more refactor bug fixes

remove CalcAzimuth
fix merge bugs
2023-10-13 14:17:51 +02:00 · 2023-10-12 20:58:30 +02:00 · 2023-10-12 20:50:59 +02:00 · 2023-10-12 20:35:31 +02:00 · 2023-09-04 14:13:14 +02:00 · 2023-09-04 13:35:40 +02:00
43 changed files with 37 additions and 4123 deletions
@@ -129,6 +129,7 @@
        "carr",
        "CIPO",
        "COPI",
+        "deadzone",
        "Doxygen",
        "Dutycycle",
        "gast",
@@ -150,6 +151,7 @@
        "Punica",
        "RHEDE",
        "Rtcm",
+        "Sats",
        "Schalke",
        "Soln",
        "Systeminformation",
@@ -1,25 +0,0 @@
-import paho.mqtt.client as mqtt
-
-
-def on_connect(client, userdata, flags, rc):
-    print("Connected with result code "+str(rc))
-
-    # Subscribing in on_connect() means that if we lose the connection and
-    # reconnect then subscriptions will be renewed.
-    client.subscribe("Rover/Info")
-    client.subscribe("Rover/Warn")
-    client.subscribe("Rover/Error")
-
-
-def on_message(client, userdata, msg):
-    print(msg.topic+"   -> "+str(msg.payload)[2:-1])
-
-
-if __name__ == '__main__':
-    client = mqtt.Client()
-    client.on_connect = on_connect
-    client.on_message = on_message
-
-    client.connect("172.22.64.216", 1883, 60)
-
-    client.loop_forever()
@@ -1,23 +0,0 @@
-import paho.mqtt.client as mqtt
-
-
-def on_connect(client, userdata, flags, rc):
-    print("Connected with result code "+str(rc))
-
-    # Subscribing in on_connect() means that if we lose the connection and
-    # reconnect then subscriptions will be renewed.
-    client.subscribe("Rover/Debug")
-
-
-def on_message(client, userdata, msg):
-    print(msg.topic+"   -> "+str(msg.payload)[2:-1])
-
-
-if __name__ == '__main__':
-    client = mqtt.Client()
-    client.on_connect = on_connect
-    client.on_message = on_message
-
-    client.connect("172.22.64.216", 1883, 60)
-
-    client.loop_forever()
@@ -1,27 +0,0 @@
-import paho.mqtt.client as mqtt
-
-
-def on_connect(client, userdata, flags, rc):
-    print("Connected with result code "+str(rc))
-
-    # Subscribing in on_connect() means that if we lose the connection and
-    # reconnect then subscriptions will be renewed.
-    client.subscribe("Rover/Info")
-    client.subscribe("Rover/Warn")
-    client.subscribe("Rover/Error")
-    client.subscribe("Rover/Info")
-
-
-def on_message(client, userdata, msg):
-    print(msg.topic+"   -> "+str(msg.payload)[2:-1])
-
-
-if __name__ == '__main__':
-    client = mqtt.Client()
-    client.on_connect = on_connect
-    client.on_message = on_message
-
-    client.username_pw_set("kleiax", password="p?{$_~5%hBM7wrcFkr55KWr#")
-    client.connect("192.168.1.7", 1883, 60)
-
-    client.loop_forever()
@@ -1,24 +0,0 @@
-import paho.mqtt.client as mqtt
-
-
-def on_connect(client, userdata, flags, rc):
-    print("Connected with result code "+str(rc))
-
-    # Subscribing in on_connect() means that if we lose the connection and
-    # reconnect then subscriptions will be renewed.
-    client.subscribe("Rover/Debug")
-
-
-def on_message(client, userdata, msg):
-    print(msg.topic+"   -> "+str(msg.payload)[2:-1])
-
-
-if __name__ == '__main__':
-    client = mqtt.Client()
-    client.on_connect = on_connect
-    client.on_message = on_message
-
-    client.username_pw_set("kleiax", password="p?{$_~5%hBM7wrcFkr55KWr#")
-    client.connect("192.168.1.7", 1883, 60)
-
-    client.loop_forever()
@@ -1,157 +0,0 @@
-<diagram program="umletino" version="14.4.0-SNAPSHOT"><zoom_level>10</zoom_level><element><id>UMLClass</id><coordinates><x>750</x><y>10</y><w>220</w><h>650</h></coordinates><panel_attributes>&lt;&lt;hardware&gt;&gt;
-MotorControl
--
- target_power: int8_t
- power: int8_t
- direction: uint8_t
-
-
- pwm_pin: uint8_t
- pwm_channel: uint8_t
- pwm_res: uint8_t
- dutycycle_min: uint8_t
- dutycycle_max: uint8_t
- direction_1: uint8_t
- direction_2: uint8_t
- delay: uint8_t
- powersteps: uint8_t
-
- last_millis: uint32_t
--
-+ MotorControl()
-+ init(pwm_pin: uint8_t,
-	  pwm_channel: uint8_t,
-	  dir_1: uint8_t, dir_2: uint8_t)
-+ loop(): uint16_t
-+ runMotorControl()
-
-+ setMinPwm(uint8_t)
-+ setMaxPwm(uint8_t)
-+ setPowerSteps(uint8_t): uint16_t
-+ setTargetPower(uint8_t)
-+ setDelay(uint8_t): uint16_t
-
-+ stop()
-+ emergencyStop()
-+ toString()
-+ getPower(): int8_t
-+ getTargetPower(): int8_t
-+ isTargetPowerReached(): bool
-+ isAccelerationPositive(): bool
-+ isAccelerationNegative(): bool
-
- setRealPower(power: int8_t)
- increasePower(power: int8_t)
-
-</panel_attributes><additional_attributes></additional_attributes></element><element><id>UMLClass</id><coordinates><x>80</x><y>380</y><w>220</w><h>330</h></coordinates><panel_attributes>&lt;&lt;hardware&gt;&gt;
-Speedometer
--
- encoder: ESP32Encoder
- debug: DebugMqtt*
- name: String
- speed: double = 0
- last_millis: uint64_t = 0;
- bufPos: uint8_t
- buf: int16_t[BUF_SIZE]
--
-+ Speedometer()
-+ init(pinA: uint8_t,
-	   pinB: uint8_t, 
-	  	 name: String)
-+ runSpeedometer()
-+ setTargetPower(power: int8_t)
-+ getSpeed(): double
-+ getDirection(): uint8_t
- addValToBuf(val: int16_t)
- getAverage(): int16_t</panel_attributes><additional_attributes></additional_attributes></element><element><id>UMLClass</id><coordinates><x>70</x><y>0</y><w>270</w><h>370</h></coordinates><panel_attributes>MoveControl
--
- debug: DebugMqtt*
- left_motor: MotorControl*
- right_motor: MotorControl*
- left_speedometer: Speedometer*
- right_speedometer: Speedometer*
- driving_status: DrivingStatus = stop
- x_speed: double = 0
- rotation_speed: double = 0
- wheelspeed_left_target: double = 0
- wheelspeed_right_target: double = 0
--
-+ MoveControl()
-+ init(left_motor: MotorControl*,
-	   right_motor: MotorControl*, 
-	   left_speedometer: Speedometer*,
-	   right_speedometer: Speedometer*)
-+ runMoveControl()
-+ setDrivingStatus(status: DrivingStatus)
-+ setSpeed(speed: double)
-+ setRotationspeed(speed: double)
- calcWheelSpeed()
- regulateMotors()</panel_attributes><additional_attributes></additional_attributes></element><element><id>UMLClass</id><coordinates><x>370</x><y>10</y><w>220</w><h>330</h></coordinates><panel_attributes>&lt;&lt;driveModi&gt;&gt;
-ManualControl
--
- encoder: ESP32Encoder
- debug: DebugMqtt*
- name: String
- speed: double = 0
- last_millis: uint64_t = 0;
- bufPos: uint8_t
- buf: int16_t[BUF_SIZE]
--
-+ Speedometer()
-+ init(pinA: uint8_t,
-	   pinB: uint8_t, 
-	  	 name: String)
-+ runSpeedometer()
-+ setTargetPower(power: int8_t)
-+ getSpeed(): double
-+ getDirection(): uint8_t
- addValToBuf(val: int16_t)
- getAverage(): int16_t</panel_attributes><additional_attributes></additional_attributes></element><element><id>UMLClass</id><coordinates><x>1270</x><y>10</y><w>210</w><h>240</h></coordinates><panel_attributes>MenuControl
--
-# parentMenu: MenuControl*
-# lcd: LiquidCrystal_I2C*
--
-/+down()/
-/+up()/
-/+right()/
-/+left()/
-/+yes()/
-/+no()/
-
-/+update()/
-/+printMenu()/
-
-+ setParentMenu(MenuControl*)
-+ setLcd(LiquidCrystal_I2C*)</panel_attributes><additional_attributes></additional_attributes></element><element><id>UMLClass</id><coordinates><x>980</x><y>10</y><w>280</w><h>270</h></coordinates><panel_attributes>MenuAction
--
- name: char*
-
- *function: void
- *callback: void
-
- isMenu: bool
- menu: MenuControl
--
-+ MenuAction(const char*, (*function), (*callback))
-+ MenuAction(const char*, (*function))
-+ MenuAction(const char*, MenuControl* menu)
-
-+ runAction()
-
-+ getName(): const char*
-+ getIsMenu(): bool 
-+ getMenu(): MenuControl*
-</panel_attributes><additional_attributes></additional_attributes></element><element><id>UMLClass</id><coordinates><x>1220</x><y>360</y><w>280</w><h>160</h></coordinates><panel_attributes>Menu
--
- inSubmenu: bool
-
- entrys: list&lt;MenuAction*&gt;
- selectedEntry: list&lt;MenuAction*&gt;::iterator
-
- isMenu: bool
- menu: MenuControl
--
-+ addEntry(MenuAction* entry)
-</panel_attributes><additional_attributes></additional_attributes></element><element><id>Relation</id><coordinates><x>1350</x><y>240</y><w>30</w><h>140</h></coordinates><panel_attributes>lt=&lt;&lt;-</panel_attributes><additional_attributes>10;10;10;120</additional_attributes></element><element><id>Relation</id><coordinates><x>1080</x><y>270</y><w>160</w><h>190</h></coordinates><panel_attributes>lt=-
-m1=*
-m2=0..1</panel_attributes><additional_attributes>10;10;10;160;140;160</additional_attributes></element></diagram>
@@ -1,390 +0,0 @@
-<?xml version="1.0" encoding="UTF-8" standalone="no"?>
-<diagram program="umlet" version="14.3.0">
-  <zoom_level>10</zoom_level>
-  <element>
-    <id>UMLSpecialState</id>
-    <coordinates>
-      <x>40</x>
-      <y>20</y>
-      <w>20</w>
-      <h>20</h>
-    </coordinates>
-    <panel_attributes>type=initial</panel_attributes>
-    <additional_attributes/>
-  </element>
-  <element>
-    <id>Relation</id>
-    <coordinates>
-      <x>40</x>
-      <y>20</y>
-      <w>130</w>
-      <h>30</h>
-    </coordinates>
-    <panel_attributes>lt=&lt;-</panel_attributes>
-    <additional_attributes>110.0;10.0;10.0;10.0</additional_attributes>
-  </element>
-  <element>
-    <id>UMLState</id>
-    <coordinates>
-      <x>150</x>
-      <y>10</y>
-      <w>100</w>
-      <h>40</h>
-    </coordinates>
-    <panel_attributes>search next point
-bg=green</panel_attributes>
-    <additional_attributes/>
-  </element>
-  <element>
-    <id>UMLSpecialState</id>
-    <coordinates>
-      <x>180</x>
-      <y>90</y>
-      <w>40</w>
-      <h>40</h>
-    </coordinates>
-    <panel_attributes>bg=green
-type=decision</panel_attributes>
-    <additional_attributes/>
-  </element>
-  <element>
-    <id>Relation</id>
-    <coordinates>
-      <x>190</x>
-      <y>40</y>
-      <w>30</w>
-      <h>70</h>
-    </coordinates>
-    <panel_attributes>lt=&lt;-</panel_attributes>
