massive Rework

src/MotorController.cpp

@@ -1,68 +1,62 @@
-// MotorController.cpp
 #include "MotorController.h"
 
+// Default-Konfiguration
 const MotorConfig defaultConfig = {
     .minPWM = 0,
     .maxPWM = 255,
     .inverted = true,
-    .responseSpeed = 50,
-    .lookupTable = {0, 10, 20, 30, 40, 50, 60, 70, 80, 100} // Percent values for 0% to 100%
+    .responseSpeed = 50,                                    // ca. 50% pro Sekunde
+    .lookupTable = {0, 10, 20, 30, 40, 50, 60, 70, 80, 100} // 0..100% Kennlinie
 };
 
-MotorController::MotorController(int motorPin, bool *debugFlag)
-    : motorPWMPin(motorPin), currentSpeed(0), targetSpeed(0), debugFlag(debugFlag)
+MotorController::MotorController(const MotorSignals &signals)
+    : signals_(signals)
 {
     loadDefaults();
-    pinMode(motorPWMPin, OUTPUT);
-    stopMotor();
+
+    // Pin initialisieren, falls sinnvoll
+    if (signals_.pwmPin >= 0)
+    {
+        pinMode(signals_.pwmPin, OUTPUT);
+        analogWrite(signals_.pwmPin, 0);
+    }
+
+    smoothedPromille = 0;
+    lastUpdateTime = millis();
+    lastPWM = 0;
+    lastStatusPrint = 0;
+    lastTargetPercent = 0;
+    lastSpeedPercent = 0;
+}
+
+void MotorController::setSignals(const MotorSignals &signals)
+{
+    signals_ = signals;
+
+    // Bei neuer Verdrahtung ggf. PinMode setzen
+    if (signals_.pwmPin >= 0)
+    {
+        pinMode(signals_.pwmPin, OUTPUT);
+    }
 }
 
 void MotorController::loadDefaults()
 {
     config = defaultConfig;
-}
 
-void MotorController::setTargetSpeed(int targetSpeedPercent)
-{
-
-    targetSpeed = constrain(targetSpeedPercent, 0, 100);
-}
-
-void MotorController::maintain()
-{
-    targetSpeed = constrain(targetSpeed, 0, 100);          // Ensure targetSpeed is valid
-    int adjustedSpeed = applyDynamicResponse(targetSpeed); // Dynamic adjustment in percentage
-
-    // Interpolate between lookup table values
-    int lowerIndex = map(adjustedSpeed, 0, 100, 0, MotorConfig::lookupTableSize - 1);
-    int upperIndex = min(lowerIndex + 1, MotorConfig::lookupTableSize - 1);
-    int lowerPercent = config.lookupTable[lowerIndex];
-    int upperPercent = config.lookupTable[upperIndex];
-
-    float interpolationFactor = (adjustedSpeed - lowerIndex * (100 / (MotorConfig::lookupTableSize - 1))) / (100.0 / (MotorConfig::lookupTableSize - 1));
-    int interpolatedPWM = map(lowerPercent + interpolationFactor * (upperPercent - lowerPercent), 0, 100, config.minPWM, config.maxPWM);
-
-    setPWM(interpolatedPWM);      // Apply final interpolated PWM value
-    currentSpeed = adjustedSpeed; // Update currentSpeed in percentage
-
-    if (debugFlag && *debugFlag)
+    // responseSpeed absichern
+    if (config.responseSpeed <= 0)
     {
-        Serial.print("[MOTOR] current=");
-        Serial.print(currentSpeed);
-        Serial.print(" target=");
-        Serial.println(targetSpeed);
+        config.responseSpeed = 50; // Fallback
     }
-}
 
-int MotorController::getSpeed() const
-{
-    return currentSpeed;
-}
-
-void MotorController::stopMotor()
-{
-    setTargetSpeed(0);
-    maintain();
+    // min/max sanity
+    if (config.maxPWM < config.minPWM)
+    {
+        uint8_t tmp = config.minPWM;
+        config.minPWM = config.maxPWM;
+        config.maxPWM = tmp;
+    }
 }
 
 MotorConfig MotorController::getConfig() const
@@ -73,46 +67,173 @@ MotorConfig MotorController::getConfig() const
 void MotorController::setConfig(const MotorConfig &newConfig)
 {
     config = newConfig;
+
+    // min/max sanity
+    if (config.maxPWM < config.minPWM)
+    {
+        uint8_t tmp = config.minPWM;
+        config.minPWM = config.maxPWM;
+        config.maxPWM = tmp;
+    }
+
+    if (config.responseSpeed <= 0)
+    {
+        config.responseSpeed = 50;
+    }
 }
 
-void MotorController::setPWM(uint8_t pwmValue)
+void MotorController::maintain()
 {
-    int constrainedPWM = constrain(pwmValue, config.minPWM, config.maxPWM);
-    analogWrite(motorPWMPin, config.inverted ? 255 - constrainedPWM : constrainedPWM);
+    // 1) Target bestimmen
+    int16_t targetPercent = 0;
+
+    if (signals_.targetSpeedPercent)
+    {
+        targetPercent = constrain(*signals_.targetSpeedPercent, 0, 100);
+    }
+
+    // Enable beachten: wenn vorhanden und false -> Ziel = 0
+    if (signals_.enabled && !*signals_.enabled)
+    {
+        targetPercent = 0;
+    }
+
+    lastTargetPercent = targetPercent;
+
+    // 2) Dynamische Rampenbildung
+    int16_t adjustedSpeed = applyDynamicResponse(targetPercent); // 0..100%
+    lastSpeedPercent = adjustedSpeed;
+
+    // 3) Lookup-Interpolation von Prozent -> LUT-Prozent
+    const int16_t n = MotorConfig::lookupTableSize;
+    float pos = (adjustedSpeed / 100.0f) * (n - 1); // 0..(n-1) als float
+    int16_t lowerIndex = (int16_t)pos;
+    if (lowerIndex < 0)
+        lowerIndex = 0;
+    if (lowerIndex > n - 1)
+        lowerIndex = n - 1;
+
+    int16_t upperIndex = lowerIndex + 1;
+    if (upperIndex > n - 1)
+        upperIndex = n - 1;
+
+    float frac = pos - lowerIndex; // 0..1 zwischen den beiden LUT-Punkten
+
+    int16_t lowerPercent = config.lookupTable[lowerIndex];
+    int16_t upperPercent = config.lookupTable[upperIndex];
+    float lutPercent = lowerPercent + frac * (upperPercent - lowerPercent);
+
+    // LUT liefert 0..100% -> auf PWM-Bereich skalieren
+    int16_t pwmLogical = map((int16_t)lutPercent, 0, 100, config.minPWM, config.maxPWM);
+    pwmLogical = constrain(pwmLogical, config.minPWM, config.maxPWM);
+
+    lastPWM = (uint8_t)pwmLogical;
+
+    // 4) PWM ausgeben
+    setPWM(lastPWM);
+
+    // 5) Ausgänge in Signals spiegeln
+    if (signals_.currentSpeedPercent)
+        *signals_.currentSpeedPercent = adjustedSpeed;
+
+    if (signals_.currentPWM)
+        *signals_.currentPWM = lastPWM;
+
+    // 6) Debug-Ausgabe
+    printStatus();
 }
 
