cleaning

refactore
all components now have a base class compnent for loop functions

src/driveModi/Modi/TestMode/testMode.h

@@ -47,28 +47,6 @@ class TestMode : public DriveModi {
         TestMode(MoveControl *moveControl, Navigation* navigation);
         ~TestMode();
 
-        /**
-         * @brief Controls the maneuver.
-         * 
-         * Needed for actions which take a longer time.
-         * Should be called ever main loop.
-         */
-        void loop() override;
-
-        /**
-         * @brief Set the speed for the Maneuver Drive
-         * 
-         * @param speed m/s / 100
-         */
-        void setSpeed(int16_t speed);
-
-        /**
-         * @brief Set the rotation speed for the Maneuver Drive
-         * 
-         * @param speed rad/s / 100
-         */
-        void setRotationSpeed(int16_t speed);
-
         bool drive(int16_t cm = 0, int16_t degree = 0);
 
         /**
@@ -125,28 +103,21 @@ class TestMode : public DriveModi {
         Speedometer* getSpeedometerRight() { return this->moveControl->getSpeedometerRight(); }
 
     private:
+        void run() override;
         bool engineInit(int16_t powerPercentage, int16_t seconds);
 
-        MoveControl *moveControl;
         Navigation* navigation;
         Maneuver maneuver = Maneuver::None;
         int16_t maneuverValueOne = 0;
         int16_t maneuverValueTwo = 0;
 
-        double speed = 0;
-        double rotationSpeed = 0;
-
         bool busy = false;
         bool abort = false;
         
-        uint8_t delay = 10;
         uint16_t azimuth;
         int16_t degree;
         uint32_t maneuverTime = 0;
-        uint32_t lastMillis = 0;
         uint32_t actionStart = 0;
-
-
 };
 
 #endif // TEST_MODE_H