refactore

src/main.cpp

@@ -31,6 +31,8 @@
 #include "network.h"
 #include "debugMqtt.h"
 #include "battery.h"
+#include "sensors.h"
+#include "sensorData.h"
 #include "debugTimes.h"
 #include "controlPad.h"
 
@@ -55,6 +57,8 @@ OutputBuf* outputBuf;
 DebugMqtt* debugMqtt = nullptr;
 Battery* mainBattery;
 SPIClass* spiPort;
+Sensors* sensors;
+SensorData* sensorData;
 ControlPad* controlPad;
 
 bool wifiIsActive;
@@ -115,7 +119,11 @@ void setup() {
     std::cout << "Build timestamp: " << BUILD_TIMESTAMP << std::endl;
     std::cout << "All actions from the main program run on Core -> " << xPortGetCoreID() << std::endl;
 
-    driveManager = new DriveManager(&moveController, spiPort, controlPad->getControlPadDataPtr(), wifiIsActive);
+    sensors = new Sensors();
+    sensors->enableGnss(spiPort, PinNumbers::gnssSpiCs);
+    sensors->enableCompass();
+    sensorData = sensors->getSensorData();
+    driveManager = new DriveManager(&moveController, sensorData, controlPad->getControlPadDataPtr(), wifiIsActive);
 
     outputBuf->activateMqtt(true);
 
@@ -142,6 +150,7 @@ void loop() {
         #endif //MQTT
         wifiTime.stopConsol("WiFi-Time", 10);
     }
+    sensors->loop();
     driveManager->loop();
     controlPad->loop();
     main_m->update();