-int MotorController::applyDynamicResponse(int targetPercent)
+void MotorController::stopMotor()
 {
-    // Intern in Promille arbeiten für höhere Genauigkeit
-    static int smoothedPromille = 0;
-    static unsigned long lastUpdateTime = millis();
+    // Hard Stop: Rampe und PWM sofort auf 0 ziehen
+    smoothedPromille = 0;
+    lastSpeedPercent = 0;
+    lastTargetPercent = 0;
+    lastPWM = 0;
 
-    unsigned long currentTime = millis();
-    unsigned long elapsedTime = currentTime - lastUpdateTime;
+    setPWM(0);
+
+    if (signals_.currentSpeedPercent)
+        *signals_.currentSpeedPercent = 0;
+
+    if (signals_.currentPWM)
+        *signals_.currentPWM = 0;
+}
+
+int16_t MotorController::applyDynamicResponse(int16_t targetPercent)
+{
+    uint32_t currentTime = millis();
+    uint32_t elapsedTime = currentTime - lastUpdateTime;
 
     if (elapsedTime == 0)
-        return smoothedPromille / 10; // Rückgabe in Prozent
+    {
+        return (smoothedPromille + 5) / 10; // Rückgabe in %
+    }
 
-    // Zielwert in Promille berechnen
-    int targetPromille = targetPercent * 10;
+    targetPercent = constrain(targetPercent, 0, 100);
+    int16_t targetPromille = targetPercent * 10;
 
-    // Dynamische Reaktionsgeschwindigkeit in Promille pro Sekunde
-    int maxChangePerMs = config.responseSpeed * 10; // Konfigurierbarer Faktor
+    // responseSpeed = Prozent pro Sekunde → Promille pro Sekunde
+    int16_t maxChangePerSec = config.responseSpeed * 10;
 
-    // Berechne maximale Änderung basierend auf vergangener Zeit
-    int maxDelta = (maxChangePerMs * elapsedTime) / 1000;
+    // maximaler Delta in diesem Zeitintervall
+    int16_t maxDelta = (int16_t)((maxChangePerSec * (int32_t)elapsedTime) / 1000L);
 
-    // Tatsächliche Änderung begrenzen
-    int delta = targetPromille - smoothedPromille;
+    int16_t delta = targetPromille - smoothedPromille;
     if (delta > maxDelta)
         delta = maxDelta;
     else if (delta < -maxDelta)
         delta = -maxDelta;
 
-    // Smoothed Promille aktualisieren
     smoothedPromille += delta;
     lastUpdateTime = currentTime;
 
-    // Rückgabe in Prozent (gerundet)
-    return (smoothedPromille + 5) / 10; // Rundung durch Addition von 5 vor Division
+    return (smoothedPromille + 5) / 10; // runden
+}
+
+void MotorController::setPWM(uint8_t pwmLogical)
+{
+    if (signals_.pwmPin < 0)
+        return;
+
+    uint8_t pwmOut = pwmLogical;
+
+    if (config.inverted)
+    {
+        // Logischer Wert im Bereich [min,max] wird gespiegelt
+        int16_t span = (int16_t)config.maxPWM - (int16_t)config.minPWM;
+        int16_t offset = (int16_t)pwmLogical - (int16_t)config.minPWM;
+        int16_t invOffset = span - offset;
+        int16_t inv = (int16_t)config.minPWM + invOffset;
+        if (inv < 0)
+            inv = 0;
+        if (inv > 255)
+            inv = 255;
+        pwmOut = (uint8_t)inv;
+    }
+
+    analogWrite(signals_.pwmPin, pwmOut);
+}
+
+void MotorController::printStatus()
+{
+    if (!(signals_.debugFlag && *signals_.debugFlag))
+        return;
+
+    uint32_t now = millis();
+    if (now - lastStatusPrint < 1000)
+        return; // nur jede Sekunde
+
+    lastStatusPrint = now;
+
+    Serial.print("[MOTOR] target=");
+    Serial.print(lastTargetPercent);
+    Serial.print("%  current=");
+    Serial.print(lastSpeedPercent);
+    Serial.print("%  pwm=");
+    Serial.print(lastPWM);
+    Serial.print("  resp=");
+    Serial.print(config.responseSpeed);
+    Serial.print("  inv=");
+    Serial.println(config.inverted ? "Y" : "N");
 }

src/MotorController.h

@@ -1,43 +1,67 @@
-// MotorController.h
 #ifndef MOTORCONTROLLER_H
 #define MOTORCONTROLLER_H
 
 #include <Arduino.h>
 
-// Motor configuration structure
 struct MotorConfig
 {
     uint8_t minPWM;
     uint8_t maxPWM;
     bool inverted;
-    int responseSpeed;
-    static const int lookupTableSize = 10;
+    int16_t responseSpeed; // Prozent pro Sekunde
+    static const int16_t lookupTableSize = 10;
     uint8_t lookupTable[lookupTableSize];
 };
 
