From e472c3626c498c91f18963ad40d06cff5a808725 Mon Sep 17 00:00:00 2001
From: Pascal Serrarens <pse@pale.blue>
Date: Tue, 8 Apr 2025 11:20:09 +0200
Subject: [PATCH] Th code compiles without errors

---
 Things/ControlledMotor.cpp    | 34 +++++++++++++++++++---------------
 Things/IncrementalEncoder.cpp |  6 +++++-
 Things/Motor.h                |  2 +-
 Things/ServoMotor.cpp         | 12 ++++++++----
 4 files changed, 33 insertions(+), 21 deletions(-)

diff --git a/Things/ControlledMotor.cpp b/Things/ControlledMotor.cpp
index bec227e..d5ef518 100644
--- a/Things/ControlledMotor.cpp
+++ b/Things/ControlledMotor.cpp
@@ -1,15 +1,17 @@
 #include "ControlledMotor.h"
 
-ControlledMotor::ControlledMotor() { this->type = Thing::ControlledMotorType; }
+namespace RoboidControl {
 
-ControlledMotor::ControlledMotor(Motor *motor, Encoder *encoder)
+ControlledMotor::ControlledMotor() { this->type = Thing::ControlledMotor; }
+
+ControlledMotor::ControlledMotor(Motor *motor, IncrementalEncoder *encoder)
     : ControlledMotor() {
   this->motor = motor;
   this->encoder = encoder;
   // this->rotationDirection = Direction::Forward;
 }
 
-#include <Arduino.h>
+//#include <Arduino.h>
 
 void ControlledMotor::SetTargetSpeed(float speed) {
   this->currentTargetSpeed = speed;
@@ -31,18 +33,18 @@ void ControlledMotor::Update(unsigned long currentTimeMs) {
 
   float delta = error * pidP + errorChange * pidD;
 
-  Serial.print("  actual Speed ");
-  Serial.print(actualSpeed);
-  Serial.print("  target Speed ");
-  Serial.print(this->currentTargetSpeed);
-  Serial.print("    motor target speed ");
-  Serial.print(motor->currentTargetSpeed);
-  Serial.print(" + ");
-  Serial.print(error * pidP);
-  Serial.print(" + ");
-  Serial.print(errorChange * pidD);
-  Serial.print(" = ");
-  Serial.println(motor->currentTargetSpeed + delta);
+//   Serial.print("  actual Speed ");
+//   Serial.print(actualSpeed);
+//   Serial.print("  target Speed ");
+//   Serial.print(this->currentTargetSpeed);
+//   Serial.print("    motor target speed ");
+//   Serial.print(motor->currentTargetSpeed);
+//   Serial.print(" + ");
+//   Serial.print(error * pidP);
+//   Serial.print(" + ");
+//   Serial.print(errorChange * pidD);
+//   Serial.print(" = ");
+//   Serial.println(motor->currentTargetSpeed + delta);
 
   motor->SetTargetSpeed(motor->currentTargetSpeed +
                         delta); // or something like that
@@ -60,4 +62,6 @@ bool ControlledMotor::Drive(float distance) {
   float totalDistance = encoder->GetDistance() - startDistance;
   bool completed = totalDistance > targetDistance;
   return completed;
+}
+
 }
\ No newline at end of file
diff --git a/Things/IncrementalEncoder.cpp b/Things/IncrementalEncoder.cpp
index 2da89b8..ea59b48 100644
--- a/Things/IncrementalEncoder.cpp
+++ b/Things/IncrementalEncoder.cpp
@@ -1,4 +1,6 @@
-#include "Encoder.h"
+#include "IncrementalEncoder.h"
+
+namespace RoboidControl {
 
 IncrementalEncoder::IncrementalEncoder(unsigned char pulsesPerRevolution,
                                        unsigned char distancePerRotation) {
@@ -17,3 +19,5 @@ float IncrementalEncoder::GetRevolutionsPerSecond(float currentTimeMs) {
 }
 
 float IncrementalEncoder::GetSpeed(float currentTimeMs) { return 0; }
+
+}
\ No newline at end of file
diff --git a/Things/Motor.h b/Things/Motor.h
index 9893cb3..d05f5f6 100644
--- a/Things/Motor.h
+++ b/Things/Motor.h
@@ -2,7 +2,7 @@
 
 #include "Thing.h"
 
-#include <time.h>
+//#include <time.h>
 
 namespace RoboidControl {
 
diff --git a/Things/ServoMotor.cpp b/Things/ServoMotor.cpp
index 4f99da7..b8f111d 100644
--- a/Things/ServoMotor.cpp
+++ b/Things/ServoMotor.cpp
@@ -2,9 +2,11 @@
 
 #include "LinearAlgebra/FloatSingle.h"
 
+namespace RoboidControl {
+
 ServoMotor::ServoMotor()
     : Thing(0) {  // for now, id should be set properly later
-  this->type = Thing::ServoType;
+  this->type = Thing::Servo;
   this->controlMode = ControlMode::Position;
   this->targetAngle = Angle16();
   this->hasTargetAngle = false;
@@ -43,12 +45,12 @@ float ServoMotor::GetTargetVelocity() {
   return this->targetVelocity;
 }
 
-void ServoMotor::Update(unsigned long currentTimeMs) {
+void ServoMotor::Update(unsigned long currentTimeMs, bool recurse) {
   for (unsigned char childIx = 0; childIx < this->childCount; childIx++) {
     Thing* child = this->GetChild(childIx);
-    if (child != nullptr && child->type == Thing::ServoType) {
+    if (child != nullptr && child->type == Thing::Servo) {
       ServoMotor* servo = (ServoMotor*)child;
-      servo->Update(currentTimeMs);
+      servo->Update(currentTimeMs, recurse);
     }
   }
 
@@ -103,3 +105,5 @@ void ServoMotor::Update(unsigned long currentTimeMs) {
 void ServoMotor::SetAngle(Angle16 angle) {
   this->actualAngle = angle;
 };
+
+}
\ No newline at end of file