-    <additional_attributes>10.0;50.0;10.0;10.0</additional_attributes>
-  </element>
-  <element>
-    <id>UMLState</id>
-    <coordinates>
-      <x>150</x>
-      <y>180</y>
-      <w>100</w>
-      <h>40</h>
-    </coordinates>
-    <panel_attributes>detect alignment
-bg=green</panel_attributes>
-    <additional_attributes/>
-  </element>
-  <element>
-    <id>Relation</id>
-    <coordinates>
-      <x>190</x>
-      <y>120</y>
-      <w>130</w>
-      <h>80</h>
-    </coordinates>
-    <panel_attributes>lt=&lt;-
-[distance &lt;= 5m]</panel_attributes>
-    <additional_attributes>10.0;60.0;10.0;10.0</additional_attributes>
-  </element>
-  <element>
-    <id>UMLObject</id>
-    <coordinates>
-      <x>20</x>
-      <y>0</y>
-      <w>840</w>
-      <h>590</h>
-    </coordinates>
-    <panel_attributes>Autopilot                                            
-
-valign=top</panel_attributes>
-    <additional_attributes/>
-  </element>
-  <element>
-    <id>Relation</id>
-    <coordinates>
-      <x>210</x>
-      <y>90</y>
-      <w>140</w>
-      <h>40</h>
-    </coordinates>
-    <panel_attributes>lt=&lt;-
-[distance &gt; 5m]</panel_attributes>
-    <additional_attributes>120.0;20.0;10.0;20.0</additional_attributes>
-  </element>
-  <element>
-    <id>UMLState</id>
-    <coordinates>
-      <x>330</x>
-      <y>90</y>
-      <w>100</w>
-      <h>40</h>
-    </coordinates>
-    <panel_attributes>Error
-bg=red</panel_attributes>
-    <additional_attributes/>
-  </element>
-  <element>
-    <id>UMLState</id>
-    <coordinates>
-      <x>150</x>
-      <y>270</y>
-      <w>100</w>
-      <h>40</h>
-    </coordinates>
-    <panel_attributes>correct alignment
-bg=green</panel_attributes>
-    <additional_attributes/>
-  </element>
-  <element>
-    <id>UMLState</id>
-    <coordinates>
-      <x>150</x>
-      <y>360</y>
-      <w>100</w>
-      <h>40</h>
-    </coordinates>
-    <panel_attributes>drive to point
-bg=green</panel_attributes>
-    <additional_attributes/>
-  </element>
-  <element>
-    <id>Relation</id>
-    <coordinates>
-      <x>190</x>
-      <y>210</y>
-      <w>30</w>
-      <h>80</h>
-    </coordinates>
-    <panel_attributes>lt=&lt;-</panel_attributes>
-    <additional_attributes>10.0;60.0;10.0;10.0</additional_attributes>
-  </element>
-  <element>
-    <id>Relation</id>
-    <coordinates>
-      <x>190</x>
-      <y>300</y>
-      <w>30</w>
-      <h>80</h>
-    </coordinates>
-    <panel_attributes>lt=&lt;-</panel_attributes>
-    <additional_attributes>10.0;60.0;10.0;10.0</additional_attributes>
-  </element>
-  <element>
-    <id>Relation</id>
-    <coordinates>
-      <x>90</x>
-      <y>280</y>
-      <w>80</w>
-      <h>120</h>
-    </coordinates>
-    <panel_attributes>lt=&lt;-</panel_attributes>
-    <additional_attributes>60.0;10.0;10.0;10.0;10.0;100.0;60.0;100.0</additional_attributes>
-  </element>
-  <element>
-    <id>UMLState</id>
-    <coordinates>
-      <x>440</x>
-      <y>10</y>
-      <w>410</w>
-      <h>300</h>
-    </coordinates>
-    <panel_attributes>detect alignment
-valign=top</panel_attributes>
-    <additional_attributes/>
-  </element>
-  <element>
-    <id>UMLSpecialState</id>
-    <coordinates>
-      <x>460</x>
-      <y>60</y>
-      <w>20</w>
-      <h>20</h>
-    </coordinates>
-    <panel_attributes>type=final</panel_attributes>
-    <additional_attributes/>
-  </element>
-  <element>
-    <id>Relation</id>
-    <coordinates>
-      <x>470</x>
-      <y>60</y>
-      <w>90</w>
-      <h>30</h>
-    </coordinates>
-    <panel_attributes>lt=-&gt;</panel_attributes>
-    <additional_attributes>10.0;10.0;70.0;10.0</additional_attributes>
-  </element>
-  <element>
-    <id>UMLState</id>
-    <coordinates>
-      <x>540</x>
-      <y>50</y>
-      <w>110</w>
-      <h>40</h>
-    </coordinates>
-    <panel_attributes>drive 1m forward</panel_attributes>
-    <additional_attributes/>
-  </element>
-  <element>
-    <id>UMLState</id>
-    <coordinates>
-      <x>540</x>
-      <y>140</y>
-      <w>110</w>
-      <h>40</h>
-    </coordinates>
-    <panel_attributes>drive 2m backward</panel_attributes>
-    <additional_attributes/>
-  </element>
-  <element>
-    <id>UMLState</id>
-    <coordinates>
-      <x>540</x>
-      <y>230</y>
-      <w>110</w>
-      <h>40</h>
-    </coordinates>
-    <panel_attributes>drive 1m forward</panel_attributes>
-    <additional_attributes/>
-  </element>
-  <element>
-    <id>UMLState</id>
-    <coordinates>
-      <x>700</x>
-      <y>230</y>
-      <w>120</w>
-      <h>40</h>
-    </coordinates>
-    <panel_attributes>calculate straight line</panel_attributes>
-    <additional_attributes/>
-  </element>
-  <element>
-    <id>Relation</id>
-    <coordinates>
-      <x>580</x>
-      <y>80</y>
-      <w>30</w>
-      <h>80</h>
-    </coordinates>
-    <panel_attributes>lt=&lt;-</panel_attributes>
-    <additional_attributes>10.0;60.0;10.0;10.0</additional_attributes>
-  </element>
-  <element>
-    <id>Relation</id>
-    <coordinates>
-      <x>580</x>
-      <y>170</y>
-      <w>30</w>
-      <h>80</h>
-    </coordinates>
-    <panel_attributes>lt=&lt;-</panel_attributes>
-    <additional_attributes>10.0;60.0;10.0;10.0</additional_attributes>
-  </element>
-  <element>
-    <id>UMLSpecialState</id>
-    <coordinates>
-      <x>750</x>
-      <y>150</y>
-      <w>20</w>
-      <h>20</h>
-    </coordinates>
-    <panel_attributes>type=termination</panel_attributes>
-    <additional_attributes/>
-  </element>
-  <element>
-    <id>Relation</id>
-    <coordinates>
-      <x>750</x>
-      <y>160</y>
-      <w>30</w>
-      <h>90</h>
-    </coordinates>
-    <panel_attributes>lt=&lt;-</panel_attributes>
-    <additional_attributes>10.0;10.0;10.0;70.0</additional_attributes>
-  </element>
-  <element>
-    <id>UMLState</id>
-    <coordinates>
-      <x>440</x>
-      <y>320</y>
-      <w>410</w>
-      <h>260</h>
-    </coordinates>
-    <panel_attributes>correct alignment
-valign=top</panel_attributes>
-    <additional_attributes/>
-  </element>
-  <element>
-    <id>UMLState</id>
-    <coordinates>
-      <x>540</x>
-      <y>370</y>
-      <w>190</w>
-      <h>40</h>
-    </coordinates>
-    <panel_attributes>calculate relativ target position</panel_attributes>
-    <additional_attributes/>
-  </element>
-  <element>
-    <id>Relation</id>
-    <coordinates>
-      <x>470</x>
-      <y>380</y>
-      <w>90</w>
-      <h>30</h>
-    </coordinates>
-    <panel_attributes>lt=-&gt;</panel_attributes>
-    <additional_attributes>10.0;10.0;70.0;10.0</additional_attributes>
-  </element>
-  <element>
-    <id>UMLSpecialState</id>
-    <coordinates>
-      <x>460</x>
-      <y>380</y>
-      <w>20</w>
-      <h>20</h>
-    </coordinates>
-    <panel_attributes>type=final</panel_attributes>
-    <additional_attributes/>
-  </element>
-  <element>
-    <id>UMLState</id>
-    <coordinates>
-      <x>580</x>
-      <y>460</y>
-      <w>120</w>
-      <h>40</h>
-    </coordinates>
-    <panel_attributes>rotate x degree</panel_attributes>
-    <additional_attributes/>
-  </element>
-  <element>
-    <id>Relation</id>
-    <coordinates>
-      <x>630</x>
-      <y>400</y>
-      <w>30</w>
-      <h>80</h>
-    </coordinates>
-    <panel_attributes>lt=&lt;-</panel_attributes>
-    <additional_attributes>10.0;60.0;10.0;10.0</additional_attributes>
-  </element>
-  <element>
-    <id>Relation</id>
-    <coordinates>
-      <x>630</x>
-      <y>490</y>
-      <w>30</w>
-      <h>80</h>
-    </coordinates>
-    <panel_attributes>lt=&lt;-</panel_attributes>
-    <additional_attributes>10.0;60.0;10.0;10.0</additional_attributes>
-  </element>
-  <element>
-    <id>UMLSpecialState</id>
-    <coordinates>
-      <x>630</x>
-      <y>550</y>
-      <w>20</w>
-      <h>20</h>
-    </coordinates>
-    <panel_attributes>type=termination</panel_attributes>
-    <additional_attributes/>
-  </element>
-</diagram>
@@ -1,45 +1,6 @@
-Maybe:
-    -> Time Measurement in component interface
-    -> Time warnings
-
-Do later:
-    -> Program underfloorLighting
-    -> Add an beeper
-    -> Program the beeper
-    -> Engine slow down without curve in motorControl
-    -> Network clean up (Mqtt remove?)
-    -> Extra class for maneuver, autopilot should inherit from int16_t
-    -> Remote Control
-        - Leds for gnss rtk etc
-        - what happens exactly when no data is arriving
-    -> Test Menu for big curve driving
-    -> Api with Names and show on Maps in Browser
-    -> Menu structure mit add functions for each menu mit pointer return to config (additional not replace)
-    -> Menu Display from parent as run() to make Menu as Component
-    -> Racing Mode
-    -> ConsolControl
-    -> Menü für Einstellungen
-        - WiFi (save in Flash)
-    -> Battery
-        - tabelle mit eigenen Werten übergeben und nicht in header (wiederverwendbarkeit)
-        - kalibrierungsmethode mit Menü
-        - Daten in flash speichern können
-    -> Check speration between Ui and Route (RouteMenu)
-    -> update sparkfun gnss auf v3 für SPI korrekturdatenüvbetragung
-    -> Rover Objekt mit Error zustand freeze, damit das wenn möglich auch auf dem Display angezeigt wird.
-    -> ESP und Sensoren in den DeepSleep für Auschalten oder Akkuschutz
-    -> Doxygen comments
-        - navigation
-        - autopilot
-
-
 Do now:
 Code:
-    Fernbedienung!
-
 Latex:
-    Anhang: Liste mit allen Komponenten und Kurzbeschreibung
-    Unterschied funktionale und nicht funktionale Anforderungen
    Overfull H-Boxen
    Test Motor, Zeiten kontrolieren. Wenn einfach so dann bezug auf fehler bei Timing und freeRtos
    Was mit den nicht erfüllten Anforderungen machen?
@@ -87,6 +87,7 @@ public:
     * @param status
     */
    void setDrivingStatus(Status status);
+    Status getDrivingStatus() const { return this->driving_status; }