+typedef struct MotorSignals
+{
+    // Pin (by value)
+    int16_t pwmPin; // PWM-Ausgangspin, <0 = deaktiviert
+
+    // Eingänge
+    int16_t *targetSpeedPercent; // Sollwert 0..100%
+    bool *enabled;               // optionaler Enable (true = aktiv)
+
+    // Ausgänge
+    int16_t *currentSpeedPercent; // Istwert 0..100%
+    uint8_t *currentPWM;          // tatsächlicher PWM-Wert (logisch)
+
+    // Debug
+    bool *debugFlag; // globales Debug-Flag
+} MotorSignals;
+
 class MotorController
 {
-private:
-    int motorPWMPin;
-    int currentSpeed;
-    int targetSpeed;
-    bool *debugFlag; 
-    MotorConfig config;
-
-    int applyDynamicResponse(int targetValue);
-    void setPWM(uint8_t pwmValue);
-
 public:
-    MotorController(int motorPin, bool *debugFlag = nullptr);
+    explicit MotorController(const MotorSignals &signals);
 
+    void setSignals(const MotorSignals &signals);
+
+    // zyklisch in loop() aufrufen
     void maintain();
+
+    // Hard Stop
     void stopMotor();
-    void setTargetSpeed(int targetSpeedPercent);
-    int getSpeed() const;
 
     MotorConfig getConfig() const;
     void setConfig(const MotorConfig &newConfig);
     void loadDefaults();
+
+private:
+    MotorSignals signals_;
+    MotorConfig config;
+
+    // interner Dynamik-State
+    int16_t smoothedPromille = 0; // 0..1000
+    uint32_t lastUpdateTime = 0;
+    uint8_t lastPWM = 0;
+    uint32_t lastStatusPrint = 0;
+    int16_t lastTargetPercent = 0;
+    int16_t lastSpeedPercent = 0;
+
+    int16_t applyDynamicResponse(int16_t targetPercent);
+    void setPWM(uint8_t pwmLogical);
+    void printStatus();
 };
 
 #endif // MOTORCONTROLLER_H

src/PedalController.cpp

@@ -11,28 +11,25 @@ static const PedalConfig defaultConfig = {
 };
 
 // Tuning-Konstanten für die Auto-Cal
-static const int STABLE_THRESHOLD = 3;         // ADC-Delta, ab dem Stabilität neu bewertet wird
-static const unsigned long STABLE_TIME = 1000; // ms, die der Wert stabil sein muss
-static const int NOISE_TOLERANCE = 5;          // max. erlaubtes Rauschen im Stabilitätsfenster
-static const int MIN_RANGE = 50;               // minimale ADC-Spannweite für gültigen Pedalweg
-static const int SAFETY_MARGIN_LOW = 3;        // Untere Grenze etwas anheben
-static const int SAFETY_MARGIN_HIGH = 3;       // Obere Grenze etwas absenken
-static const int MOVE_DELTA = 15;              // min. Abstand zur Referenz für "echte Bewegung"
-static const int NEAR_TOLERANCE = 10;          // max. Differenz zw. Wiederholmessungen
-static const uint8_t MIN_FS = 1;               // Filterstärke min.
-static const uint8_t MAX_FS = 32;              // Filterstärke max.
-static const uint8_t DEFAULT_FS = 3;           // Standard-Filterstärke
+static const int16_t STABLE_THRESHOLD = 3;   // ADC-Delta, ab dem Stabilität neu bewertet wird
+static const uint32_t STABLE_TIME = 1000;    // ms, die der Wert stabil sein muss
+static const int16_t NOISE_TOLERANCE = 5;    // max. erlaubtes Rauschen im Stabilitätsfenster
+static const int16_t MIN_RANGE = 50;         // minimale ADC-Spannweite für gültigen Pedalweg
+static const int16_t SAFETY_MARGIN_LOW = 3;  // Untere Grenze etwas anheben
+static const int16_t SAFETY_MARGIN_HIGH = 3; // Obere Grenze etwas absenken
+static const int16_t MOVE_DELTA = 15;        // min. Abstand zur Referenz für "echte Bewegung"
+static const int16_t NEAR_TOLERANCE = 10;    // max. Differenz zw. Wiederholmessungen
+static const uint8_t MIN_FS = 1;             // Filterstärke min.
+static const uint8_t MAX_FS = 32;            // Filterstärke max.
+static const uint8_t DEFAULT_FS = 3;         // Standard-Filterstärke
 
-PedalController::PedalController(int analogPin,
-                                 int digitalPin,
-                                 uint8_t digitalNotPressedLevel,
-                                 bool *debugFlag)
-    : analogPin(analogPin),
-      digitalPin(digitalPin),
-      useDigital(digitalPin >= 0),
-      digitalNotPressedLevel(digitalNotPressedLevel ? 1 : 0),
-      debugFlag(debugFlag),
+PedalController::PedalController(const PedalSignals &signals,
+                                 uint8_t digitalNotPressedLevel_)
+    : signals_(signals),
+      digitalNotPressedLevel(digitalNotPressedLevel_ ? 1 : 0),
+      config(),
       filteredValue(-1),
+      lastPedalPercent(0),
       calState(IDLE),
       calStep(0),
       stepStartTime(0),
@@ -49,21 +46,25 @@ PedalController::PedalController(int analogPin,
       step3NearReleased(false),
       step4NearPressed(false)
 {
-    if (useDigital)
+    // Digital-Pin als INPUT konfigurieren, falls vorhanden
+    if (signals_.digitalPin >= 0)
     {
-        pinMode(digitalPin, INPUT); // nur noch Debug
+        pinMode(signals_.digitalPin, INPUT);
     }
 
     loadDefaults();
 }
 
 // Rohwert lesen (unglättet)
-int PedalController::readRaw()
+int16_t PedalController::readRaw()
 {
-    return analogRead(analogPin);
+    if (signals_.analogPin < 0)
+        return 0;
+
+    return analogRead(signals_.analogPin);
 }
 
-int PedalController::applySmoothing(int raw)
+int16_t PedalController::applySmoothing(int16_t raw)
 {
     uint8_t fs = config.filterStrength;
 
@@ -74,6 +75,7 @@ int PedalController::applySmoothing(int raw)
         return raw;
     }
 
+    // Wenn Wert steigt: sofort übernehmen (reagiert schneller nach oben)
     if (raw >= filteredValue)
     {
         filteredValue = raw;
@@ -90,12 +92,46 @@ int PedalController::applySmoothing(int raw)
     int32_t acc = filteredValue * (int32_t)(fs - 1) + raw;
     filteredValue = (acc + (fs / 2)) / fs;
 
