included calibrateCompass to the manualDrive menu

src/SpecialMenus/driveModi/ManualDrive/menuManualDrive.cpp

@@ -10,6 +10,15 @@
  */
 #include "menuManualDrive.h"
 
+MenuManualControl::MenuManualControl(DriveManager* driveManager) : MenuDriveMode(driveManager) {
+    this->caliCompass = new CalibrateCompass(this->driveManager->getNavigation()->getCompass());
+}
+
+MenuManualControl::~MenuManualControl() {
+    delete this->caliCompass;
+    this->manualControl->setCalibrateCompass();
+}
+
 void MenuManualControl::printPage() const {
     String lineOne = "";
     String lineTwo = "";
@@ -53,6 +62,28 @@ void MenuManualControl::printPage() const {
             lineTwo.concat(this->manualControl->getDutycycleRight());
             break;
         
+        case 7:
+            switch (this->caliCompass->getState()) {
+                case CalibrateCompass::State::Ready :
+                    lineOne = "Start compass";
+                    lineTwo = "calibration";
+                    break;
+
+                case CalibrateCompass::State::Calibrating :
+                    lineOne = "Calibrating...";
+                    lineTwo = "Move around";
+                    break;
+
+                case CalibrateCompass::State::Finished:
+                    lineOne = "Calibration";
+                    lineTwo = "finished";
+                    break;
+                
+                default:
+                    break;
+            }
+            break;
+
         default:
             this->printDefault();
         return;
@@ -87,6 +118,24 @@ void MenuManualControl::runCommand() const {
         case 4:
             this->manualControl->increaseMaxRotation();
             break;
+
+        case 7:
+            switch (this->caliCompass->getState()) {
+                case CalibrateCompass::State::Ready :
+                    this->manualControl->setCalibrateCompass(this->caliCompass);
+                    this->caliCompass->start();
+                    break;
+
+                case CalibrateCompass::State::Finished:
+                    this->manualControl->setCalibrateCompass();
+                    this->caliCompass->useData();
+                    this->caliCompass->reset();
+                    break;
+                
+                default:
+                    break;
+            }
+            break;
         
         default:
             break;

src/SpecialMenus/driveModi/ManualDrive/menuManualDrive.h

@@ -13,6 +13,7 @@
 #define MENU_MANUAL_DRIVE_H
 
 #include "SpecialMenus/driveModi/menuDriveMode.h"
+#include "calibrateCompass.h"
 
 /**
  * @brief A class to print informations about the class ManualControl
@@ -25,7 +26,8 @@ class MenuManualControl : public MenuDriveMode {
          * 
          * @param driveManager 
          */
-        MenuManualControl(DriveManager* driveManager) : MenuDriveMode(driveManager) {}
+        MenuManualControl(DriveManager* driveManager);
+        ~MenuManualControl();
 
         /**
     	 * @brief Prints the Information to display and console
@@ -43,6 +45,7 @@ class MenuManualControl : public MenuDriveMode {
 
     private:
         ManualControl* manualControl;
+        CalibrateCompass* caliCompass;
 };
 
 #endif // MENU_MANUAL_DRIVE_H