make all possible functions const

src/driveModi/Modi/Autopilot/autopilot.h

@@ -65,18 +65,6 @@ class Autopilot : public ManualControl {
          */
         ~Autopilot();
 
-        /**
-         * @brief Calls runAutopilot or ManualControl loop
-         * 
-         * This function should be called every main loop. If self
-         * driving is activated the function call run Autopilot. If
-         * the loopDelayMillis is not reached the function returns immediately.
-         * 
-         * If self driving is not activated this functions calls the 
-         * ManualControl loop additionally.
-         */
-        void loop();
-
         void restart();
 
         /**

src/driveModi/Modi/CaptureRoute/captureRoute.cpp

@@ -35,7 +35,7 @@ void CaptureRoute::run() {
     }
 }
 
-double CaptureRoute::getDistanceToLastPoint() {
+double CaptureRoute::getDistanceToLastPoint() const {
     if (!this->lastSavedPoint.isInit())
         return 0;
     return this->lastSavedPoint.distanceTo(this->navigation->getCurrentPosition());

src/driveModi/Modi/CaptureRoute/captureRoute.h

@@ -62,7 +62,7 @@ class CaptureRoute : public ManualControl {
          * 
          * @return double in meters
          */
-        double getDistanceToLastPoint();
+        double getDistanceToLastPoint() const;
 
         /**
          * @brief Tells if there are new informations to display

src/driveModi/Modi/TestMode/testMode.cpp

@@ -120,7 +120,7 @@ void TestMode::abortManeuver() {
     this->abort = true;
 }
 
-uint8_t TestMode::getRemainingManeuverTime() {
+uint8_t TestMode::getRemainingManeuverTime() const {
     if (busy)
         return (uint8_t) ((this->maneuverTime - (millis() - this->actionStart)) / 1000);
     return 0;

src/driveModi/Modi/TestMode/testMode.h

@@ -89,7 +89,7 @@ class TestMode : public DriveModi {
          */
         void abortManeuver();
 
-        uint8_t getRemainingManeuverTime();
+        uint8_t getRemainingManeuverTime() const;
 
         /**
          * @brief Returns true if a maneuver is running
@@ -99,8 +99,8 @@ class TestMode : public DriveModi {
          */
         bool getBusy() const { return this->busy; }
         Maneuver getManeuver() const { return this->maneuver; }
-        Speedometer* getSpeedometerLeft() { return this->moveControl->getSpeedometerLeft(); }
-        Speedometer* getSpeedometerRight() { return this->moveControl->getSpeedometerRight(); }
+        Speedometer* getSpeedometerLeft() const { return this->moveControl->getSpeedometerLeft(); }
+        Speedometer* getSpeedometerRight() const { return this->moveControl->getSpeedometerRight(); }
 
     private:
         void run() override;

src/driveModi/driveManager.h

@@ -84,7 +84,7 @@ class DriveManager : public Component {
          * 
          * @return Navigation* 
          */
-        Navigation* getNavigation() {return this->navigation;}
+        Navigation* getNavigation() const {return this->navigation;}
 
         /**
          * @brief Get the DriveModi Ptr object
@@ -96,14 +96,14 @@ class DriveManager : public Component {
          * @see getDriveModi
          * @return DriveModi* 
          */
-        DriveModi* getDriveModiPtr() { return this->currentModusPtr; }
+        DriveModi* getDriveModiPtr() const { return this->currentModusPtr; }
 
         /**
          * @brief Get the DriveModi enum
          * 
          * @return Modi 
          */
-        Modi getDriveModi() { return this->currentModus; }
+        Modi getDriveModi() const { return this->currentModus; }
 
     private:
         void run() override;

src/driveModi/driveModi.h

@@ -34,7 +34,7 @@ class DriveModi : public Component {
         void setMaxSpeed(double maxForwardSpeed) { maxForwardSpeed = maxForwardSpeed; }
         void increaseMaxSpeed(double increase = 0.1) { maxForwardSpeed += increase; }
         void decreaseMaxSpeed(double increase = 0.1) { maxForwardSpeed -= increase; }
-        double getMaxSpeed() { return this->maxForwardSpeed; }
+        double getMaxSpeed() const { return this->maxForwardSpeed; }
 
         /**
          * @brief Set the max rotation
@@ -44,7 +44,7 @@ class DriveModi : public Component {
         void setMaxRotation(double maxRotation) { maxRotationSpeed = maxRotation; }
         void increaseMaxRotation(double increase = 0.1) { maxRotationSpeed += increase; }
         void decreaseMaxRotation(double increase = 0.1) { maxRotationSpeed -= increase; }
-        double getMaxRotation() { return this->maxRotationSpeed; }
+        double getMaxRotation() const { return this->maxRotationSpeed; }
 
     protected:
         MoveControl *moveControl;