driveManager gets now the object

src/SpecialMenus/driveModi/Autopilot/menuAutopilot.cpp

@@ -210,15 +210,15 @@ void MenuAutopilot::runCommand() const {
         case 6:
             if (this->targetFreezed) {
                 this->targetFreezed = false;
-                this->driveManager->getNavigation()->freezeTargetPoint(false);
+                this->autopilot->getNavigation()->freezeTargetPoint(false);
             } else {
                 this->targetFreezed = true;
-                this->driveManager->getNavigation()->freezeTargetPoint();
+                this->autopilot->getNavigation()->freezeTargetPoint();
             }
             break;
 
         case 7:
-            this->minDistance = this->driveManager->getNavigation()->increaseMinDistanceToReachPoint();
+            this->minDistance = this->autopilot->getNavigation()->increaseMinDistanceToReachPoint();
             break;
         
         default:
@@ -229,7 +229,7 @@ void MenuAutopilot::runCommand() const {
 void MenuAutopilot::runCommandNo() const {
     switch (this->getCurrentPage()) {
     case 7:
-        this->minDistance = this->driveManager->getNavigation()->decreaseMinDistanceToReachPoint();
+        this->minDistance = this->autopilot->getNavigation()->decreaseMinDistanceToReachPoint();
         break;
     
     default:
@@ -247,9 +247,11 @@ void MenuAutopilot::update() {
 
 void MenuAutopilot::init() {
     this->setCountPages(8);
-    this->driveManager->changeModus(Modi::Autopilot);
-    this->autopilot = (Autopilot*) this->driveManager->getDriveModiPtr();
+    this->autopilot  = new Autopilot();
+    this->driveManager->changeModus(this->autopilot);
     this->routeInfo = this->autopilot->getRouteInfo();
-    this->driveManager->getNavigation()->increaseMinDistanceToReachPoint();
-    this->minDistance = this->driveManager->getNavigation()->decreaseMinDistanceToReachPoint();
+
+    //dirty hack to get the val, can be better!!! TODO
+    this->autopilot->getNavigation()->increaseMinDistanceToReachPoint();
+    this->minDistance = this->autopilot->getNavigation()->decreaseMinDistanceToReachPoint();
 }

src/SpecialMenus/driveModi/Autopilot/menuAutopilot.h

@@ -13,6 +13,7 @@
 #define MENU_AUTOPILOT_DRIVE_H
 
 #include "SpecialMenus/driveModi/menuDriveMode.h"
+#include "driveModi/Modi/Autopilot/autopilot.h"
 
 /**
  * @brief A class to print informations about the Autopilot

src/SpecialMenus/driveModi/CalibrateCompass/menuCalibrateCompass.cpp

@@ -110,8 +110,8 @@ void MenuCalibrateCompass::printPage() const {
 
 void MenuCalibrateCompass::init() {
     this->firstPrint = false;
-    this->driveManager->changeModus(Modi::CalibrateCompass);
-    this->caliCompassMode = (CalibrateCompassM*) this->driveManager->getDriveModiPtr();
+    this->caliCompassMode = new CalibrateCompassM();
+    this->driveManager->changeModus(this->caliCompassMode);
     this->caliCompass = new CalibrateCompass(this->caliCompassMode->getSensorData()->getRealCompass());
     this->setCountPages(11);
     this->updateDelay = 500; 

src/SpecialMenus/driveModi/CaptureRoute/menuCaptureRoute.cpp

@@ -94,7 +94,7 @@ void MenuCaptureRoute::printPage() const {
 
         case 7:
             lineOne = "Current minimal";
-            if (this->driveManager->getNavigation()->getMinAccuracy() >= Point::Accuracy::twoDigOfCM)
+            if (this->captureRoute->getNavigation()->getMinAccuracy() >= Point::Accuracy::twoDigOfCM)
                 lineTwo = "accuracy is high";
             else 
                 lineTwo = "accuracy is low";
@@ -118,10 +118,10 @@ void MenuCaptureRoute::runCommand() const {
     switch (this->getCurrentPage())
     {
     case 7:
-        if (this->driveManager->getNavigation()->getMinAccuracy() >= Point::Accuracy::twoDigOfCM)
-            this->driveManager->getNavigation()->setMinAccuracy(Point::Accuracy::none);
+        if (this->captureRoute->getNavigation()->getMinAccuracy() >= Point::Accuracy::twoDigOfCM)
+            this->captureRoute->getNavigation()->setMinAccuracy(Point::Accuracy::none);
         else 
-            this->driveManager->getNavigation()->setMinAccuracy(Point::Accuracy::twoDigOfCM);
+            this->captureRoute->getNavigation()->setMinAccuracy(Point::Accuracy::twoDigOfCM);
         break;
     
     default:
@@ -132,7 +132,7 @@ void MenuCaptureRoute::runCommand() const {
 void MenuCaptureRoute::init() {
     this->setCountPages(8);
     this->updateDelay = 500;
-    this->driveManager->changeModus(Modi::CaptureRoute);
-    this->captureRoute = (CaptureRoute*) this->driveManager->getDriveModiPtr();
+    this->captureRoute = new CaptureRoute();
+    this->driveManager->changeModus(this->captureRoute);
     
 }

src/SpecialMenus/driveModi/CaptureRoute/menuCaptureRoute.h

@@ -12,6 +12,7 @@
 #define MENU_MANUAL_DRIVE_H
 
 #include "SpecialMenus/driveModi/menuDriveMode.h"
+#include "driveModi/Modi/CaptureRoute/captureRoute.h"
 
 /**
  * @brief A class to print informations about the Autopilot

src/SpecialMenus/driveModi/ManualDrive/menuManualDrive.cpp

@@ -56,8 +56,8 @@ void MenuManualControl::printPage() const {
 
 void MenuManualControl::init() {
     this->firstPrint = false;
-    this->driveManager->changeModus(Modi::ManualControl);
-    this->manualControl = (ManualControl*) this->driveManager->getDriveModiPtr();
+    this->manualControl = new ManualControl();
+    this->driveManager->changeModus(this->manualControl);
     this->setCountPages(4);
     this->updateDelay = 500; 
 }

src/SpecialMenus/driveModi/ManualDrive/menuManualDrive.h

@@ -13,7 +13,7 @@
 #define MENU_MANUAL_DRIVE_H
 
 #include "SpecialMenus/driveModi/menuDriveMode.h"
-#include "calibrateCompass.h"
+#include "driveModi/Modi/ManualControl/manualControl.h"
 
 /**
  * @brief A class to print informations about the class ManualControl

src/SpecialMenus/driveModi/TestMode/menuTestMode.cpp

@@ -74,8 +74,8 @@ void MenuTestMode::no() {
 }
 
 void MenuTestMode::init() {
-    this->driveManager->changeModus(Modi::TestMode);
-    this->testMode = (TestMode*) this->driveManager->getDriveModiPtr();
+    this->testMode = new TestMode();
+    this->driveManager->changeModus(this->testMode);
 
     testMode->setMaxSpeed(1);
     testMode->setMaxRotation(8);

src/SpecialMenus/driveModi/menuDriveMode.cpp

@@ -18,7 +18,7 @@ MenuDriveMode::MenuDriveMode(DriveManager* driveManager) {
 void MenuDriveMode::left() {
     this->firstPrint = true;
     this->configureOnLeave();
-    this->driveManager->changeModus(Modi::Off);
+    this->driveManager->changeModus();
     if (parentMenu) {
         this->parentMenu->printMenu();
         this->leaved = true;