    /**
     * @brief Stops the engine immediately
@@ -14,12 +14,12 @@

 #include <stdint.h>

-#define HW1
+#define HOTSPOT

 #ifdef HOTSPOT
 namespace NetworkConfig
 {
-    const char ssid[] = "Kleiax Handy";
+    const char ssid[] = "KleiaxHandy";
    const char password[] = "12345677";
    const char ip[] = "192.168.43.4";
    const char subnet[] = "255.255.255.0";
@@ -1,121 +0,0 @@
-/**
- * @file calcAzimuth.cpp
- * @author Alexander Klein (alex@kleiax.de)
- * @brief
- * @version 0.1
- * @date 2023-09-03
- *
- * @copyright Copyright (c) 2023
- *
- */
-
-#include "calcAzimuth.h"
-
-CalcAzimuth::CalcAzimuth(Point point)
-    : lastChangePoint{point}, currentPosition{point}
-{
-    Component::loopDelay = CalcAzimuth::loopDelay;
-}
-
-void CalcAzimuth::drivingDirectionChange(Point point)
-{
-    if (point.isInit() && point.isValid())
-    {
-        this->directionChangeMode = true;
-        this->lastChangePoint = point;
-        this->state = State::Invalid;
-    }
-}
-
-void CalcAzimuth::updateCurrentPosition(Point point)
-{
-    this->currentPosition = point;
-    this->positionChanged = true;
-}
-
-String CalcAzimuth::stateToString(State state)
-{
-    switch (state)
-    {
-    case State::Invalid:
-        return "Invalid";
-
-    case State::Bad:
-        return "Bad";
-
-    case State::Ok:
-        return "Ok";
-
-    case State::Good:
-        return "Good";
-
-    case State::Super:
-        return "Super";
-
-    default:
-        return "UNKOWN";
-    }
-}
-
-void CalcAzimuth::run()
-{
-    if (!this->positionChanged)
-    {
-        return;
-    }
-
-    this->positionChanged = false;
-    this->updateAzimuth();
-}
-
-void CalcAzimuth::updateAzimuth()
-{
-    if (!this->directionChangeMode || this->lastChangePoint.distanceTo(this->currentPosition) < 1.0)
-    {
-        this->state = State::Invalid;
-        this->calcAzimuth = INT16_MIN;
-        return;
-    }
-
-    this->calcAzimuth = this->lastChangePoint.courseTo(this->currentPosition);
-
-    // Map point accuracy to State
-    if (this->lastChangePoint.getAccuracy() == Point::Accuracy::oneDigOfCM || this->currentPosition.getAccuracy() == Point::Accuracy::oneDigOfCM)
-    {
-        this->state = State::Good;
-    }
-    else if (this->lastChangePoint.getAccuracy() == Point::Accuracy::twoDigOfCM || this->currentPosition.getAccuracy() == Point::Accuracy::twoDigOfCM)
-    {
-        this->state = State::Ok;
-    }
-    else if (this->lastChangePoint.getAccuracy() == Point::Accuracy::threeDigOfCM || this->currentPosition.getAccuracy() == Point::Accuracy::threeDigOfCM)
-    {
-        this->state = State::Bad;
-    }
-    else
-    {
-        this->state = State::Invalid;
-    }
-
-    // Upgrade quality if the range grows up
-    if (this->lastChangePoint.distanceTo(this->currentPosition) > this->minDistanceForBetterQuality)
-    {
-        switch (this->state)
-        {
-        case State::Bad:
-            this->state = State::Ok;
-            break;
-
-        case State::Ok:
-            this->state = State::Good;
-            break;
-
-        case State::Good:
-            this->state = State::Super;
-            break;
-
-        default:
-            break;
-        }
-    }
-}
@@ -1,93 +0,0 @@
-/**
- * @file calcAzimuth.h
- * @author Alexander Klein (alex@kleiax.de)
- * @brief Contains a class that calculates the azimuth from a last and a current position
- * @version 0.1
- * @date 2023-09-03
- *
- * @copyright Copyright (c) 2023
- *
- */
-
-#ifndef CALC_AZIMUTH_H
-#define CALC_AZIMUTH_H
-
-#include "component.h"
-#include "point.h"
-
-/**
- * @brief A class to calculate an azimuth
- *
- * This class calculates the current Azimuth with the last position
- * where the rover has been rotated and the current position
- */
-class CalcAzimuth : public Component
-{
-public:
-    /**
-     * @brief States which represent the quality of the current calculated azimuth
-     */
-    enum State
-    {
-        Invalid,
-        Bad,
-        Ok,
-        Good,
-        Super
-    };
-
-    /**
-     * @brief Construct a new Calc Azimuth object
-     *
-     * @param point current position
-     */
-    CalcAzimuth(Point point);
-
-    /**
-     * @brief Have to be called if the rover rotates
-     *
-     * @param point current position
-     */
-    void drivingDirectionChange(Point point);
-
-    /**
-     * @brief update the current position
-     *
-     * This function should be called if the rover has moved in
-     * a straight direction, to calculated the current Azimuth.
-     * More distance to the point given to drivingDirectionChange()
-     * increase the accuracy of the calculation.
-     *
-     * @param point current position
-     */
-    void updateCurrentPosition(Point point);
-    void disableCalcAzimuth() { this->directionChangeMode = false; }
-
-    int16_t getAzimuth() const { return this->calcAzimuth; }
-
-    /**
-     * @brief Get the State struct
-     *
-     * @return State current quality of the calculation
-     */
-    State getState() const { return this->state; }
-
-    static String stateToString(State state);
-
-private:
-    void run() override;
-    void updateAzimuth();
-
-    State state = State::Invalid;
-    Point lastChangePoint;
-    Point currentPosition;
-
-    bool positionChanged = false;
-    bool directionChangeMode = false;
-    int16_t calcAzimuth = INT16_MAX;
-    double minDistanceForBetterQuality = 2;
-
-    static constexpr uint8_t loopDelay = 50;
-};
-
-#endif // CALC_AZIMUTH_H
@@ -19,7 +19,7 @@ void Component::loop()
            (*it)->loop();
        }
    }
-    this->runAsChild();F
+    this->runAsChild();

    if (this->onlyChilds)
    {
@@ -33,6 +33,7 @@ void MotorControl::init(uint8_t pwmPin, uint8_t pwmChannel, uint8_t dir_1, uint8
    ledcSetup(this->pwmChannel, MotorControl::pwmFreq, MotorControl::pwmRes);
    ledcAttachPin(this->pwmPin, this->pwmChannel);
    ledcWrite(this->pwmChannel, 0);
+    std::cout << "Init pwm" << std::endl;
 }

 void MotorControl::run()
@@ -56,7 +57,7 @@ void MotorControl::run()
        return;
    }

