSS* gps, const char* host, uint16_t port, const char* mountPoint, const char* user, const char* password);
         ~NTRIPClient();
 
-        void init(SFE_UBLOX_GNSS* gps, const char* host, uint16_t port, const char* mountPoint, const char* user, const char* password);
+        /**
+         * @brief Runs the state machine.
+         * 
+         * See NTRIPClientStates for more information.
+         * Should be called ever main loop.
+         */
         void loop();
 
+        /**
+         * @brief Configure the Gnss module to accept correction data
+         * 
+         */
         void gpsConfiguration();
 
+        /**
+         * @brief Activate or deactivate the location transmission
+         * 
+         * Some server need the position of the Gnss module to send the
+         * right correction data.
+         * 
+         * @param b 
+         */
         void setTransmitLocation(bool b) { this->transmitLocation = b; }
+
+        /**
+         * @brief Activate or deactivate the connection to the server.
+         * 
+         * @param b 
+         * @return true success
+         * @return false failure
+         */
         bool setActivated(bool b);
 
         bool isConnected();
+
+        /**
+         * @brief Get the Client State object
+         * 
+         * Returns the state of the State machine
+         * 
+         * @return NTRIPClientStates 
+         */
         NTRIPClientStates getClientState() { return this->state; }
 
-        
-
     private:
         void pushGPGGA(NMEA_GGA_data_t *nmeaData);
         bool beginClient();

lib/Speedometer/speedometer.h

@@ -100,7 +100,22 @@ class Speedometer {
          */
         double getSpeed();
 
+        /**
+         * @brief Start calibration
+         * 
+         * This functions stops the loop. So that steps of one manual wheel turn
+         * can measured. Call calibrationMeasurementStop to start the loop and get
+         * the result.
+         */
         void calibrationMeasurementStart();
+
+        /**
+         * @brief Stop calibration
+         * 
+         * Start the loop function and read the past steps.
+         * 
+         * @return uint16_t steps since calibrationMeasurementStart was called
+         */
         uint16_t calibrationMeasurementStop();
 
 

lib/Times/debugTimes.h

@@ -59,6 +59,11 @@ class DebugTimes {
          */
         uint16_t stopConsol(const char* name, uint16_t minTime = 0);
 
+        /**
+         * @brief Sets if the result should be printed.
+         * 
+         * @param enable 
+         */
         static void setConsolOutput(bool enable);
 
     private:

platformio.ini

@@ -27,6 +27,7 @@ lib_deps =
 	marian-craciunescu/ESP32Ping@^1.7
 	bblanchon/ArduinoJson@^6.20.0
 	mprograms/QMC5883LCompass@^1.1.1
+	https://git.kleiax.de/PlatformIO-Libs/Menu.git
 upload_port = COM3
 
 [env:release]

src/OutputBuf/outputBuf.h

@@ -40,7 +40,25 @@ class OutputBuf : public std::streambuf {
          * @param debugMqtt 
          */
         OutputBuf(DebugMqtt* debugMqtt = nullptr, BluetoothSerial* serialBT = nullptr);
+
+        /**
+         * @brief Activate the mqtt output
+         * 
+         * This only works if the DebugMqtt is set by
+         * setDebugMqtt. 
+         * 
+         * @param status 
+         */
         void activateMqtt(bool status);
+
+        /**
+         * @brief Active the output over the bluetooth serial consol
+         * 
+         * This only works if BluetoothSerial is set by
+         * setSerialBT.
+         * 
+         * @param status 
+         */
         void activateSerialBT(bool status);
 
         void setDebugMqtt(DebugMqtt* debugMqtt);

src/SpecialMenus/Route/menuRoute.cpp

@@ -1,7 +1,7 @@
 /**
  * @file menuRoute.cpp
  * @author Alexander Klein (alex@kleiax.de)
- * @brief 
+ * @brief Contains the implementation of the classes MenuActionRoute, MenuRoute and MenuRouteWrapper. 
  * @version 0.1
  * @date 2022-12-28
  * 

src/SpecialMenus/Route/menuRoute.h

@@ -1,7 +1,7 @@
 /**
  * @file menuRoute.h
  * @author Alexander Klein (alex@kleiax.de)
- * @brief 
+ * @brief Contains a classes to handles routes with the user input.
  * @version 0.1
  * @date 2022-12-28
  * 
@@ -28,9 +28,25 @@
 class MenuRoute;
 typedef void (MenuRoute::*DataFunction)(uint8_t);
 