-    return (int)filteredValue;
+    return (int16_t)filteredValue;
+}
+
+int16_t PedalController::mapRawToPercent(int16_t raw)
+{
+    // Ohne gültige Kalibrierung: 0 %
+    if (!config.calibrated)
+    {
+        return 0;
+    }
+
+    int16_t minR = config.minRaw; // gedrückt → niedriger
+    int16_t maxR = config.maxRaw; // losgelassen → höher
+
+    if (maxR <= minR + 1)
+    {
+        return 0;
+    }
+
+    if (raw < minR)
+        raw = minR;
+    if (raw > maxR)
+        raw = maxR;
+
+    int32_t span = (int32_t)maxR - (int32_t)minR;
+    // invertiertes Mapping, weil "hoch = losgelassen"
+    int32_t scaled = (int32_t)(maxR - raw) * 100L / span;
+
+    // kleine Deadzone unten (Pedal "nicht gedrückt")
+    if (scaled < 3)
+        scaled = 0;
+    if (scaled > 100)
+        scaled = 100;
+
+    return (int16_t)scaled;
 }
 
 CalibrationState PedalController::autoCalibrate(bool reset)
 {
-    unsigned long now = millis();
+    uint32_t now = millis();
 
     if (reset)
     {
@@ -133,8 +169,8 @@ CalibrationState PedalController::autoCalibrate(bool reset)
         return calState;
     }
 
-    int raw = applySmoothing(readRaw());
-    int diff = abs(raw - lastSample);
+    int16_t raw = applySmoothing(readRaw());
+    int16_t diff = abs(raw - lastSample);
 
     switch (calStep)
     {
@@ -155,7 +191,7 @@ CalibrationState PedalController::autoCalibrate(bool reset)
 
         if (now - lastChangeTime > STABLE_TIME)
         {
-            int noise = maxSeen - minSeen;
+            int16_t noise = maxSeen - minSeen;
             if (noise > NOISE_TOLERANCE)
             {
                 Serial.print("CAL: FEHLER - zu viel Rauschen im losgelassenen Zustand (noise=");
@@ -327,7 +363,7 @@ CalibrationState PedalController::autoCalibrate(bool reset)
     case 5:
     { // 5. Final loslassen & stabil -> finalisieren
         // Ziel-Release-Punkt aus den beiden Messungen mitteln
-        int relTarget = (firstReleased + secondReleased) / 2;
+        int16_t relTarget = (firstReleased + secondReleased) / 2;
 
         // Sind wir schon nah genug an der Release-Position?
         if (abs(raw - relTarget) > MOVE_DELTA)
@@ -348,15 +384,15 @@ CalibrationState PedalController::autoCalibrate(bool reset)
 
         if (now - lastChangeTime > STABLE_TIME)
         {
-            int relAvg = relTarget;
-            int pressAvg = (firstPressed + secondPressed) / 2;
+            int16_t relAvg = relTarget;
+            int16_t pressAvg = (firstPressed + secondPressed) / 2;
 
-            int low = pressAvg;
-            int high = relAvg;
+            int16_t low = pressAvg;
+            int16_t high = relAvg;
 
             if (high < low)
             {
-                int tmp = low;
+                int16_t tmp = low;
                 low = high;
                 high = tmp;
             }
@@ -414,40 +450,39 @@ CalibrationState PedalController::getStatus() const
     return calState;
 }
 
-int PedalController::getPedal()
+int16_t PedalController::getPedal()
 {
-    // Ohne gültige Kalibrierung: kein Pedal
-    if (!config.calibrated)
+    int16_t raw = applySmoothing(readRaw());
+    int16_t percent = mapRawToPercent(raw);
+    lastPedalPercent = percent;
+    return percent;
+}
+
+void PedalController::maintain()
+{
+    int16_t raw = applySmoothing(readRaw());
+
+    // Outputs befüllen
+    if (signals_.rawValue)
+        *signals_.rawValue = raw;
+
+    // digitaler Eingang (falls vorhanden)
+    if (signals_.digitalState)
     {
-        return 0;
+        if (signals_.digitalPin >= 0)
+            *signals_.digitalState = digitalRead(signals_.digitalPin);
+        else
+            *signals_.digitalState = -1;
     }
 
-    int raw = applySmoothing(readRaw());
+    int16_t percent = mapRawToPercent(raw);
+    lastPedalPercent = percent;
 
-    int minR = config.minRaw; // gedrückt → niedriger
-    int maxR = config.maxRaw; // losgelassen → höher
+    if (signals_.pedalPercent)
+        *signals_.pedalPercent = percent;
 
-    if (maxR <= minR + 1)
-    {
-        return 0;
-    }
-
-    if (raw < minR)
-        raw = minR;
-    if (raw > maxR)
-        raw = maxR;
-
-    long span = (long)maxR - (long)minR;
-    // WICHTIG: invertiertes Mapping, weil "hoch = losgelassen"
-    long scaled = (long)(maxR - raw) * 100L / span;
-
-    // kleine Deadzone unten (Pedal "nicht gedrückt")
-    if (scaled < 3)
-        scaled = 0;
-    if (scaled > 100)
-        scaled = 100;
-
-    return (int)scaled;
+    if (signals_.calibrated)
+        *signals_.calibrated = config.calibrated;
 }
 
 PedalConfig PedalController::getConfig() const
@@ -503,14 +538,24 @@ void PedalController::loadDefaults()
     step4NearPressed = false;
 }
 
-void PedalController::printStatus(int raw)
+void PedalController::setSignals(const PedalSignals &signals)
 {
-    if (!(debugFlag && *debugFlag))
+    signals_ = signals;
+
+    if (signals_.digitalPin >= 0)
+    {
+        pinMode(signals_.digitalPin, INPUT);
+    }
+}
+
+void PedalController::printStatus(int16_t raw)
+{
+    if (!(signals_.debugFlag && *signals_.debugFlag))
     {
         return;
     }
 
-    unsigned long now = millis();
+    uint32_t now = millis();
     if (now - lastStatusPrint < 1000)
         return; // nur jede Sekunde
     lastStatusPrint = now;
@@ -523,9 +568,9 @@ void PedalController::printStatus(int raw)
     Serial.print(filteredValue);
 
     Serial.print("  DO-State=");
-    if (useDigital)
+    if (signals_.digitalPin >= 0)
     {
-        Serial.print(digitalRead(digitalPin));
+        Serial.print(digitalRead(signals_.digitalPin));
     }
     else
     {
@@ -543,21 +588,3 @@ void PedalController::printStatus(int raw)
 
