diff --git a/src/driveModi/Modi/Autopilot/autopilot.cpp b/src/driveModi/Modi/Autopilot/autopilot.cpp
index 9b5ebd1..86ba8ad 100644
--- a/src/driveModi/Modi/Autopilot/autopilot.cpp
+++ b/src/driveModi/Modi/Autopilot/autopilot.cpp
@@ -45,7 +45,7 @@ void Autopilot::runAutopilot() {
         this->selfDrivingAvailable = true;
 
     if (!this->selfDriving && this->selfDrivingAvailable)
-        this->setSelfDriving(Ps3.data.button.triangle);
+        this->setSelfDriving(this->gamepad->data.button.triangle);
 
     if (this->routeInfo.currentPoint == this->routeInfo.totalPoints) {
         this->navigationEnded = true;
diff --git a/src/driveModi/Modi/ManualControl/manualControl.cpp b/src/driveModi/Modi/ManualControl/manualControl.cpp
index 5afc56a..877cf02 100644
--- a/src/driveModi/Modi/ManualControl/manualControl.cpp
+++ b/src/driveModi/Modi/ManualControl/manualControl.cpp
@@ -31,8 +31,8 @@ void ManualControl::loop() {
 }
 
 void ManualControl::runManualControl() {
-    int8_t x = Ps3.data.analog.stick.lx;
-    int8_t y = Ps3.data.analog.stick.ly;
+    int8_t x = this->gamepad->data.analog.stick.lx;
+    int8_t y = this->gamepad->data.analog.stick.ly;
 
     double value_per_step = this->max_speed * 2 / 256;
     this->moveControl->setSpeed((y * -1) * value_per_step);