Bachelorarbeit-Rover/doc/Diagrams/classdiagramm.uxf

<diagram program="umletino" version="14.4.0-SNAPSHOT"><zoom_level>10</zoom_level><element><id>UMLClass</id><coordinates><x>750</x><y>10</y><w>220</w><h>650</h></coordinates><panel_attributes>&lt;&lt;hardware&gt;&gt;
MotorControl
--
- target_power: int8_t
- power: int8_t
- direction: uint8_t


- pwm_pin: uint8_t
- pwm_channel: uint8_t
- pwm_res: uint8_t
- dutycycle_min: uint8_t
- dutycycle_max: uint8_t
- direction_1: uint8_t
- direction_2: uint8_t
- delay: uint8_t
- powersteps: uint8_t

- last_millis: uint32_t
--
+ MotorControl()
+ init(pwm_pin: uint8_t,
	  pwm_channel: uint8_t,
	  dir_1: uint8_t, dir_2: uint8_t)
+ loop(): uint16_t
+ runMotorControl()

+ setMinPwm(uint8_t)
+ setMaxPwm(uint8_t)
+ setPowerSteps(uint8_t): uint16_t
+ setTargetPower(uint8_t)
+ setDelay(uint8_t): uint16_t

+ stop()
+ emergencyStop()
+ toString()
+ getPower(): int8_t
+ getTargetPower(): int8_t
+ isTargetPowerReached(): bool
+ isAccelerationPositive(): bool
+ isAccelerationNegative(): bool

- setRealPower(power: int8_t)
- 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;
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</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
--
- debug: DebugMqtt*
- left_motor: MotorControl*
- right_motor: MotorControl*
- left_speedometer: Speedometer*
- right_speedometer: Speedometer*
- driving_status: DrivingStatus = stop
- x_speed: double = 0
- rotation_speed: double = 0
- wheelspeed_left_target: double = 0
- wheelspeed_right_target: double = 0
--
+ MoveControl()
+ init(left_motor: MotorControl*,
	   right_motor: MotorControl*, 
	   left_speedometer: Speedometer*,
	   right_speedometer: Speedometer*)
+ runMoveControl()
+ setDrivingStatus(status: DrivingStatus)
+ setSpeed(speed: double)
+ setRotationspeed(speed: double)
- calcWheelSpeed()
- regulateMotors()</panel_attributes><additional_attributes></additional_attributes></element><element><id>UMLClass</id><coordinates><x>370</x><y>10</y><w>220</w><h>330</h></coordinates><panel_attributes>&lt;&lt;driveModi&gt;&gt;
ManualControl
--
- 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</panel_attributes><additional_attributes></additional_attributes></element><element><id>UMLClass</id><coordinates><x>1270</x><y>10</y><w>210</w><h>240</h></coordinates><panel_attributes>MenuControl
--
# parentMenu: MenuControl*
# lcd: LiquidCrystal_I2C*
--
/+down()/
/+up()/
/+right()/
/+left()/
/+yes()/
/+no()/

/+update()/
/+printMenu()/

+ setParentMenu(MenuControl*)
+ setLcd(LiquidCrystal_I2C*)</panel_attributes><additional_attributes></additional_attributes></element><element><id>UMLClass</id><coordinates><x>980</x><y>10</y><w>280</w><h>270</h></coordinates><panel_attributes>MenuAction
--
- name: char*

- *function: void
- *callback: void

- isMenu: bool
- menu: MenuControl
--
+ MenuAction(const char*, (*function), (*callback))
+ MenuAction(const char*, (*function))
+ MenuAction(const char*, MenuControl* menu)

+ runAction()

+ getName(): const char*
+ getIsMenu(): bool 
+ getMenu(): MenuControl*
</panel_attributes><additional_attributes></additional_attributes></element><element><id>UMLClass</id><coordinates><x>1220</x><y>360</y><w>280</w><h>160</h></coordinates><panel_attributes>Menu
--
- inSubmenu: bool

- entrys: list&lt;MenuAction*&gt;
- selectedEntry: list&lt;MenuAction*&gt;::iterator

- isMenu: bool
- menu: MenuControl
--
+ addEntry(MenuAction* entry)
</panel_attributes><additional_attributes></additional_attributes></element><element><id>Relation</id><coordinates><x>1350</x><y>240</y><w>30</w><h>140</h></coordinates><panel_attributes>lt=&lt;&lt;-</panel_attributes><additional_attributes>10;10;10;120</additional_attributes></element><element><id>Relation</id><coordinates><x>1080</x><y>270</y><w>160</w><h>190</h></coordinates><panel_attributes>lt=-
m1=*
m2=0..1</panel_attributes><additional_attributes>10;10;10;160;140;160</additional_attributes></element></diagram>