     Serial.println();
 }
-
-// Debug-Methoden
-int PedalController::debugGetRaw()
-{
-    return readRaw();
-}
-
-int PedalController::debugGetSmooth()
-{
-    return applySmoothing(readRaw());
-}
-
-int PedalController::debugGetDO()
-{
-    if (!useDigital)
-        return -1;
-    return digitalRead(digitalPin);
-}

src/PedalController.h

@@ -4,7 +4,6 @@
 
 #include <Arduino.h>
 
-// Calibration state enumeration
 enum CalibrationState
 {
     IDLE,
@@ -13,72 +12,80 @@ enum CalibrationState
     ERROR
 };
 
-// Pedal configuration structure
 struct PedalConfig
 {
     int16_t minRaw;
     int16_t maxRaw;
-    bool    calibrated;
-    uint8_t filterStrength;  // 1 = kein Filter, >1 = gleitender Mittelwert
+    bool calibrated;
+    uint8_t filterStrength;
 };
 
+typedef struct PedalSignals
+{
+    // Pins (by value)
+    int16_t analogPin;  // ADC-Pin
+    int16_t digitalPin; // -1 falls unbenutzt
+
+    // Eingänge
+    bool *debugFlag; // globales Debug-Flag
+
+    // Ausgänge
+    int16_t *pedalPercent; // 0..100%
+    int16_t *rawValue;     // gefilterter Rawwert
+    bool *calibrated;      // Status
+    int16_t *digitalState; // DO-Status oder -1
+} PedalSignals;
+
 class PedalController
 {
 public:
-    explicit PedalController(int analogPin,
-                             int digitalPin = -1,
-                             uint8_t digitalNotPressedLevel = LOW,
-                             bool *debugFlag = nullptr);
+    PedalController(const PedalSignals &signals,
+                    uint8_t digitalNotPressedLevel = LOW);
+
+    void setSignals(const PedalSignals &signals);
 
-    // Startet / läuft Auto-Kalibrierung
     CalibrationState autoCalibrate(bool reset);
     CalibrationState getStatus() const;
 
-    // 0–100 %, bei nicht kalibriert → 0
-    int getPedal();
+    int16_t getPedal(); // alte API (blocking)
+    void maintain();    // neue Non-Blocking-API
 
     PedalConfig getConfig() const;
-    void setConfig(const PedalConfig &newConfig);
+    void setConfig(const PedalConfig &cfg);
     void loadDefaults();
 
-    // Debug-Helfer
-    int debugGetRaw();
-    int debugGetSmooth();
-    int debugGetDO();
-
 private:
-    int analogPin;
-    int digitalPin;
-    bool useDigital;
-    uint8_t digitalNotPressedLevel; // nur Debug
-    bool *debugFlag;  
-    
+    PedalSignals signals_;
+    uint8_t digitalNotPressedLevel; // nur Debug / Interpretation
+
     PedalConfig config;
     int32_t filteredValue;
+    int16_t lastPedalPercent;
 
     // Auto-Cal intern
     CalibrationState calState;
-    uint8_t          calStep;
-    unsigned long    stepStartTime;
-    unsigned long    lastChangeTime;
-    int              lastSample;
-    int              minSeen;
-    int              maxSeen;
-    unsigned long    lastStatusPrint;
+    uint8_t calStep;
+    uint32_t stepStartTime;
+    uint32_t lastChangeTime;
+    int16_t lastSample;
+    int16_t minSeen;
+    int16_t maxSeen;
+    uint32_t lastStatusPrint;
 
     // Vier Referenzpunkte aus dem Ablauf
-    int firstReleased;
-    int firstPressed;
-    int secondReleased;
-    int secondPressed;
+    int16_t firstReleased;
+    int16_t firstPressed;
+    int16_t secondReleased;
+    int16_t secondPressed;
 
     bool step2MovedEnough;
     bool step3NearReleased;
     bool step4NearPressed;
 
-    int readRaw();
-    int applySmoothing(int raw);
-    void printStatus(int raw);
+    int16_t readRaw();
+    int16_t applySmoothing(int16_t raw);
+    int16_t mapRawToPercent(int16_t raw);
+    void printStatus(int16_t raw);
 };
 