-    // Positive or negative tagret speed
+    // Positive or negative target speed
    if (this->targetPower >= 0)
    {
        // Positive or negative speed
@@ -97,28 +98,6 @@ void MotorControl::run()
    }
 }

-void MotorControl::setMinPwm(uint8_t min)
-{
-    if (min > MotorControl::maxPwmMin)
-    {
-        min = MotorControl::maxPwmMin;
-    }
-    // transform percentage to real pwm value
-    min = static_cast<uint8_t>(((static_cast<uint8_t>(1) << pwmRes) - 1) * (min / 100.0));
-    this->dutycycleMin = min;
-}
-
-void MotorControl::setMaxPwm(uint8_t max)
-{
-    if (max > 100)
-    {
-        max = 100;
-    }
-    // transform percentage to real pwm value
-    max = static_cast<uint8_t>(((static_cast<uint8_t>(1) << pwmRes) - 1) * (max / 100.0));
-    this->dutycycleMax = max;
-}
-
 void MotorControl::setTargetPower(int8_t power)
 {
    if (power <= 100 && power >= -100)
@@ -158,7 +137,6 @@ bool MotorControl::isAccelerationNegative() const

 void MotorControl::setRealPower(int8_t power)
 {
-    // TODO: Exceptionhandling
    if (power <= 100 && power >= -100)
    {
        this->power = power;
@@ -175,10 +153,11 @@ void MotorControl::setRealPower(int8_t power)
        digitalWrite(this->dir_2, LOW);
        ledcWrite(this->pwmChannel, 0);
        this->dutycycle = 0;
+        std::cout << "abort" << std::endl;
        return;
    }

-    const uint8_t pwm_val = map(abs(power), 0, 100, this->dutycycleMin, this->dutycycleMax);
+    const uint8_t pwm_val = map(abs(power), 0, 100, MotorControl::minPwmVal, MotorControl::maxPwmVal);

    if ((this->direction == 1 || this->direction == 0) && power < 0)
    { // new direction backward
@@ -193,14 +172,13 @@ void MotorControl::setRealPower(int8_t power)
        digitalWrite(this->dir_2, LOW);
    }

+    std::cout << "MotorControl::setRealPower pwm_val: " << (int) pwm_val << " channel:" << (int) this->pwmChannel << std::endl;
    ledcWrite(this->pwmChannel, pwm_val);
    this->dutycycle = pwm_val;
 }

 void MotorControl::increasePower(int8_t power)
 {
-    // TODO: Exceptionhandling
-    // TODO: make a stop befor a direction change
    if (abs(power) > 2 * MotorControl::powerSteps)
    {
        Serial.println("Invalid Argument in MotorControl::increasePower");
@@ -38,20 +38,6 @@ public:
     */
    void init(uint8_t pwmPin, uint8_t pwmChannel, uint8_t dir_1, uint8_t dir_2);

-    /**
-     * @brief Set the minimum duty cycle
-     *
-     * @param min duty cycle in percent
-     */
-    void setMinPwm(uint8_t min);
-
-    /**
-     * @brief Set the maximum duty cycle
-     *
-     * @param max duty cycle in percent
-     */
-    void setMaxPwm(uint8_t max);
-
    /**
     * @brief Set the Target Power
     *
@@ -103,6 +89,8 @@ private:
    static constexpr uint8_t pwmRes = 8;
    static constexpr uint8_t powerSteps = 2; //  A total of 20 levels ( 100 / SPEED_STEPS ) * RUN_MOTOR_CONTROL_DELAY = 500ms
    static constexpr uint8_t maxPwmMin = 80;
+    static constexpr uint8_t maxPwmVal = 250;
+    static constexpr uint8_t minPwmVal = 55; // Max 98% of 2^PWM_RES