+/**
+ * @brief MenuActionWrapper to call DataFunctions
+ * 
+ * This class should be used to call importRoute,
+ * exportRoute and clearRoute over the Menu.
+ */
 class MenuActionRoute : public MenuActionWrapper {
     public:
+        /**
+         * @brief Construct a new Menu Action Route object
+         * 
+         * @param menuRoute 
+         * @param dataFunction like exportRoute
+         */
         MenuActionRoute(MenuRoute* menuRoute, DataFunction dataFunction);
+
+        /**
+         * @brief Runs the given DataFunction
+         */
         void action() override;
 
     private:
@@ -38,21 +54,66 @@ class MenuActionRoute : public MenuActionWrapper {
         DataFunction dataFunction;
 };
 
+/**
+ * @brief Handles routes
+ * 
+ * With this menu the user can import, export and delete routes. 
+ */
 class MenuRoute : public MenuControl {
     public:
+        /**
+         * @brief Construct a new Menu Route object
+         * 
+         * @param route 
+         */
         MenuRoute(Route* route);
         ~MenuRoute();
+
+        /**
+         * @brief Prints the last informations
+         * 
+         * On first call this function calls the init function.
+         * On every call this functions call the printMenu function from
+         * the mainMenu of this class.
+         */
         void printMenu() override;
 
+        /**
+         * @name User Inputs
+         * @brief Inputs given by the parentMenu
+         */
+        ///@{
         void down() override;
         void up() override;
         void right() override;
         void left() override;
         void yes() override;
         void no() override;
+        ///@}
 
+        /**
+         * @brief Import a Route.
+         * 
+         * The functions tries to pull the given route id from the RoverApi.
+         * 
+         * @param routeNumber id
+         */
         void importRoute(uint8_t routeNumber);
+
+        /**
+         * @brief Export a Route.
+         * 
+         * The functions tries to push the current route to the RoverApi.
+         * 
+         * @param routeNumber id
+         */
         void exportRoute(uint8_t routeNumber);
+
+        /**
+         * @brief Delete the current Route.
+         * 
+         * @param none this param is not be used.
+         */
         void clearRoute(uint8_t none);
         
     private:
@@ -65,11 +126,26 @@ class MenuRoute : public MenuControl {
         bool blockInput = false;
 };
 
-
+/**
+ * @brief MenuRouteWrapper to call DataFunctions with numeric user input
+ * 
+ */
 class MenuRouteWrapper : public MenuIntInputWrapper {
     public:
+        /**
+         * @brief Construct a new Menu Route Wrapper object.
+         * 
+         * @param menuRoute 
+         * @param dataFunction 
+         */
         MenuRouteWrapper(MenuRoute* menuRoute, DataFunction dataFunction);
 
+        /**
+         * @brief Calls the given DataFunction.
+         * 
+         * @param values The value to be given to the DataFunction.
+         * @param length Number of values, should be 1.
+         */
         void action(int16_t* values, uint8_t length) override;
 
     private:

src/SpecialMenus/Route/menuRoutePoints.cpp

@@ -1,7 +1,7 @@
 /**
  * @file menuRoutePoints.cpp
  * @author Alexander Klein (alex@kleiax.de)
- * @brief 
+ * @brief Contains the implementation of the class MenuRoutePoints.
  * @version 0.1
  * @date 2022-12-28
  * 

src/SpecialMenus/Route/menuRoutePoints.h

@@ -1,7 +1,7 @@
 /**
  * @file menuRoutePoints.h
  * @author Alexander Klein (alex@kleiax.de)
- * @brief 
+ * @brief Contains a class to print the coordinates of a Route.
  * @version 0.1
  * @date 2022-12-28
  * 
@@ -16,11 +16,29 @@
 #include "route.h"
 #include "menuInformationSites.h"
 
+/**
+ * @brief Prints coordinates of Route side by side.
+ * 
+ */
 class MenuRoutePoints : public MenuInformationSites {
     public:
+        /**
+         * @brief Construct a new Menu Route Points object
+         * 
+         * @param route 
+         */
         MenuRoutePoints(Route *route);
+
+        /**
+         * @brief Configure the base class MenuInformationSites
+         * 
+         * Set the amount of pages.
+         */
         void init () override;
 
+        /**
+         * @brief Prints the the coordinates of the current Point. 
+         */
         void printPage() const override;
 
     private:

src/SpecialMenus/Systeminformation/menuSysteminformation.h

@@ -18,8 +18,19 @@
 #include "menuInformationSites.h"
 #include "battery.h"
 