 #endif // PEDALCONTROLLER_H

src/SerialController.cpp

@@ -0,0 +1,155 @@
+#include <Arduino.h>
+#include "SerialController.h"
+
+SerialController::SerialController(const SerialSignals &signals)
+    : signals_(signals)
+{
+}
+
+void SerialController::maintain()
+{
+    while (Serial.available() > 0)
+    {
+        char c = Serial.read();
+        handleCommand(c);
+    }
+}
+
+void SerialController::handleCommand(char c)
+{
+    switch (c)
+    {
+    case 'h':
+        printHelp();
+        break;
+
+    case 'd': // Debug toggeln
+        if (signals_.debugFlag)
+        {
+            *signals_.debugFlag = !*signals_.debugFlag;
+            Serial.print("Debug: ");
+            Serial.println(*signals_.debugFlag ? "ON" : "OFF");
+        }
+        break;
+
+    case '+': // Geschwindigkeit +5%
+        if (signals_.targetSpeedPercent)
+        {
+            if (signals_.serialControlEnabled)
+                *signals_.serialControlEnabled = true;
+
+            int16_t v = *signals_.targetSpeedPercent;
+            v = constrain(v + 5, (int16_t)0, (int16_t)100);
+            *signals_.targetSpeedPercent = v;
+
+            Serial.print("Target +: ");
+            Serial.print(v);
+            Serial.println("%");
+        }
+        break;
+
+    case '-': // Geschwindigkeit -5%
+        if (signals_.targetSpeedPercent)
+        {
+            if (signals_.serialControlEnabled)
+                *signals_.serialControlEnabled = true;
+
+            int16_t v = *signals_.targetSpeedPercent;
+            v = constrain(v - 5, (int16_t)0, (int16_t)100);
+            *signals_.targetSpeedPercent = v;
+
+            Serial.print("Target -: ");
+            Serial.print(v);
+            Serial.println("%");
+        }
+        break;
+
+    // direkte 0–100%-Vorgabe in 10%-Schritten
+    case '0':
+    case '1':
+    case '2':
+    case '3':
+    case '4':
+    case '5':
+    case '6':
+    case '7':
+    case '8':
+    case '9':
+        if (signals_.targetSpeedPercent)
+        {
+            if (signals_.serialControlEnabled)
+                *signals_.serialControlEnabled = true;
+
+            int16_t v = (c - '0') * 10;
+            v = constrain(v, (int16_t)0, (int16_t)100);
+            *signals_.targetSpeedPercent = v;
+
+            Serial.print("Target set: ");
+            Serial.print(v);
+            Serial.println("%");
+        }
+        break;
+
+    case 'x': // Serielle Steuerung stoppen & Motor freigeben
+        if (signals_.serialControlEnabled)
+            *signals_.serialControlEnabled = false;
+        if (signals_.targetSpeedPercent)
+            *signals_.targetSpeedPercent = 0;
+
+        Serial.println("Serial control disabled, target=0%.");
+        break;
+
+    case 'c': // Auto-Cal anfordern
+        if (signals_.requestAutoCal)
+        {
+            *signals_.requestAutoCal = true;
+            Serial.println("Request: Auto-Calibration.");
+        }
+        break;
+
+    case 's': // Save EEPROM
+        if (signals_.requestSaveEEPROM)
+        {
+            *signals_.requestSaveEEPROM = true;
+            Serial.println("Request: Save settings to EEPROM.");
+        }
+        break;
+
+    case 'l': // Load EEPROM
+        if (signals_.requestLoadEEPROM)
+        {
+            *signals_.requestLoadEEPROM = true;
+            Serial.println("Request: Load settings from EEPROM.");
+        }
+        break;
+
+    case 'r': // Defaults laden
+        if (signals_.requestLoadDefaults)
+        {
+            *signals_.requestLoadDefaults = true;
+            Serial.println("Request: Load defaults.");
+        }
+        break;
+
+    default:
+        // Optional: unerkanntes Kommando anzeigen
+        // Serial.print("Unknown command: ");
+        // Serial.println(c);
+        break;
+    }
+}
+
+void SerialController::printHelp()
+{
+    Serial.println(F("=== Serial Control Help ==="));
+    Serial.println(F("h  - Show this help"));
+    Serial.println(F("d  - Toggle debug output"));
+    Serial.println(F("c  - Request auto-calibration"));
+    Serial.println(F("s  - Request save settings to EEPROM"));
+    Serial.println(F("l  - Request load settings from EEPROM"));
+    Serial.println(F("r  - Request load defaults"));
+    Serial.println(F("x  - Disable serial control, set target=0%"));
+    Serial.println(F("+  - Increase target speed by 5%"));
+    Serial.println(F("-  - Decrease target speed by 5%"));
+    Serial.println(F("0-9- Set target speed in 10% steps (0..100%)"));
+}

src/SerialController.h

@@ -0,0 +1,43 @@
+#ifndef SERIALCONTROLLER_H
+#define SERIALCONTROLLER_H
+
+#include <Arduino.h>
+#include "MotorController.h"
+#include "PedalController.h"
+
+typedef struct SerialSignals
+{
+    int16_t *targetSpeedPercent; // Motor-Sollwert in %
+    bool *debugFlag;             // globales Debug-Flag
+
+    // Steuerflags (werden in main ausgewertet)
+    bool *requestAutoCal;
+    bool *requestSaveEEPROM;
+    bool *requestLoadEEPROM;
+    bool *requestLoadDefaults;
+
+    bool *serialControlEnabled; // schaltet „Serielle Steuerung“ an/aus
+
+    // Optional: Zeiger auf Configs für Dumps
+    MotorConfig *motorConfig;
+    PedalConfig *pedalConfig;
+} SerialSignals;
+
+class SerialController
+{
+public:
+    SerialController(const SerialSignals &signals);
+
+    // im loop() aufrufen
+    void maintain();
+
+    // einmalig bei Start oder auf Kommando
+    void printHelp();
+
+private:
+    SerialSignals signals_;
+
+    void handleCommand(char c);
+};
+
+#endif

src/main.cpp

@@ -2,8 +2,10 @@
 #include <EEPROM.h>
 #include <Wire.h>
 #include <Adafruit_SSD1306.h>
+
 #include "MotorController.h"
 #include "PedalController.h"
+#include "SerialController.h"
 
 // OLED display setup
 #define OLED_RESET -1
@@ -11,20 +13,36 @@
 #define SCREEN_HEIGHT 64
 Adafruit_SSD1306 display(SCREEN_WIDTH, SCREEN_HEIGHT, &Wire, OLED_RESET);
 
-// Pin definitions
-const int hallSensor = 2;      // Hall sensor input
-const int encoderPinA = 3;     // Encoder pin A
-const int encoderPinB = 4;     // Encoder pin B
-const int encoderButton = 5;   // Encoder button
-const int motorPin = 9;        // Motor PWM pin
-const int pedalPinAnalog = A0; // Pedal analog Input pin
-const int pedalPinDigital = 8; // Pedal digital Input pin
+// Pin definitions (Werte, keine Pointer)
+const int16_t hallSensorPin = 2;    // Hall sensor input
+const int16_t encoderPinA = 3;      // Encoder pin A
+const int16_t encoderPinB = 4;      // Encoder pin B
+const int16_t encoderButtonPin = 5; // Encoder button
+const int16_t motorPwmPin = 13;     // Motor PWM pin
+const int16_t pedalPinAnalog = A0;  // Pedal analog Input pin
+const int16_t pedalPinDigital = 8;  // Pedal digital Input pin
 
+// Debug-Flag (gemeinsam für alle Controller)
 bool debug = false;
 
-// Global objects
-MotorController motor(motorPin, &debug);  
-PedalController pedal(pedalPinAnalog, pedalPinDigital, LOW, &debug);
+// Globale Signale für Motor
+int16_t gTargetSpeedPercent = 0;  // Sollwert 0..100%
+int16_t gCurrentSpeedPercent = 0; // Istwert 0..100%
+uint8_t gCurrentPwm = 0;          // aktueller PWM-Wert (logisch)
+bool gMotorEnabled = true;
+
+// Globale Signale für Pedal
+int16_t gPedalPercent = 0;
+int16_t gPedalRaw = 0;
+bool gPedalCalibrated = false;
+int16_t gPedalDigitalState = 0;
+
+// Serial-Steuerflags
+bool gReqAutoCal = false;
+bool gReqSaveEEPROM = false;
+bool gReqLoadEEPROM = false;
+bool gReqDefaults = false;
+bool gSerialControl = false;
 
