Add menu item Set Max Duty

Add nvs to control.cpp

common/joystick.cpp

@@ -304,7 +304,7 @@ joystickPos_t joystick_evaluatePosition(float x, float y){
 //========= joystick_CommandsDriving =========
 //============================================
 //function that generates commands for both motors from the joystick data
-motorCommands_t joystick_generateCommandsDriving(joystickData_t data, bool altStickMapping){
+motorCommands_t joystick_generateCommandsDriving(joystickData_t data, joystickGenerateCommands_config_t * config){
 
     //struct with current data of the joystick
     //typedef struct joystickData_t {
@@ -317,10 +317,8 @@ motorCommands_t joystick_generateCommandsDriving(joystickData_t data, bool altSt
 
 	//--- variables ---
     motorCommands_t commands;
-    float dutyMax = 100; //TODO add this to config, make changeable during runtime
-
     float dutyOffset = 5; //immediately starts with this duty, TODO add this to config
-    float dutyRange = dutyMax - dutyOffset;
+    float dutyRange = config->maxDuty - config->dutyOffset;
     float ratio = fabs(data.angle) / 90; //90degree = x=0 || 0degree = y=0
 	
 	//--- snap ratio to max at angle threshold --- 
@@ -334,7 +332,7 @@ motorCommands_t joystick_generateCommandsDriving(joystickData_t data, bool altSt
 	*/
 
     //--- experimental alternative control mode ---
-    if (altStickMapping == true){
+    if (config->altStickMapping == true){
         //swap BOTTOM_LEFT and BOTTOM_RIGHT
         if (data.position == joystickPos_t::BOTTOM_LEFT){
             data.position = joystickPos_t::BOTTOM_RIGHT;

common/joystick.hpp

@@ -10,6 +10,7 @@ extern "C"
 #include "esp_err.h"
 #include "nvs_flash.h"
 #include "nvs.h"
+#include <stdbool.h>
 }
 
 #include <cmath>
@@ -69,6 +70,13 @@ typedef struct joystickData_t {
 } joystickData_t;
 
 
+// struct with parameters provided to joystick_GenerateCommandsDriving()
+typedef struct joystickGenerateCommands_config_t {
+    float maxDuty;
+    float dutyOffset;
+    bool altStickMapping;
+} joystickGenerateCommands_config_t;
+
 
 //------------------------------------
 //----- evaluatedJoystick class  -----
@@ -120,7 +128,7 @@ private:
 //============================================
 //function that generates commands for both motors from the joystick data
 //motorCommands_t joystick_generateCommandsDriving(evaluatedJoystick joystick);
-motorCommands_t joystick_generateCommandsDriving(joystickData_t data, bool altStickMapping = false);
+motorCommands_t joystick_generateCommandsDriving(joystickData_t data, joystickGenerateCommands_config_t * config);