+/**
+ * @brief Prints information about the current system status.
+ * 
+ * The informations are about the batteries, memory and uptime.
+ */
 class MenuSysteminformation : public MenuInformationSites {
     public:
+        /**
+         * @brief Construct a new Menu Systeminformation object
+         * 
+         * @param mainBattery 
+         * @param gamepad 
+         */
         MenuSysteminformation(Battery* mainBattery, Ps3Controller* gamepad);
 
     private:

src/SpecialMenus/driveModi/TestMode/menuTestMode.cpp

@@ -1,7 +1,7 @@
 /**
  * @file menuTestMode.cpp
  * @author Alexander Klein (alex@kleiax.de)
- * @brief 
+ * @brief Contains the implementation of the class MenuTestMode.
  * @version 0.1
  * @date 2022-09-08
  * 

src/SpecialMenus/driveModi/TestMode/menuTestMode.h

@@ -1,7 +1,7 @@
 /**
  * @file menuTestMode.h
  * @author Alexander Klein (alex@kleiax.de)
- * @brief 
+ * @brief Contains a class to use and print information about the TestMode.
  * @version 0.1
  * @date 2022-09-08
  * 
@@ -17,11 +17,35 @@
 #include "menuAction.h"
 #include "menuIntInput.h"
 
+/**
+ * @brief Interact with the TestMode
+ * 
+ */
 class MenuTestMode : public MenuDriveMode {
     public:
+        /**
+         * @brief Construct a new Menu Test Mode object
+         * 
+         * @param driveManager 
+         */
         MenuTestMode(DriveManager *driveManager);
         ~MenuTestMode();
-        void printMenu();
+
+        /**
+         * @brief Prints the last informations
+         * 
+         * On first call this function calls the init function.
+         * On every call this functions call the printMenu function from
+         * the mainMenu of this class.
+         */
+        void printMenu() override;
+
+        /**
+         * @brief Prints maneuver Timer
+         * 
+         * Aside from that the function looks if the maneuver is done and
+         * give the user input free.
+         */
         void printManeuverTime();
 
         void down() override;
@@ -31,6 +55,10 @@ class MenuTestMode : public MenuDriveMode {
         void yes() override;
         void no() override;
 
+        /**
+         * @brief Calls the printManeuverTime function if a maneuver is in process.
+         * 
+         */
         void update() override;
 
         TestMode* getTestMode() const { return this->testMode; }

src/SpecialMenus/driveModi/menuDriveMode.h

@@ -30,8 +30,17 @@ class MenuDriveMode : public MenuControl {
         void down() override {}
         void up() override {}
         void right() override {}
+
+        /**
+         * @brief Goes back to the parentMenu.
+         */
         void left() override;
+
+        /**
+         * @brief Calls left.
+         */
         void no() override;
+        
         void yes() override {}
 
         virtual void printMenu() = 0;

src/driveModi/Modi/TestMode/testMode.cpp

@@ -1,7 +1,7 @@
 /**
  * @file testMode.cpp
  * @author Alexander Klein (alex@kleiax.de)
- * @brief 
+ * @brief Contains the implementation of the class TestMode.
  * @version 0.1
  * @date 2022-09-08
  * 

src/driveModi/Modi/TestMode/testMode.h

@@ -1,7 +1,7 @@
 /**
  * @file testMode.h
  * @author Alexander Klein (alex@kleiax.de)
- * @brief 
+ * @brief Contains a class to test different functions from the rover.
  * @version 0.1
  * @date 2022-09-08
  * 
@@ -17,8 +17,18 @@
 #include "navigation.h"
 #include "driveModi/driveModi.h"
 
+
+/**
+ * @brief Test different functions from the rover.
+ * 
+ * You can test engine, engine controller, light and speed meter.
+ */
 class TestMode : public DriveModi {
     public:
+        /**
+         * @brief Different states to test the engine
+         * 
+         */
         enum Maneuver {
             None,
             LeftEngine,
@@ -28,23 +38,87 @@ class TestMode : public DriveModi {
             Drive
         };
 
+        /**
+         * @brief Construct a new Test Mode object
+         * 
+         * @param moveControl 
+         * @param navigation 
+         */
         TestMode(MoveControl *moveControl, Navigation* navigation);
         ~TestMode();
 
+        /**
+         * @brief Controls the maneuver.
+         * 
+         * Needed for actions which take a longer time.
+         * Should be called ever main loop.
+         */
         void loop() override;
 
+        /**
+         * @brief Set the speed for the Maneuver Drive
+         * 
+         * @param speed m/s / 100
+         */
         void setSpeed(int16_t speed);
+
+        /**
+         * @brief Set the rotation speed for the Maneuver Drive
+         * 
+         * @param speed rad/s / 100
+         */
         void setRotationSpeed(int16_t speed);
 
         bool drive(int16_t cm = 0, int16_t degree = 0);
 