 // Combined settings structure
 struct Settings
@@ -35,12 +53,42 @@ struct Settings
 };
 
 Settings settings;
-bool autoCalibrating = false;
-bool serialControlEnabled = false;
 CalibrationState lastCalibrationState = IDLE;
+bool autoCalibrating = false;
 
-bool liveSensorOutput = false;
-unsigned long lastSensorPrint = 0;
+// Signals-Instanzen
+MotorSignals motorSignals{
+    .pwmPin = motorPwmPin,
+    .targetSpeedPercent = &gTargetSpeedPercent,
+    .enabled = &gMotorEnabled,
+    .currentSpeedPercent = &gCurrentSpeedPercent,
+    .currentPWM = &gCurrentPwm,
+    .debugFlag = &debug};
+
+PedalSignals pedalSignals{
+    .analogPin = pedalPinAnalog,
+    .digitalPin = pedalPinDigital,
+    .debugFlag = &debug,
+    .pedalPercent = &gPedalPercent,
+    .rawValue = &gPedalRaw,
+    .calibrated = &gPedalCalibrated,
+    .digitalState = &gPedalDigitalState};
+
+SerialSignals serialSignals{
+    .targetSpeedPercent = &gTargetSpeedPercent,
+    .debugFlag = &debug,
+    .requestAutoCal = &gReqAutoCal,
+    .requestSaveEEPROM = &gReqSaveEEPROM,
+    .requestLoadEEPROM = &gReqLoadEEPROM,
+    .requestLoadDefaults = &gReqDefaults,
+    .serialControlEnabled = &gSerialControl,
+    .motorConfig = &settings.motorConfig,
+    .pedalConfig = &settings.pedalConfig};
+
+// Global objects
+MotorController motor(motorSignals);
+PedalController pedal(pedalSignals, LOW);
+SerialController serialCtrl(serialSignals);
 
 // Function prototypes
 void loadSettings();
@@ -49,48 +97,82 @@ uint8_t calculateChecksum(const Settings &s);
 void handleEncoder();
 void handleEncoderButton();
 void updateDisplay();
-void handleSerialInput();
 void configurePWMFrequency();
 void stopMotorAtNeedleUp();
-void printHelp();
+
+void printStatusLine();
+
+// ----------------- SETUP -----------------
 
 void setup()
 {
-  // Initialize pins
-  pinMode(hallSensor, INPUT);
+  // Pins
+  pinMode(hallSensorPin, INPUT);
   pinMode(encoderPinA, INPUT_PULLUP);
   pinMode(encoderPinB, INPUT_PULLUP);
-  pinMode(encoderButton, INPUT_PULLUP);
+  pinMode(encoderButtonPin, INPUT_PULLUP);
 
   pinMode(LED_BUILTIN, OUTPUT);
 
-  // Configure PWM frequency
   configurePWMFrequency();
 
-  // Attach interrupts for encoder
   attachInterrupt(digitalPinToInterrupt(encoderPinA), handleEncoder, CHANGE);
   attachInterrupt(digitalPinToInterrupt(encoderPinB), handleEncoder, CHANGE);
-  attachInterrupt(digitalPinToInterrupt(encoderButton), handleEncoderButton, FALLING);
+  attachInterrupt(digitalPinToInterrupt(encoderButtonPin), handleEncoderButton, FALLING);
 
-  // Initialize serial and load settings
   Serial.begin(9600);
   loadSettings();
 
-  // Initialize OLED display
-  //  if (!display.begin(SSD1306_SWITCHCAPVCC, 0x3C)) {
-  //      Serial.println(F("SSD1306 allocation failed"));
-  //  }
-  //  display.clearDisplay();
-  //   display.display();
+  // OLED optional
+  // if (!display.begin(SSD1306_SWITCHCAPVCC, 0x3C)) {
+  //   Serial.println(F("SSD1306 allocation failed"));
+  // }
+  // display.clearDisplay();
+  // display.display();
 
-  printHelp();
+  serialCtrl.printHelp();
 }
 
+// ----------------- LOOP -----------------
+
 void loop()
 {
-  // Handle serial input for debugging and manual control
-  handleSerialInput();
-  motor.maintain();
+  // Alle seriellen Befehle in Signale schreiben lassen
+  serialCtrl.maintain();
+
+  // Serial-Requests auswerten
+  if (gReqDefaults)
+  {
+    gReqDefaults = false;
+    Serial.println("Loading defaults.");
+    motor.loadDefaults();
+    pedal.loadDefaults();
+  }
+
+  if (gReqLoadEEPROM)
+  {
+    gReqLoadEEPROM = false;
+    Serial.println("Loading settings from EEPROM.");
+    loadSettings();
+  }
+
+  if (gReqSaveEEPROM)
+  {
+    gReqSaveEEPROM = false;
+    Serial.println("Saving settings to EEPROM.");
+    saveSettings();
+  }
+
+  if (gReqAutoCal)
+  {
+    gReqAutoCal = false;
+    Serial.println("Starting auto-calibration...");
+    pedal.autoCalibrate(true);
+    autoCalibrating = true;
+    lastCalibrationState = IDLE;
+    gTargetSpeedPercent = 0;
+    gSerialControl = false;
+  }
 
   if (autoCalibrating)
   {
@@ -105,85 +187,71 @@ void loop()
         break;
       case SUCCESS:
         Serial.println("Auto-calibration completed.");
+        autoCalibrating = false;
         break;
       case ERROR:
         Serial.println("Auto-calibration failed.");
+        autoCalibrating = false;
         break;
       default:
         break;
       }
     }
-    motor.setTargetSpeed(0); // Ensure motor stays off during calibration
-  }
-  else if (serialControlEnabled)
-  {
-    static int lastSpeed = 0;
-    int currSpeed = motor.getSpeed();
 
-    if (lastSpeed > currSpeed)
-    {
-      Serial.print("Decreased Speed to: ");
-      Serial.println(currSpeed);
-      lastSpeed = currSpeed;
-    }
-    else if (lastSpeed < currSpeed)
-    {
-      Serial.print("Increased Speed to: ");
-      Serial.println(currSpeed);
-      lastSpeed = currSpeed;
-    }
+    gTargetSpeedPercent = 0; // während Cal immer 0
   }
   else
   {
-    int pedalValue = pedal.getPedal();
-    motor.setTargetSpeed(pedalValue);
-  }
+    // Nur im Normalbetrieb: Pedal einlesen
+    pedal.maintain();
 
