driveManager gets now the object

src/driveModi/driveManager.h

@@ -12,38 +12,14 @@
 #ifndef DRIVE_MANAGER_H
 #define DRIVE_MANAGER_H
 
-#include <Arduino.h>
-#include <SPI.h>
-
 #include "moveControl.h"
 #include "driveModi/driveModi.h"
 #include "navigation.h"
 #include "config.h"
-#include "networkConfig.h"
-#include "debugTimes.h"
 #include "controlPadInput.h"
 #include "component.h"
 #include "sensorData.h"
 
-// All Drive Modi
-#include "driveModi/Modi/ManualControl/manualControl.h"
-#include "driveModi/Modi/CaptureRoute/captureRoute.h"
-#include "driveModi/Modi/Autopilot/autopilot.h"
-#include "driveModi/Modi/TestMode/testMode.h"
-
-/**
- * @brief An enum to choose the DriveMode
- * 
- */
-enum class Modi {   
-    Off,
-    ManualControl,
-    CalibrateCompass,
-    CaptureRoute,
-    Autopilot,
-    TestMode
-};
-
 class DriveManager : public Component {
     public:
         /**
@@ -70,14 +46,7 @@ class DriveManager : public Component {
          * 
          * @param modus 
          */
-        void changeModus(Modi modus);
-
-        /**
-         * @brief Get the Navigation object
-         * 
-         * @return Navigation* 
-         */
-        Navigation* getNavigation() const {return this->navigation;}
+        void changeModus(DriveModi* modus = nullptr);
 
         /**
          * @brief Get the DriveModi Ptr object
@@ -91,20 +60,14 @@ class DriveManager : public Component {
          */
         DriveModi* getDriveModiPtr() const { return this->currentModusPtr; }
 
-        /**
-         * @brief Get the DriveModi enum
-         * 
-         * @return Modi 
-         */
-        Modi getDriveModi() const { return this->currentModus; }
+
+        bool isActive() const { return this->currentModusPtr; }
 
     private:
         void run() override {};
         void init();
 
-        Modi currentModus = Modi::Off;
         DriveModi *currentModusPtr = nullptr;
-        Navigation* navigation;
         DriveModiParams driveModiParams;
 };