+        /**
+         * @brief Sets the left Engine to a specific power value.
+         * 
+         * This start a maneuver with the given time.
+         * 
+         * @param powerPercentage from 0% to 100%
+         * @param seconds time to run the engine
+         * @return true success
+         * @return false failure
+         */
         bool leftEngine(int16_t powerPercentage, int16_t seconds);
+
+        /**
+         * @brief See leftEngine
+         * 
+         * @param powerPercentage 
+         * @param seconds 
+         * @return true 
+         * @return false 
+         */
         bool rightEngine(int16_t powerPercentage, int16_t seconds);
+
+        /**
+         * @brief See leftEngine
+         * 
+         * @param powerPercentage 
+         * @param seconds 
+         * @return true 
+         * @return false 
+         */
         bool bothEngine(int16_t powerPercentage, int16_t seconds);
 
+        /**
+         * @brief Abort the running maneuver.
+         * 
+         * Stops all movement. This is the only possibility to cancel a maneuver
+         * before the time is up. 
+         */
         void abortManeuver();
 
         uint8_t getRemainingManeuverTime();
+
+        /**
+         * @brief Returns true if a maneuver is running
+         * 
+         * @return true 
+         * @return false 
+         */
         bool getBusy() const { return this->busy; }
         Maneuver getManeuver() const { return this->maneuver; }
 

src/main.cpp

@@ -50,7 +50,7 @@ MoveControl moveController;
 DriveManager* driveManager;
 Menu* main_m;
 LiquidCrystal_I2C* lcd;
-DisplayWrapper* lcdWrapper;
+LcdWrapper* lcdWrapper;
 OutputBuf* outputBuf;
 DebugMqtt* debugMqtt = nullptr;
 Battery* mainBattery;
@@ -125,7 +125,7 @@ void setup() {
     lcd->printf("%c Kleiax-Rover %c", wifiIndicator, wifiIndicator);
     lcd->setCursor(0, 1);
     lcd->print("Press PS-Button");
-    lcdWrapper = new DisplayWrapper(lcd);
+    lcdWrapper = new LcdWrapper(lcd);
 
     makeMenu();
 
@@ -280,17 +280,17 @@ void makeMenu() {
     // Set Menus on LCD
     main_m->setLcd(lcdWrapper);
     mode_m->setLcd(lcdWrapper);
-    pid_m->setLcd(lcdWrapper);
+    pid_m->setLcd(LcdWrapper);
-    pidl_m->setLcd(lcdWrapper);
+    pidl_m->setLcd(LcdWrapper);
-    pidr_m->setLcd(lcdWrapper);
+    pidr_m->setLcd(LcdWrapper);
-    man_m->setLcd(lcdWrapper);
+    man_m->setLcd(LcdWrapper);
-    cap_m->setLcd(lcdWrapper);
+    cap_m->setLcd(LcdWrapper);
-    auto_m->setLcd(lcdWrapper);
+    auto_m->setLcd(LcdWrapper);
-    testM_m->setLcd(lcdWrapper);
+    testM_m->setLcd(LcdWrapper);
-    gps_m->setLcd(lcdWrapper);
+    gps_m->setLcd(LcdWrapper);
-    sys_m->setLcd(lcdWrapper);
+    sys_m->setLcd(LcdWrapper);
-    rout_m->setLcd(lcdWrapper);
+    rout_m->setLcd(LcdWrapper);
-    test_m->setLcd(lcdWrapper);
+    test_m->setLcd(LcdWrapper);
 
 
     // Entry for the main menu
@@ -342,17 +342,17 @@ void makeMenu() {
 }
 
 void restart(void) {
-    lcdWrapper->clear();
+    LcdWrapper->clear();
-    lcdWrapper->setCursor(0, 0);
+    LcdWrapper->setCursor(0, 0);
-    lcdWrapper->print("Rebooting ...");
+    LcdWrapper->print("Rebooting ...");
     ESP.restart();
 }
 
 void disconnectController(void) {
     disconnectPs3 = true;
-    lcdWrapper->clear();
+    LcdWrapper->clear();
-    lcdWrapper->setCursor(0, 0);
+    LcdWrapper->setCursor(0, 0);
-    lcdWrapper->print("Controller is");
+    LcdWrapper->print("Controller is");
-    lcdWrapper->setCursor(0, 1);
+    LcdWrapper->setCursor(0, 1);
-    lcdWrapper->print("disconnected.");
+    LcdWrapper->print("disconnected.");
 }