-  if (liveSensorOutput)
-  {
-    unsigned long now = millis();
-    if (now - lastSensorPrint > 200)
+    if (!gSerialControl)
     {
-      lastSensorPrint = now;
-
-      int raw = pedal.debugGetRaw();
-      int smooth = pedal.debugGetSmooth();
-      int pedalValue = pedal.getPedal();
-      int doState = pedal.debugGetDO();
-
-      Serial.print("[SENSOR] RAW=");
-      Serial.print(raw);
-      Serial.print(" Smooth=");
-      Serial.print(smooth);
-      Serial.print("  Pedal%=");
-      Serial.print(pedalValue);
-      Serial.print("  DO=");
-      Serial.println(doState);
+      // Standard: Pedal → TargetSpeed
+      gTargetSpeedPercent = gPedalPercent;
+    }
+    else
+    {
+      // Serielle Steuerung ist aktiv, Target wird von SerialController manipuliert
+      static int16_t lastSpeed = -1;
+      if (lastSpeed != gCurrentSpeedPercent)
+      {
+        Serial.print("Current Speed: ");
+        Serial.println(gCurrentSpeedPercent);
+        lastSpeed = gCurrentSpeedPercent;
+      }
     }
   }
 
-  // Update display
-  //   updateDisplay();
+  // Motor nachführen
+  motor.maintain();
 
-  delay(10); // Short delay for stability
+  // Optional: Display
+  // updateDisplay();
+
+  // Optional: eine Debug-Zeile mit Kerninfos
+  // printStatusLine();
+
+  delay(10);
 }
 
+// ----------------- HILFSFUNKTIONEN -----------------
+
 void stopMotorAtNeedleUp()
 {
   motor.stopMotor();
-  delay(100); // Stabilize
+  delay(100);
 }
 
 void loadSettings()
 {
   EEPROM.get(0, settings);
 
-  // Validate checksum
   if (calculateChecksum(settings) != settings.checksum)
   {
     Serial.println("Invalid settings checksum, loading defaults.");
     motor.loadDefaults();
-    pedal.autoCalibrate(true);
+    pedal.loadDefaults();
 
     settings.motorConfig = motor.getConfig();
     settings.pedalConfig = pedal.getConfig();
@@ -243,7 +311,7 @@ void handleEncoder()
 
 void handleEncoderButton()
 {
-  // Handle encoder button press
+  // Encoder-Button-Logik
 }
 
 void updateDisplay()
@@ -254,110 +322,36 @@ void updateDisplay()
 
   display.setCursor(0, 0);
   display.print("Pedal: ");
-  display.println(pedal.getPedal());
+  display.println(gPedalPercent);
+
+  display.setCursor(0, 10);
+  display.print("Target: ");
+  display.println(gTargetSpeedPercent);
+
+  display.setCursor(0, 20);
+  display.print("Speed: ");
+  display.println(gCurrentSpeedPercent);
 
   display.display();
 }
 
-void handleSerialInput()
-{
-  if (Serial.available())
-  {
-    char input = Serial.read();
-    switch (input)
-    {
-    case 'd':
-      debug = !debug;
-      Serial.print("Debug: ");
-      Serial.println(debug ? "ON" : "OFF");
-      break;
-    case 'c':
-      Serial.println("Starting auto-calibration...");
-      pedal.autoCalibrate(true);
-      autoCalibrating = true;
-      lastCalibrationState = IDLE; // Reset state tracking
-      break;
-    case 'x':
-      Serial.println("Stopping auto-calibration or serial control.");
-      autoCalibrating = false;
-      serialControlEnabled = false;
-      motor.stopMotor();
-      break;
-    case 'r':
-      Serial.println("Loading defaults.");
-      motor.loadDefaults();
-      pedal.loadDefaults();
-      break;
-    case 's':
-      Serial.println("Saving settings to EEPROM.");
-      saveSettings();
-      break;
-    case 'l':
-      Serial.println("Loading settings from EEPROM.");
-      loadSettings();
-      break;
-    case 'h':
-      printHelp();
-      break;
-    case '+':
-      serialControlEnabled = true;
-      motor.setTargetSpeed(motor.getSpeed() + 1);
-      break;
-    case '-':
-      serialControlEnabled = true;
-      motor.setTargetSpeed(motor.getSpeed() - 1);
-      break;
-    case '0':
-    case '1':
-    case '2':
-    case '3':
-    case '4':
-    case '5':
-    case '6':
-    case '7':
-    case '8':
-    case '9':
-      if (serialControlEnabled)
-      {
-        motor.setTargetSpeed((input - 0x30) * 10);
-        Serial.print("Set Speed to: ");
-        Serial.println(motor.getSpeed());
-      }
-      break;
-
-    case 'S':
-      liveSensorOutput = !liveSensorOutput; // toggeln
-      if (liveSensorOutput)
-      {
-        Serial.println("Sensor-Live-Ausgabe: ON");
-      }
-      else
-      {
-        Serial.println("Sensor-Live-Ausgabe: OFF");
-      }
-      break;
-    }
-    Serial.println(input);
-  }
-}
-
-void printHelp()
-{
-  Serial.println("Available commands:");
-  Serial.println("d - Toggle Calibration debug output");
-  Serial.println("c - Start auto-calibration");
-  Serial.println("x - Stop auto-calibration or serial control");
-  Serial.println("r - Load defaults");
-  Serial.println("s - Save settings to EEPROM");
-  Serial.println("l - Load settings from EEPROM");
-  Serial.println("h - Show this help");
-  Serial.println("+ - Increment PWM");
-  Serial.println("- - Decrement PWM");
-  Serial.println("S - Toggle debug Pedal-Input");
-}
-
 void configurePWMFrequency()
 {
   // Configure Timer1 for higher PWM frequency (~4 kHz)
   TCCR1B = (1 << CS11); // Set prescaler to 8
 }
+
+void printStatusLine()
+{
+  if (!debug)
+    return;
+
+  Serial.print("[STAT] Pedal=");
+  Serial.print(gPedalPercent);
+  Serial.print("%  Target=");
+  Serial.print(gTargetSpeedPercent);
+  Serial.print("%  Speed=");
+  Serial.print(gCurrentSpeedPercent);
+  Serial.print("%  PWM=");
+  Serial.println(gCurrentPwm);
+}