    int8_t targetPower = 0;
    int8_t power = 0;
@@ -111,8 +99,6 @@ private:
    uint8_t pwmPin = 0;
    uint8_t pwmChannel = 0;
    uint16_t dutycycle = 0;
-    uint8_t dutycycleMin = 55;
-    uint8_t dutycycleMax = 98; // Max 98% of 2^PWM_RES
    uint8_t dir_1 = 0;
    uint8_t dir_2 = 0;
 };
@@ -1,178 +0,0 @@
-/**
- * @file navigation.cpp
- * @author Alexander Klein (alex@kleiax.de)
- * @brief Contains the implementation of the class Navigation
- * @version 0.1
- * @date 2022-01-31
- *
- * @copyright Copyright (c) 2022
- *
- */
-
-#include "navigation.h"
-
-Navigation::Navigation(const SensorData *sensorData, Route *route)
-    : sensorData{sensorData}
-{
-    this->init(route);
-}
-
-void Navigation::init(Route *route)
-{
-    if (static_cast<bool>(route))
-    {
-        this->route = route;
-    }
-    else
-    {
-        this->route = new Route();
-    }
-
-    Component::loopDelay = Navigation::loopDelay;
-}
-
-Navigation::~Navigation()
-{
-    delete this->route;
-}
-
-void Navigation::run() {}
-
-void Navigation::newRoute()
-{
-    delete this->route;
-    this->route = new Route();
-}
-
-bool Navigation::startNavigation()
-{
-    const Point newTargetPoint = this->route->startRoute();
-    this->navigationStarted = this->setTargetPoint(newTargetPoint);
-    if (this->navigationStarted)
-    {
-        this->navigationFinished = false;
-    }
-    return this->navigationStarted;
-}
-
-Navigation::Status Navigation::getCourseCorrection(CourseCorrection &correction, bool forceUpdate)
-{
-    if (this->navigationFinished)
-    {
-        return Status::Complete;
-    }
-
-    if (this->currentPosition.getAccuracy() <= this->minAccuracy)
-    {
-        return Status::InsufficientAccuracy;
-    }
-
-    // Check if the Rover has moved, if the Rover hasnt moved this function will be return.
-    if (this->currentPosition.distanceTo(this->lastPointCalcCorrection) < (this->minDistanceToReachPoint) / 2 && !forceUpdate)
-    {
-        correction.correction = this->calculateCourseCorrection(this->lastPointCalcCorrection);
-        correction.distance = this->lastPointCalcCorrection.distanceTo(this->targetPoint);
-        return Status::Unchanged;
-    }
-
-    double distance = this->currentPosition.distanceTo(this->targetPoint);
-
-    // Check if I need a new Point
-    if (distance < this->minDistanceToReachPoint && this->preventNextPoint == false)
-    {
-        if (!this->nextPoint())
-        {
-            this->navigationFinished = true;
-            this->navigationStarted = false;
-            return Status::Complete; // End of navigation
-        }
-        distance = this->currentPosition.distanceTo(this->targetPoint);
-    }
-
-    correction.correction = this->calculateCourseCorrection(this->currentPosition);
-    correction.distance = distance;
-    this->lastPointCalcCorrection = this->currentPosition;
-    return Status::Updated;
-}
-
-Navigation::Status Navigation::addCurrentPosToRoute()
-{
-    if (this->currentPosition.getAccuracy() <= this->minAccuracy)
-    {
-        return Status::InsufficientAccuracy;
-    }
-
-    // First Point
-    if (this->route->getRouteInfo().totalPoints == 0)
-    {
-        this->route->addPointToRoute(this->currentPosition);
-        this->lastPointRouteInsert = this->currentPosition;
-        return Status::Updated;
-    }
-
-    // Every Point after the first
-    const double distance = this->currentPosition.distanceTo(this->lastPointRouteInsert);
-    if (Navigation::minDisBetweenPoints <= distance && Navigation::maxDisBetweenPoints >= distance)
-    {
-        this->route->addPointToRoute(this->currentPosition);
-        this->lastPointRouteInsert = this->currentPosition;
-        return Status::Updated;
-    }
-    return Status::Unchanged;
-}
-
-int16_t Navigation::calculateCourseCorrection(Point &point)
-{
-    const int16_t targetCourse = point.courseTo(this->targetPoint);
-    int16_t correctionCourse = 0;
-
-    if (this->sensorData->getCalcAzimuthState() == CalcAzimuth::State::Good || this->sensorData->getCalcAzimuthState() == CalcAzimuth::State::Super)
-    {
-        correctionCourse = targetCourse - this->sensorData->getCalcAzimuth();
-        this->lastUsedCalcAzimuth = true;
-    }
-    else
-    {
-        correctionCourse = targetCourse - this->sensorData->getRealAzimuth();
-        this->lastUsedCalcAzimuth = false;
-    }
-
-    return Navigation::fixDegree(correctionCourse);
-}
-
-bool Navigation::nextPoint()
-{
-    if (!this->navigationStarted)
-    {
-        return false;
-    }
-    return this->setTargetPoint(this->route->getNextPoint());
-}
-
-bool Navigation::setTargetPoint(Point target)
-{
-    if (target.isInit())
-    {
-        this->targetPoint = target;
-        return true;
-    }
-    return false;
-}
-
-int16_t Navigation::fixDegree(int16_t degree)
-{
-    static constexpr uint16_t fullCircle = 360;
-
-    while (degree < -fullCircle / 2 || degree > fullCircle / 2)
-    {
-        if (degree > fullCircle / 2)
-        {
-            degree -= fullCircle;
-        }
-        else if (degree < -fullCircle / 2)
-        {
-            degree += fullCircle;
-        }
-    }
-    return degree;
-}
@@ -1,163 +0,0 @@
-/**
- * @file navigation.h
- * @author Alexander Klein (alex@kleiax.de)
- * @brief Contains a class which navigate an object by the given route
- * @version 0.1
- * @date 2022-01-10
- *
- * @copyright Copyright (c) 2022
- *
- */
-
-#ifndef NAVIGATION_H
-#define NAVIGATION_H
-
-#include <Arduino.h>
-#include <iostream>
-
-#include "route.h"
-#include "sensorData.h"
-#include "component.h"
-
-/**
- * @brief This struct inherits the result of the navigation
- *
- * The drive get objects of this struct and should
- * correct the direction in dependency on this.
- *
- */
-struct CourseCorrection
-{
-    int16_t correction;
-    double distance;
-};
-
-/**
- * @brief This class navigate an object
- *
- * The class use the given Route and the gps device
- * to tell the driver in which direction he have to
- * be drive and the distance to the next checkpoint.
- *
- */
-class Navigation : public Component
-{
-public:
-    enum Status
-    {
-        InsufficientAccuracy,
-        Unchanged,
-        Updated,
-        Complete
-    };
-
-    /**
-     * @brief Construct a new Navigation object
-     *
-     * @param sensorData
-     * @param route
-     */
-    Navigation(const SensorData *sensorData, Route *route = nullptr);
-
-    /**
-     * @brief Destroy the Navigation object
-     *
-     */
-    ~Navigation();
-
-    /**
-     * @brief creates a new empty route
-     *
-     */
-    void newRoute();
-
-    /**
-     * @brief Tries to start the route
-     *
-     * For example the route can not be started
-     * if there are no Points or wrong Points.
-     *
-     * @return true route is started
-     * @return false route can not be started
-     */
-    bool startNavigation();
-    void freezeTargetPoint(bool val = true) { this->preventNextPoint = val; };
-
-    double increaseMinDistanceToReachPoint() { return this->minDistanceToReachPoint += 0.1; }
-    double decreaseMinDistanceToReachPoint() { return this->minDistanceToReachPoint -= 0.1; }
-
-    // TODO: Dokumentation korrigieren.
-    /**
-     * @brief Get the Course Correction object
-     *
-     * @param correction
-     * @param forceUpdate
-     * @return Status
-     */
-    Status getCourseCorrection(CourseCorrection &correction, bool forceUpdate = false);
-
-    // TODO: Dokumentation korrigieren.
-    /**
-     * @brief Tries to add the current Position to the route
-     *
-     * This can be go wrong if there is no valid GPS signal
-     *
-     * @return true successful added point
-     * @return false no point added to route
-     */
-    Status addCurrentPosToRoute();
-
-    /**
-     * @brief Get the Route Info object
-     *
-     * This object contains information about the route.
-     * For example the stored points.
-     *
-     * @return RouteInfo
-     */
-    RouteInfo getRouteInfo() const { return this->route->getRouteInfo(); }
-    Route *getRoute() const { return this->route; }
-    Point getCurrentPosition() const { return this->currentPosition; }
-
-    Point::Accuracy getMinAccuracy() const { return this->minAccuracy; }
-    void setMinAccuracy(Point::Accuracy accuracy) { this->minAccuracy = accuracy; }
-
-    // map input in range from -180 to 180 degree
-    static int16_t fixDegree(int16_t degree);
-
-private:
-    void run() override;
-    void init(Route *route);
-    bool nextPoint();
-    bool setTargetPoint(Point target);
-    int16_t calculateCourseCorrection(Point &point);
-
-    static constexpr uint8_t loopDelay = 20;
-    static constexpr uint8_t maxDisBetweenPoints = 10;
-    static constexpr float minDisBetweenPoints = 0.3;
-
-    const SensorData *sensorData;
-    Route *route = nullptr;
-
-    Point lastPointRouteInsert;
-    Point lastPointCalcCorrection;
-    Point lastPointDrivingDirectionChange;
-    Point targetPoint;
-    Point currentPosition;
-    Point::Accuracy minAccuracy = Point::Accuracy::twoDigOfCM;
-
-    bool navigationStarted = false;
-    bool navigationFinished = false;
-    bool isNtripInit = false;
-    bool preventNextPoint = false;
-    bool directionChangeMode = false;
-    bool lastUsedCalcAzimuth = false;
-
-    uint8_t timeToWait = 200;
-    uint32_t lastMillis = 0;
-    uint32_t ubxUpdateTime = 0;
-
-    double minDistanceToReachPoint = 0.5;
-};
-
-#endif // NAVIGATION_H
@@ -1,348 +0,0 @@
-/**
- * @file NTRIPClient.cpp
- * @author Alexander Klein (alex@kleiax.de)
- * @brief Contains the implementation of the class NTRIPClient.
- * @version 0.1
- * @date 2022-09-18
- *
- * @copyright Copyright (c) 2022
- *
- */
-
-#include "ntripClient.h"
-
-NTRIPClient::NTRIPClient(SFE_UBLOX_GNSS *gps, const char *host, uint16_t port, const char *mountPoint, const char *user, const char *password)
-    : gps{gps}, port{port}, host{host}, mountPoint{mountPoint}, user{user}, password{password}, ntripClient{new WiFiClient}, state{NTRIPClientStates::closeConnection}
-{
-    Component::loopDelay = NTRIPClient::loopDelay;
-}
-
-NTRIPClient::~NTRIPClient()
-{
-    delete this->ntripClient;
-}
-
-void NTRIPClient::run()
-{
-    switch (this->state)
-    {
-    case NTRIPClientStates::openConnection:
-        if (!this->activated)
-        {
-            this->state = NTRIPClientStates::closeConnection;
-            break;
-        }
-
-        std::cout << "Connecting to the NTRIP caster..." << std::endl;
-        if (this->beginClient())
-        {
-            std::cout << "Connected to the NTRIP caster!" << std::endl;
-            this->state = NTRIPClientStates::pushData;
-        }
-        else
-        {
-            std::cout << "Failed!" << std::endl;
-            this->state = NTRIPClientStates::wait;
-            this->activated = false;
-        }
-        break;
-
-    case NTRIPClientStates::pushData:
-        if (!processConnection() || !this->activated)
-        {
-            this->state = NTRIPClientStates::closeConnection;
-        }
-        break;
-
-    case NTRIPClientStates::closeConnection:
-        std::cout << "Closing the connection to the NTRIP caster..." << std::endl;
-        this->closeConnection();
-        state = NTRIPClientStates::wait;
-        break;
-
-    case NTRIPClientStates::wait:
-        if (this->activated)
-        {
-            this->state = NTRIPClientStates::openConnection;
-        }
-        else
-        {
-            this->checkAutoReconnect();
-        }
-        break;
-
-    case NTRIPClientStates::notAvailable:
-        break;
-
-    default:
-        std::cout << "Wrong state in NTRIPClient.cpp..." << std::endl;
-        this->state = NTRIPClientStates::closeConnection;
-        break;
-    }
-}
-
-void NTRIPClient::runAsChild()
-{
-    this->pushGPGGA();
-}
-
-void NTRIPClient::gpsConfiguration()
-{
-    this->gps->setSPIOutput(COM_TYPE_UBX | COM_TYPE_NMEA);
-    this->gps->setPortInput(COM_PORT_SPI, COM_TYPE_UBX | COM_TYPE_NMEA | COM_TYPE_RTCM3);
-    // Set the differential mode - ambiguities are fixed whenever possible
-    this->gps->setDGNSSConfiguration(SFE_UBLOX_DGNSS_MODE_FIXED);
-    this->gps->setMainTalkerID(SFE_UBLOX_MAIN_TALKER_ID_GP);
-    this->gps->enableNMEAMessage(UBX_NMEA_GGA, COM_PORT_SPI, 10);
-}
-
-bool NTRIPClient::setActivated(bool state)
-{
-    if (state && this->state != NTRIPClientStates::notAvailable)
-    {
-        this->activated = true;
-    }
-    else if (state)
-    {
-        return false;
-    }
-    else
-    {
-        this->activated = false;
-        this->autoReconnect = false;
-    }
-    return true;
-}
-
-void NTRIPClient::setAutoReconnect(bool state)
-{
-    if (state)
-    {
-        this->reconnectAttemps = 0;
-        this->autoReconnect = true;
-        return;
-    }
-
-    this->autoReconnect = false;
-}
-
-bool NTRIPClient::beginClient()
-{
-    static constexpr uint16_t httpError = 401;
-    static constexpr uint16_t httpCheck = 200;
-
-    std::cout << "Opening socket to " << this->host << std::endl;
-
-    char serverRequest[this->bufferSize];
-    char credentials[this->bufferSize];
-
-    if (!static_cast<bool>(this->ntripClient->connect(static_cast<const char *>(this->host), this->port)))
-    {
-        std::cout << "Connection to caster failed" << std::endl;
-        return false;
-    }
-    std::cout << "Connected to " << this->host << " : " << this->port << std::endl;
-    std::cout << "Requesting NTRIP Data from mount point " << this->mountPoint << std::endl;
-
