- reafctor

src/SpecialMenus/driveModi/Autopilot/menuAutopilot.cpp

@@ -131,30 +131,31 @@ void MenuAutopilot::printPage() const {
         }
 
         case 4:
-            if (this->driveManager->getNavigation()->getCalcAzimuthState() == Navigation::CalcAzimuthState::Good
+            
-                ||this->driveManager->getNavigation()->getCalcAzimuthState() == Navigation::CalcAzimuthState::Super)
+            if (this->autopilot->getSensorData().getCalcAzimuth() == CalcAzimuth::CalcAzimuthState::Good
+                ||this->autopilot->getSensorData().getCalcAzimuth() == CalcAzimuth::CalcAzimuthState::Super)
             {
                 lineOne = "Calc Azi: ";
                 lineTwo = "State: ";
-                lineOne.concat(this->driveManager->getNavigation()->getCalcAzimuth());
+                lineOne.concat(this->autopilot->getSensorData().getCalcAzimuth());
-                switch (this->driveManager->getNavigation()->getCalcAzimuthState()) {
+                switch (this->autopilot->getSensorData().getCalcAzimuthState()) {
-                    case Navigation::CalcAzimuthState::Bad :
+                    case CalcAzimuth::CalcAzimuthState::Bad :
                         lineTwo.concat("Bad");
                         break;
                     
-                    case Navigation::CalcAzimuthState::Good :
+                    case CalcAzimuth::CalcAzimuthState::Good :
                         lineTwo.concat("Good");
                         break;
 
-                    case Navigation::CalcAzimuthState::Invalid :
+                    case CalcAzimuth::CalcAzimuthState::Invalid :
                         lineTwo.concat("Invalid");
                         break;
 
-                    case Navigation::CalcAzimuthState::Ok :
+                    case CalcAzimuth::CalcAzimuthState::Ok :
                         lineTwo.concat("Ok");
                         break;
 
-                    case Navigation::CalcAzimuthState::Super :
+                    case CalcAzimuth::CalcAzimuthState::Super :
                         lineTwo.concat("Super");
                         break;
 

src/SpecialMenus/driveModi/CalibrateCompass/menuCalibrateCompass.h

@@ -13,6 +13,7 @@
 #define MENU_CALIBRATE_COMPASS_H
 
 #include "SpecialMenus/driveModi/menuDriveMode.h"
+#include ""
 #include "calibrateCompass.h"
 
 /**
@@ -44,7 +45,7 @@ class MenuCalibrateCompass : public MenuDriveMode {
         void runCommand() const override;
 
     private:
-        ManualControl* manualControl;
+        CalibrateCompassM* caliCompassMode;
         CalibrateCompass* caliCompass;
 };
 

src/driveModi/driveManager.h

@@ -23,12 +23,12 @@
 #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/ConsolControl/consolControl.h"
 #include "driveModi/Modi/TestMode/testMode.h"
 
 /**
@@ -40,7 +40,6 @@ enum class Modi {
     ManualControl,
     CaptureRoute,
     Autopilot,
-    ConsolControl,
     TestMode
 };
 
@@ -53,7 +52,8 @@ class DriveManager : public Component {
          * 
          * @param moveControl 
          */
-        DriveManager(MoveControl *moveControl, SPIClass *spiPort, const ControlPadInput *input, bool wifi = false);
+        DriveManager(MoveControl *moveControl, SensorData* sensorData, ControlPadInput *input, bool wifi = false);
+        DriveManager(DriveModiParams params, bool wifi = false);
 
         /**
          * @brief Destroy the Drive Manager object
@@ -61,14 +61,6 @@ class DriveManager : public Component {
          */
         ~DriveManager();
 
-        /**
-         * @brief Increment the DriveModi enum
-         * Than calls changeModus
-         * 
-         * @see Modi
-         */
-        void nextModus();
-
         /**
          * @brief Change the DriveModi to a specific value
          * 
@@ -106,14 +98,13 @@ class DriveManager : public Component {
         Modi getDriveModi() const { return this->currentModus; }
 
     private:
-        void run() override;
+        void run() override {};
+        void init(bool wifi);
 
         Modi currentModus = Modi::Off;
-        MoveControl *moveControl;
-        const ControlPadInput* input;
         DriveModi *currentModusPtr = nullptr;
         Navigation* navigation;
-        SPIClass* spiPort;
+        DriveModiParams driveModiParams;
 };