ein bisschen doku

.vscode/settings.json

@@ -2,5 +2,62 @@
     "cSpell.ignoreWords": [
         "ledc",
         "write"
-    ]
+    ],
+
+    "todohighlight.isEnable": true,
+    "todohighlight.isCaseSensitive": true,
+    "todohighlight.keywords": [
+        "DEBUG:",
+        "REVIEW:",
+        {
+            "text": "NOTE:",
+            "color": "#ff0000",
+            "backgroundColor": "yellow",
+            "overviewRulerColor": "grey"
+        },
+        {
+            "text": "HACK:",
+            "color": "#000",
+            "isWholeLine": false,
+        },
+        {
+            "text": "TODO:",
+            "color": "red",
+            "border": "1px solid red",
+            "borderRadius": "2px", //NOTE: using borderRadius along with `border` or you will see nothing change
+            "backgroundColor": "rgba(0,0,0,.2)",
+            //other styling properties goes here ... 
+        }
+    ],
+    "todohighlight.keywordsPattern": "TODO:|FIXME:|\\(([^)]+)\\)", //highlight `TODO:`,`FIXME:` or content between parentheses
+    "todohighlight.defaultStyle": {
+        "color": "red",
+        "backgroundColor": "#ffab00",
+        "overviewRulerColor": "#ffab00",
+        "cursor": "pointer",
+        "border": "1px solid #eee",
+        "borderRadius": "2px",
+        "isWholeLine": true,
+        //other styling properties goes here ... 
+    },
+    "todohighlight.include": [
+        "**/*.h",
+        "**/*.cpp",
+        "**/*.c",
+        "**/*.txt"
+    ],
+    "todohighlight.exclude": [
+        "**/node_modules/**",
+        "**/bower_components/**",
+        "**/dist/**",
+        "**/build/**",
+        "**/.vscode/**",
+        "**/.github/**",
+        "**/_output/**",
+        "**/*.min.*",
+        "**/*.map",
+        "**/.next/**"
+    ],
+    "todohighlight.maxFilesForSearch": 5120,
+    "todohighlight.toggleURI": false
 }

doc/classdiagramm.uxf

@@ -1,15 +1,4 @@
-<?xml version="1.0" encoding="UTF-8" standalone="no"?>
+<diagram program="umletino" version="14.4.0-SNAPSHOT"><zoom_level>10</zoom_level><element><id>UMLClass</id><coordinates><x>350</x><y>0</y><w>220</w><h>510</h></coordinates><panel_attributes>&lt;&lt;hardware&gt;&gt;
-<diagram program="umlet" version="14.3.0">
-  <zoom_level>10</zoom_level>
-  <element>
-    <id>UMLClass</id>
-    <coordinates>
-      <x>460</x>
-      <y>60</y>
-      <w>220</w>
-      <h>510</h>
-    </coordinates>
-    <panel_attributes>&lt;&lt;hardware&gt;&gt;
 MotorControl
 --
 - name: String
@@ -40,18 +29,7 @@ MotorControl
 + isAccelerationPositive(): bool
 + isAccelerationNegative(): bool
 - setRealPower(power: int8_t)
-- increasePower(power: int8_t)</panel_attributes>
+- increasePower(power: int8_t)</panel_attributes><additional_attributes></additional_attributes></element><element><id>UMLClass</id><coordinates><x>80</x><y>380</y><w>220</w><h>330</h></coordinates><panel_attributes>&lt;&lt;hardware&gt;&gt;
-    <additional_attributes/>
-  </element>
-  <element>
-    <id>UMLClass</id>
-    <coordinates>
-      <x>80</x>
-      <y>480</y>
-      <w>220</w>
-      <h>330</h>
-    </coordinates>
-    <panel_attributes>&lt;&lt;hardware&gt;&gt;
 Speedometer
 --
 - encoder: ESP32Encoder
@@ -71,18 +49,7 @@ Speedometer
 + getSpeed(): double
 + getDirection(): uint8_t
 - addValToBuf(val: int16_t)
-- getAverage(): int16_t</panel_attributes>
+- getAverage(): int16_t</panel_attributes><additional_attributes></additional_attributes></element><element><id>UMLClass</id><coordinates><x>70</x><y>0</y><w>270</w><h>370</h></coordinates><panel_attributes>MoveControl
-    <additional_attributes/>
-  </element>
-  <element>
-    <id>UMLClass</id>
-    <coordinates>
-      <x>70</x>
-      <y>60</y>
-      <w>270</w>
-      <h>370</h>
-    </coordinates>
-    <panel_attributes>MoveControl
 --
 - debug: DebugMqtt*
 - left_motor: MotorControl*
@@ -105,18 +72,7 @@ Speedometer
 + setSpeed(speed: double)
 + setRotationspeed(speed: double)
 - calcWheelSpeed()
-- regulateMotors()</panel_attributes>
+- regulateMotors()</panel_attributes><additional_attributes></additional_attributes></element><element><id>UMLClass</id><coordinates><x>580</x><y>0</y><w>220</w><h>330</h></coordinates><panel_attributes>&lt;&lt;driveModi&gt;&gt;
-    <additional_attributes/>
-  </element>
-  <element>
-    <id>UMLClass</id>
-    <coordinates>
-      <x>700</x>
-      <y>60</y>
-      <w>220</w>
-      <h>330</h>
-    </coordinates>
-    <panel_attributes>&lt;&lt;driveModi&gt;&gt;
 ManualControl
 --
 - encoder: ESP32Encoder
@@ -136,7 +92,4 @@ ManualControl
 + getSpeed(): double
 + getDirection(): uint8_t
 - addValToBuf(val: int16_t)
-- getAverage(): int16_t</panel_attributes>
+- getAverage(): int16_t</panel_attributes><additional_attributes></additional_attributes></element></diagram>
-    <additional_attributes/>
-  </element>
-</diagram>

doc/controller.txt

@@ -0,0 +1,17 @@
+Controller
+
+PS3-Button:     Change Mode
+
+Mode: ManualControl
+    L3: Joystick Mode
+        Left Joystick:  Drive
+
+    R3: Shoulder Trigger Mode
+        L2:             Spin left side
+        R2:             Spin right side
+
+Mode: Autopilot
+
+Mode: CaptureRoute
+
+Mode: ConsolControl

src/config.h

@@ -1,5 +1,6 @@
 // The front is where the boards are
 
+
 //Pin config
     //Left
     #define M_DIR_11 27
@@ -91,7 +92,7 @@
 #define WLAN_IP 0x3400a8c0          //192.168.0.67
 #define WLAN_SUBNETMASK 0x00FFFFFF  //255.255.255.0
 #define WLAN_GATEWAY 0x0100a8c0     //192.168.0.1
-#define MQTT_SERVER "dz-pi.hw1.fb4.fh"
+#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"

src/driveModi/consolControl.cpp

@@ -40,5 +40,5 @@ void ConsolControl::run() {
 }
 
 void ConsolControl::printManual() {
-    Serial.println("r 12.0 13.0 4.0 // site p i d s r");
+    Serial.println("r 12.0 13.0 4.0 1.0 1.0 // site p i d s r");
 }

src/main.cpp

@@ -16,6 +16,8 @@
 #include "route.h"
 #include "debugMqtt.h"
 
+//TODO: Mal vernünftig Programmieren lernen.
+
 void callbackControllerAction();
 void callbackControllerConnect();
 void controllerPrintBattery();