-    // Generate the server request (GET)
-    snprintf(static_cast<char *>(serverRequest),
-             this->bufferSize,
-             static_cast<const char *>("GET /%s HTTP/1.0\r\nUser-Agent: NTRIP SparkFun u-blox Client v1.0\r\n"),
-             this->mountPoint);
-
-    // Credentials
-    const uint8_t userCredentialsLength = strlen(this->user) + strlen(this->password) + 2;
-    auto *userCredentials = new char[userCredentialsLength];
-    snprintf(static_cast<char *>(userCredentials), userCredentialsLength, static_cast<const char *>("%s:%s"), this->user, this->password);
-
-    std::cout << "Sending credentials: " << userCredentials << std::endl;
-
-    // Encode
-    const base64 base;
-    const String strEncodedCredentials = base64::encode(userCredentials);
-    delete userCredentials;
-    char encodedCredentials[strEncodedCredentials.length() + 1];
-    strEncodedCredentials.toCharArray(static_cast<char *>(encodedCredentials), sizeof(encodedCredentials));
-
-    snprintf(credentials, sizeof(credentials), static_cast<const char *>("Authorization: Basic %s\r\n"), static_cast<const char *>(encodedCredentials));
-
-    // Add the encoded credentials to the server request
-    strncat(static_cast<char *>(serverRequest), static_cast<const char *>(credentials), this->bufferSize);
-    strncat(static_cast<char *>(serverRequest), static_cast<const char *>("\r\n"), this->bufferSize);
-
-    std::cout << static_cast<const char *>("serverRequest size: ")
-              << strlen(serverRequest)
-              << static_cast<const char *>(" of ")
-              << this->bufferSize
-              << static_cast<const char *>(" bytes available")
-              << std::endl;
-
-    // Send the server request
-    std::cout << "Sending server request: " << serverRequest << std::endl;
-    this->ntripClient->write(serverRequest, strlen(serverRequest));
-
-    // Wait up to 5 seconds for response
-    const uint32_t lastMillis = millis();
-    while (static_cast<bool>(!ntripClient->available()))
-    {
-        if (millis() - lastMillis > this->timeOut)
-        {
-            std::cout << "Caster timed out!" << std::endl;
-            this->ntripClient->stop();
-            return false;
-        }
-        delay(10);
-    }
-
-    // Check reply
-    uint16_t httpStatusCode = 0;
-    char response[this->bufferSize];
-    uint16_t responseIndex = 0;
-    while (static_cast<bool>(this->ntripClient->available()))
-    {
-        if (responseIndex == sizeof(response))
-        {
-            break;
-        }
-
-        response[responseIndex++] = ntripClient->read();
-
-        if (httpStatusCode == 0)
-        {
-            if (strstr(response, static_cast<const char *>("200")) != nullptr)
-            {
-                httpStatusCode = httpCheck;
-            }
-            if (strstr(response, static_cast<const char *>("401")) != nullptr)
-            {
-                httpStatusCode = httpError;
-            }
-        }
-    }
-    response[responseIndex] = '\0';
-
-    // std::cout << "Caster response: " << response << std::endl;
-
-    if (httpStatusCode != httpCheck)
-    {
-        std::cout << "Failed to connect to " << this->host << " - HTTP Code: " << (int)httpStatusCode
-                  << " Length of Response: " << responseIndex << std::endl;
-
-        if (httpStatusCode == 0)
-        {
-            std::cout << "Response: " << response << std::endl;
-        }
-        else if (httpStatusCode == httpError)
-        {
-            std::cout << "Statuscode 401 - Unauthorized" << std::endl;
-        }
-        return false;
-    }
-
-    std::cout << "Connected to: " << this->host << std::endl;
-    this->lastReceivedRtcmTime = millis();
-    return true;
-}
-
-void NTRIPClient::closeConnection()
-{
-    if (static_cast<bool>(this->ntripClient->connected()))
-    {
-        this->ntripClient->stop();
-    }
-    this->activated = false;
-    std::cout << "NtripClient disconnected from: " << this->host << std::endl;
-}
-
-bool NTRIPClient::processConnection()
-{
-    if (static_cast<bool>(this->ntripClient->connected()))
-    {
-        uint8_t rtcmData[this->bufferSize * 8];
-        uint16_t rtcmCount = 0;
-
-        while (static_cast<bool>(this->ntripClient->available()))
-        {
-            rtcmData[rtcmCount++] = ntripClient->read();
-            if (rtcmCount == sizeof(rtcmData))
-            {
-                break;
-            }
-        }
-
-        if (rtcmCount > 0)
-        {
-            this->lastReceivedRtcmTime = millis();
-            this->gps->pushRawData(static_cast<uint8_t *>(rtcmData), rtcmCount);
-            // std::cout << "Pushed " << rtcmCount << " RTCM bytes to ZED." << std::endl;
-        }
-    }
-    else
-    {
-        std::cout << "Connection to " << this->host << " dropped!" << std::endl;
-        return false;
-    }
-
-    if (millis() - this->lastReceivedRtcmTime > this->timeOut)
-    {
-        std::cout << "RTCM timeout!" << std::endl;
-        return false;
-    }
-
-    return true;
-}
-
-void NTRIPClient::checkAutoReconnect()
-{
-    if (!this->autoReconnect)
-    {
-        return;
-    }
-
-    if (millis() - this->lastReconnectTime < this->reconnectDelayTime)
-    {
-        return;
-    }
-    this->lastReconnectTime = millis();
-
-    if (this->reconnectAttemps >= this->maxReconnectAttemps)
-    {
-        this->autoReconnect = false;
-        return;
-    }
-
-    this->activated = true;
-    this->reconnectAttemps++;
-}
-
-void NTRIPClient::pushGPGGA()
-{
-    if (!this->transmitLocation && !this->activated)
-    {
-        return;
-    }
-
-    if (millis() - this->lastGPGGAPushTime < this->pushGPGGATime)
-    {
-        return;
-    }
-    this->lastGPGGAPushTime = millis();
-
-    if (!this->ntripClient->connected())
-    {
-        std::cout << "Failed to pushing GGA to server: " << std::endl;
-    }
-
-    auto *data = new NMEA_GGA_data_t;
-    const uint8_t res = this->gps->getLatestNMEAGPGGA(data);
-    if (res == 2)
-    {
-        this->ntripClient->print(reinterpret_cast<const char *>(data));
-    }
-    delete data;
-}
-
-bool NTRIPClient::isConnected()
-{
-    return this->state == NTRIPClientStates::pushData;
-}
@@ -1,134 +0,0 @@
-/**
- * @file ntripClient.h
- * @author Alexander Klein (alex@kleiax.de)
- * @brief Contains the class NTRIPClient
- * @version 0.1
- * @date 2023-02-13
- *
- * @copyright Copyright (c) 2023
- *
- */
-
-#ifndef NTRIP_CLIENT
-#define NTRIP_CLIENT
-
-#include <WiFiClient.h>
-#include <Arduino.h>
-#include <base64.h>
-#include <iostream>
-#include <SparkFun_u-blox_GNSS_Arduino_Library.h>
-
-#include "debugTimes.h"
-#include "component.h"
-
-/**
- * @brief States for the state machine.
- *
- */
-enum NTRIPClientStates
-{
-    openConnection,
-    pushData,
-    closeConnection,
-    wait,
-    notAvailable
-};
-
-/**
- * @brief Ntrip Client
- *
- * This class can connect to a ntrip server to pull correction
- * data and push it to a given gnss module. This module have to be compatible
- * with the SparkFun u-blox GNSS Arduino Library.
- */
-class NTRIPClient : public Component
-{
-public:
-    /**
-     * @brief Construct a new NTRIPClient object
-     *
-     * @param gps The Gnss module
-     * @param host
-     * @param port
-     * @param mountPoint
-     * @param user
-     * @param password
-     */
-    NTRIPClient(SFE_UBLOX_GNSS *gps, const char *host, uint16_t port, const char *mountPoint, const char *user, const char *password);
-    ~NTRIPClient();
-
-    /**
-     * @brief Configure the Gnss module to accept correction data
-     *
-     */
-    void gpsConfiguration();
-
-    /**
-     * @brief Activate or deactivate the location transmission
-     *
-     * Some server need the position of the Gnss module to send the
-     * right correction data.
-     *
-     * @param b
-     */
-    void setTransmitLocation(bool b) { this->transmitLocation = b; }
-
-    /**
-     * @brief Activate or deactivate the connection to the server.
-     *
-     * @param state
-     * @return true success
-     * @return false failure
-     */
-    bool setActivated(bool state);
-    void setAutoReconnect(bool state);
-
-    bool isConnected();
-
-    /**
-     * @brief Get the Client State object
-     *
-     * Returns the state of the State machine
-     *
-     * @return NTRIPClientStates
-     */
-    NTRIPClientStates getClientState() { return this->state; }
-
-private:
-    void run() override;
-    void runAsChild() override;
-    void pushGPGGA();
-    bool beginClient();
-    void closeConnection();
-    bool processConnection();
-    void checkAutoReconnect();
-
-    SFE_UBLOX_GNSS *gps;
-    WiFiClient *ntripClient;
-    NTRIPClientStates state = NTRIPClientStates::notAvailable;
-
-    bool transmitLocation = false;
-    bool activated = true;
-    bool autoReconnect = false;
-
-    uint8_t reconnectAttemps = 0;
-    uint16_t port;
-    uint32_t lastReceivedRtcmTime = 0;
-    // uint32_t lastNtripConnectTime = 0;  // can deleted?
-    uint32_t lastGPGGAPushTime = 0;
-    uint32_t lastReconnectTime = 0;
-
-    const char *host;
-    const char *mountPoint;
-    const char *user;
-    const char *password;
-    const uint8_t maxReconnectAttemps = 10;
-    const uint16_t reconnectDelayTime = 1000;
-    const uint16_t timeOut = 10000;
-    const uint16_t bufferSize = 512;
-    const uint16_t pushGPGGATime = 10000;
-
-    static constexpr uint8_t loopDelay = 20;
-};
-
-#endif
@@ -1,100 +0,0 @@
-/**
- * @file route.cpp
- * @author Alexander Klein (alex@kleiax.de)
- * @brief Implements the class Route and Point
- * @version 0.1
- * @date 2022-01-31
- *
- * @copyright Copyright (c) 2022
- *
- */
-
-#include "route.h"
-
-void Route::addPointToRoute(Point point)
-{
-    this->points.push_back(point);
-}
-
-void Route::clear()
-{
-    this->points.clear();
-    this->currentPoint = 0;
-    this->started = false;
-}
-
-Point Route::startRoute()
-{
-    if (this->points.empty())
-    {
-        this->started = false;
-        return Point();
-    }
-
-    this->it = this->points.begin();
-    this->currentPoint = 1;
-    this->started = true;
-    return *this->it;
-}
-
-Point Route::endRoute()
-{
-    if (this->points.empty())
-    {
-        this->started = false;
-        return Point();
-    }
-
-    this->it = this->points.end();
-    // TODO: Understand why i have to decrement the iterator first to get realy the last element.
-    this->it--;
-    this->currentPoint = this->points.size();
-    this->started = true;
-    return *this->it;
-}
-
-Point Route::getNextPoint()
-{
-    Point point;
-    if (!this->started)
-    {
-        return point;
-    }
-
-    if (this->it != --this->points.end())
-    {
-        this->it++;
-        this->currentPoint++;
-        return *this->it;
-        // } else if (this->it == this->points.end() && this->currentPoint != this->points.size()) {
-        //     this->currentPoint++;
-        //     return *this->it;
-    }
-
-    return point;
-}
-
-Point Route::getPreviousPoint()
-{
-    Point point;
-    if (!this->started)
-    {
-        return point;
-    }
-
-    if (this->it != this->points.begin())
-    {
-        this->it--;
-        this->currentPoint--;
-        return *this->it;
-    }
-    return point;
-}
-
-RouteInfo Route::getRouteInfo()
-{
-    RouteInfo info{0, 0};
-    info.totalPoints = this->points.size();
-    info.currentPoint = this->currentPoint;
-    return info;
-}
@@ -1,111 +0,0 @@
-/**
- * @file route.h
- * @author Alexander Klein (alex@kleiax.de)
- * @brief Contains the class Route
- * @version 0.1
- * @date 2022-01-31
- *
- * @copyright Copyright (c) 2022
- *
- */
-
-#ifndef ROUTE_H
-#define ROUTE_H
-
-#include <cstdint>
-#include <list>
-
-#include "point.h"
-
-/**
- * @brief Holds some route information
- *
- */
-struct RouteInfo
-{
-    /**
-     * @brief Selected number of Points
-     */
-    uint16_t currentPoint;
-
-    /**
-     * @brief Total points stored in route
-     */
-    uint16_t totalPoints;
-};
-
-/**
- * @brief A class to manage multiple points
- *
- * The list of point presents a route which can be driven
- */
-class Route
-{
-public:
-    /**
-     * @brief Adds a point to the list.
-     *
-     * @param point
-     */
-    void addPointToRoute(Point point);
-
-    /**
-     * @brief Delete all points
-     */
-    void clear();
-
-    /**
-     * @brief Select the first point as target.
-     *
-     * @return Point
-     */
-    Point startRoute();
-
-    /**
-     * @brief Select the last point as target.
-     *
-     * @return Point
-     */
-    Point endRoute();
-
-    /**
-     * @brief Get the next point and set it as target.
-     *
-     * @return Point is zero if there are no more Points.
-     */
-    Point getNextPoint();
-
-    /**
-     * @brief Get the previous point and set it as target.
-     *
-     * @return Point
-     */
-    Point getPreviousPoint();
-
-    /**
-     * @brief Get the Route Info object
-     *
-     * @return RouteInfo
-     */
-    RouteInfo getRouteInfo();
-
-    /**
-     * @brief Get the Started object
-     *
-     * The Route will be marked as started when startRoute or
-     * endRoute has been called.
-     *
-     * @return true
-     * @return false
-     */
-    bool getStarted() const { return this->started; }
-
-private:
-    uint16_t currentPoint = 0;
-    bool started = false;
-
-    std::list<Point> points;
-    std::list<Point>::iterator it;
-};
-
-#endif // ROUTE_H
@@ -20,21 +20,6 @@ SensorData::SensorData()
    Component::loopDelay = SensorData::loopDelay;
 }

