10 UMLClass 120 670 210 510 <<hardware>> MotorControl -- - name: String - debug: DebugMqtt* - target_power: int8_t = 0 - power: int8_t = 0 - direction: uint8_t = 0 - last_millis: uint64_t = 0; - pwm_pin: uint8_t - pwm_channel: uint8_t - direction_pin_1: uint8_t - direction_pin_2: uint8_t -- + MotorControl() + init(pwm_pin: uint8_t,    pwm_channel: uint8_t,    direction_1: uint8_t,    direction_2: uint8_t,    name: String) + runMotorControl() + setTargetPower(power: int8_t) + stop() + emergencyStop() + toString() + getPower(): int8_t + getTargetPower(): int8_t + isTargetPowerReached(): bool + isAccelerationPositive(): bool + isAccelerationNegative(): bool - setRealPower(power: int8_t) - increasePower(power: int8_t) UMLClass 380 670 210 330 <<hardware>> Speedometer -- - encoder: ESP32Encoder - debug: DebugMqtt* - name: String - speed: double = 0 - last_millis: uint64_t = 0; - bufPos: uint8_t - buf: int16_t[BUF_SIZE] -- + Speedometer() + init(pinA: uint8_t,    pinB: uint8_t,    name: String) + runSpeedometer() + setTargetPower(power: int8_t) + getSpeed(): double + getDirection(): uint8_t - addValToBuf(val: int16_t) - getAverage(): int16_t UMLClass 900 660 210 330 <<hardware>> Speedometer -- - encoder: ESP32Encoder - debug: DebugMqtt* - name: String - speed: double = 0 - last_millis: uint64_t = 0; - bufPos: uint8_t - buf: int16_t[BUF_SIZE] -- + Speedometer() + init(pinA: uint8_t,    pinB: uint8_t,    name: String) + runSpeedometer() + setTargetPower(power: int8_t) + getSpeed(): double + getDirection(): uint8_t - addValToBuf(val: int16_t) - getAverage(): int16_t