-SensorData::~SensorData()
-{
-    delete this->ntripClient;
-}
-
-void SensorData::enableNtrip(String host, uint16_t port, String mountPoint, String user, String password)
-{
-    this->ntripClient = new NTRIPClient(this->gnss, host.c_str(), port, mountPoint.c_str(), user.c_str(), password.c_str());
-    this->ntripClient->gpsConfiguration();
-    this->ntripClient->loop();
-    this->ntripClient->setActivated(false);
-    this->isNtripInit = true;
-    this->addChildComponent(this->ntripClient);
-}
-
 void SensorData::enableGnss(SPIClass *spiPort, uint8_t csPin)
 {
    this->gnss = new SFE_UBLOX_GNSS();
@@ -68,7 +53,6 @@ void SensorData::enableRealCompass()
    this->realCompass = new QMC5883LCompass();
    // Init Compass
    Wire.beginTransmission(address);
-    // TODO: describe Bytes !!!
    Wire.write(0x0b);
    Wire.write(0x01);
    Wire.endTransmission();
@@ -78,69 +62,6 @@ void SensorData::enableRealCompass()
    caliCompass.useData();
 }

-void SensorData::enableCalcCompass()
-{
-    // TODO: !!! implementieren
-}
-
-void SensorData::enableGyroscope()
-{
-    this->gyroscope = new MPU6050();
-    this->gyroscope->initialize();
-    if (!this->gyroscope->testConnection())
-    {
-        std::cout << "SensorData::enableGyroscope: Gyroskop is not conntected. Freeze!" << std::endl;
-        while (true)
-        {
-        }
-    }
-
-    const uint8_t deviceStatus = this->gyroscope->dmpInitialize();
-
-    // TODO: !!! MagicNumer 6x
-    this->gyroscope->setXGyroOffset(220);
-    this->gyroscope->setYGyroOffset(76);
-    this->gyroscope->setZGyroOffset(-85);
-    this->gyroscope->setZAccelOffset(1788);
-
-    if (deviceStatus == 0)
-    {
-        this->gyroscope->CalibrateAccel(6);
-        this->gyroscope->CalibrateGyro(6);
-        this->gyroscope->PrintActiveOffsets();
-        this->gyroscope->setDMPEnabled(true);
-    }
-    else
-    {
-        // ERROR!
-        // 1 = initial memory load failed
-        // 2 = DMP configuration updates failed
-        // (if it's going to break, usually the code will be 1)
-        std::cout << "SensorData::enableGyroscope: DMP Initialization failed (code" << static_cast<int>(deviceStatus) << "). Freeze!" << std::endl;
-        while (true)
-        {
-        }
-    }
-}
-
-CalcAzimuth::State SensorData::getCalcAzimuthState() const
-{
-    if (static_cast<bool>(this->calcCompass))
-    {
-        return this->calcCompass->getState();
-    }
-    return CalcAzimuth::State::Invalid;
-}
-
-NTRIPClientStates SensorData::getNtripState() const
-{
-    if (static_cast<bool>(this->ntripClient))
-    {
-        return this->ntripClient->getClientState();
-    }
-    return NTRIPClientStates::notAvailable;
-}
-
 void SensorData::printPVTdata(UBX_NAV_PVT_data_t *ubxDataStruct)
 {
    static constexpr uint8_t stringSize = 32;
@@ -235,13 +156,6 @@ void SensorData::run()
        this->realCompass->read();
        this->realAzimuth = this->realCompass->getAzimuth();
    }
-
-    if (static_cast<bool>(this->gyroscope) && this->gyroscope->dmpGetCurrentFIFOPacket(static_cast<uint8_t *>(this->gyroBuffer)))
-    {
-        this->gyroscope->dmpGetQuaternion(&this->quaternion, static_cast<uint8_t *>(this->gyroBuffer));
-        this->gyroscope->dmpGetGravity(&this->gravity, &this->quaternion);
-        this->gyroscope->dmpGetYawPitchRoll(static_cast<float *>(this->yawPitchRoll), &this->quaternion, &this->gravity);
-    }
 }

 void SensorData::runAsChild()
@@ -13,7 +13,6 @@
 #define SENSOR_DATA_H

 #include <SPI.h>
-#include <I2Cdev.h>
 #include <iostream>

 #include "component.h"
@@ -21,9 +20,6 @@

 #include <SparkFun_u-blox_GNSS_Arduino_Library.h>
 #include <QMC5883LCompass.h>
-#include <MPU6050_6Axis_MotionApps20.h>
-#include "calcAzimuth.h"
-#include "ntripClient.h"

 #include "point.h"

@@ -38,8 +34,6 @@ public:
    SensorData();
    ~SensorData();

-    void enableNtrip(String host, uint16_t port, String mountPoint, String user, String password);
-
    /**
     * @brief Enable the gnss module over spi
     *
@@ -55,7 +49,6 @@ public:

    void enableRealCompass();
    void enableCalcCompass();
-    void enableGyroscope();

    // Interface Const
    /**
@@ -65,45 +58,8 @@ public:
     */
    int16_t getRealAzimuth() const { return this->realAzimuth; }

-    /**
-     * @brief Get the azimuth calculated by CalcAzimuth
-     *
-     * Consider to call getCalcAzimuthState() to check, if the data is valid.
-     *
-     * @return int16_t
-     */
-    int16_t getCalcAzimuth() const { return this->calcAzimuth; }
-
-    /**
-     * @brief Get the CalcAzimuth::State object
-     *
-     * Needed to check the quality of calculated azimuth
-     *
-     * @return CalcAzimuth::State
-     */
-    CalcAzimuth::State getCalcAzimuthState() const;
-
    Point getCurrentPos() const { return this->currentPosition; }
    const UBX_NAV_PVT_data_t *getGnssData() const { return this->gnssData; };
-    NTRIPClientStates getNtripState() const;
-
-    /**
-     * @brief Get the data from the gyroscope
-     *
-     * The returned float pointer is an array of 3 floats
-     * - Yaw
-     * - Pitch
-     * - Roll
-     *
-     * @return const float*
-     */
-    const float *getGyroData() const { return this->yawPitchRoll; }
-
-    /**
-     * @brief Get the CalcCompass object
-     * @return CalcAzimuth*
-     */
-    CalcAzimuth *getCalcCompass() const { return this->calcCompass; }

    /**
     * @brief Get the RealCompass object
@@ -111,18 +67,6 @@ public:
     */
    QMC5883LCompass *getRealCompass() const { return this->realCompass; }

-    /**
-     * @brief Get the NTRIPClient object
-     * @return NTRIPClient*
-     */
-    NTRIPClient *getNtripClient() const { return this->ntripClient; }
-
-    /**
-     * @brief Get the Gyroscope object
-     * @return MPU6050*
-     */
-    MPU6050 *getGyroscope() const { return this->gyroscope; }
-
    // static
    /**
     * @brief Set the output status for PVTdata.
@@ -141,31 +85,14 @@ private:
    void updateUbxData();

    QMC5883LCompass *realCompass = nullptr;
-    CalcAzimuth *calcCompass = nullptr;
    SFE_UBLOX_GNSS *gnss = nullptr;
-    NTRIPClient *ntripClient = nullptr;
-    MPU6050 *gyroscope = nullptr;

    UBX_NAV_PVT_data_t *gnssData = nullptr;
    Point currentPosition;
-    Quaternion quaternion;
-    VectorFloat gravity;

-    char *host = nullptr;
-    char *mountPoint = nullptr;
-    char *user = nullptr;
-    char *password = nullptr;
-
-    bool isNtripInit = false;
-
-    uint8_t gyroBuffer[64];
-    uint16_t port = 0;
    int16_t realAzimuth = INT16_MAX;
-    int16_t calcAzimuth = INT16_MAX;
    uint32_t lastUbxUpdate = 0;

-    float yawPitchRoll[3]{0, 0, 0};
-
    // static
    static void printPVTdata(UBX_NAV_PVT_data_t *ubxDataStruct);
    static void savePVTdata(UBX_NAV_PVT_data_t *ubxDataStruct);
@@ -15,16 +15,14 @@ board_build.partitions = no_ota.csv
 framework = arduino
 monitor_speed = 115200
 upload_speed = 921600
-; monitor_port = COM6
+monitor_port = COM6
 lib_deps = 
 	https://git.kleiax.de/PlatformIO-Libs/SparkFunGNSS.git
 	knolleary/PubSubClient@^2.8
 	br3ttb/PID@^1.2.1
 	marcoschwartz/LiquidCrystal_I2C@^1.1.4
-	bblanchon/ArduinoJson@^6.20.0
 	mprograms/QMC5883LCompass@^1.2.0
-	jrowberg/I2Cdevlib-MPU6050@^1.0.0
-; upload_port = COM6
+upload_port = COM6
 test_ignore = test_desktop
 build_type = debug
 monitor_filters = esp32_exception_decoder
@@ -42,21 +40,3 @@ test_ignore = test_embedded

 [platformio]
 description = A Rover who should be drive a route by gps.
-
-
-; Bei Möglichkeit folgendes aus clang tidy entfernen
-; cppcoreguidelines-owning-memory
-; 
-; 
-; 
-; 
-; 
-; 
-; 
-; 
-; 
-; 
-; 
-; 
-; 
-#
@@ -1,375 +0,0 @@
-/**
- * @file menuRoute.cpp
- * @author Alexander Klein (alex@kleiax.de)
- * @brief Contains the implementation of the classes MenuActionRoute, MenuRoute and MenuRouteWrapper.
- * @version 0.1
- * @date 2022-12-28
- *
- * @copyright Copyright (c) 2022
- *
- */
-
-#include "menuRoute.h"
-
-MenuActionRoute::MenuActionRoute(MenuRoute *menuRoute, DataFunction dataFunction)
-    : menuRoute{menuRoute}, dataFunction{dataFunction}
-{
-}
-
-void MenuActionRoute::action()
-{
-    (this->menuRoute->*this->dataFunction)(0);
-}
-
-MenuRoute::MenuRoute(Route *route)
-    : route{route}
-{
-}
-
-MenuRoute::~MenuRoute()
-{
-    if (isInit)
-    {
-        delete this->mainMenu;
-    }
-}
-
-void MenuRoute::printMenu()
-{
-    if (!this->isInit)
-    {
-        this->isInit = true;
-        this->init();
-    }
-
-    this->mainMenu->printMenu();
-}
-
-void MenuRoute::down()
-{
-    if (blockInput)
-    {
-        return;
-    }
-    this->mainMenu->down();
-}
-
-void MenuRoute::up()
-{
-    if (blockInput)
-    {
-        return;
-    }
-    this->mainMenu->up();
-}
-
-void MenuRoute::right()
-{
-    if (blockInput)
-    {
-        return;
-    }
-    this->mainMenu->right();
-}
-
-void MenuRoute::left()
-{
-    if (blockInput)
-    {
-        return;
-    }
-    if (this->mainMenu->isInSubmenu())
-    {
-        this->mainMenu->left();
-    }
-    else
-    {
-        this->parentMenu->printMenu();
-    }
-}
-
-void MenuRoute::yes()
-{
-    if (blockInput)
-    {
-        return;
-    }
-    this->mainMenu->yes();
-}
-
-void MenuRoute::no()
-{
-    if (blockInput)
-    {
-        return;
-    }
-    if (this->mainMenu->isInSubmenu())
-    {
-        this->mainMenu->no();
-    }
-    else
-    {
-        this->left();
-    }
-}
-
-void MenuRoute::init()
-{
-    // auto dummy = []() {
-    //     std::cout << "Dummy in Action" <<std::endl;
-    // };
-
-    this->mainMenu = new Menu;
-    auto *pointsMenu = new MenuRoutePoints(this->route);
-
-    this->mainMenu->setLcd(this->lcd);
-    pointsMenu->setLcd(this->lcd);
-
-    auto *importWrapper = new MenuIntInput(1, new MenuRouteWrapper(this, &MenuRoute::importRoute));
-    auto *exportWrapper = new MenuIntInput(1, new MenuRouteWrapper(this, &MenuRoute::exportRoute));
-    auto *deleteWrapper = new MenuIntInput(1, new MenuRouteWrapper(this, &MenuRoute::deleteRoute));
-    auto *clearWrapper = new MenuActionRoute(this, &MenuRoute::clearRoute);
-
-    importWrapper->setLcd(this->lcd);
-    importWrapper->setMinMax(0, MenuRoute::maxRouteNumber);
-    importWrapper->setPrintParentMenu(false);
-    importWrapper->setEntry(0, "Import Route");
-
-    exportWrapper->setLcd(this->lcd);
-    exportWrapper->setMinMax(0, MenuRoute::maxRouteNumber);
-    exportWrapper->setPrintParentMenu(false);
-    exportWrapper->setEntry(0, "Export Route");
-
-    deleteWrapper->setLcd(this->lcd);
-    deleteWrapper->setMinMax(0, MenuRoute::maxRouteNumber);
-    deleteWrapper->setPrintParentMenu(false);
-    deleteWrapper->setEntry(0, "Delete Route");
-
-    this->mainMenu->addEntry(new MenuAction("Points", pointsMenu));
-    this->mainMenu->addEntry(new MenuAction("Clear", clearWrapper));
-    this->mainMenu->addEntry(new MenuAction("Import", importWrapper));
-    this->mainMenu->addEntry(new MenuAction("Export", exportWrapper));
-    this->mainMenu->addEntry(new MenuAction("Delete", deleteWrapper));
-}
-
-void MenuRoute::importRoute(uint8_t routeNumber)
-{
-    this->blockInput = true;
-
-    String lineOne = "";
-    String lineTwo = "";
-
-    if (WiFi.status() != WL_CONNECTED)
-    {
-        lineOne = "Not connected to";
-        lineTwo = "the WiFi.";
-        this->print(lineOne, lineTwo);
-        this->blockInput = false;
-        return;
-    }
-
-    if (ESP.getMaxAllocHeap() < JSON_DOCUMENT_SIZE_ROUTE)
-    {
-        lineOne = "Not enough mem";
-        lineTwo = "for Json obj";
-        this->print(lineOne, lineTwo);
-        this->blockInput = false;
-        return;
-    }
-
-    WiFiClient client;
-    HTTPClient http;
-    DynamicJsonDocument doc(JSON_DOCUMENT_SIZE_ROUTE);
-
-    String host = "http://rover.kleiax.de/api/";
-    host.concat(routeNumber);
-    http.begin(client, host);
-    const int httpResponseCode = http.GET();
-
-    lineOne = "Import complete";
-    lineTwo = "Code: ";
-
-    if (httpResponseCode == MenuRoute::httpValidImport)
-    {
-        deserializeJson(doc, http.getStream());
-    }
-    else
-    {
-        lineOne = "HTTP Error";
-    }
-
-    lineTwo.concat(httpResponseCode);
-    this->print(lineOne, lineTwo);
-
-    if (httpResponseCode <= 0)
-    {
-        this->blockInput = false;
-        return;
-    }
-
-    uint16_t totalPoints = doc["amountPoints"];
-
-    this->route->clear();
-    for (uint16_t i = 0; i < totalPoints; i++)
-    {
-        Point::Coordinates coords;
-        coords.lat = doc["points"][i][0].as<double>();
-        coords.lon = doc["points"][i][1].as<double>();
-        this->route->addPointToRoute(Point(coords, true));
-    }
-
-    this->blockInput = false;
-    http.end();
-}
-
-void MenuRoute::exportRoute(uint8_t routeNumber)
-{
-    this->blockInput = true;
-    uint16_t totalPoints = this->route->getRouteInfo().totalPoints;
-
-    String lineOne = "";
-    String lineTwo = "";
-
-    if (WiFiSTAClass::status() != WL_CONNECTED)
-    {
-        lineOne = "Not connected to";
-        lineTwo = "the WiFi.";
-        this->print(lineOne, lineTwo);
-        this->blockInput = false;
-        return;
-    }
-
-    if (ESP.getMaxAllocHeap() < JSON_DOCUMENT_SIZE_ROUTE)
-    {
-        lineOne = "Not enough mem";
-        lineTwo = "for Json obj";
-        this->print(lineOne, lineTwo);
-        this->blockInput = false;
-        return;
-    }
-
-    DynamicJsonDocument doc(JSON_DOCUMENT_SIZE_ROUTE);
-    doc["number"] = routeNumber;
-    doc["amountPoints"] = totalPoints;
-
-    Point::Coordinates coords = this->route->startRoute().getCoordinates();
-    doc["points"][0][0] = coords.lat;
-    doc["points"][0][1] = coords.lon;
-    for (uint16_t i = 1; i < totalPoints; i++)
-    {
-        coords = this->route->getNextPoint().getCoordinates();
-        doc["points"][i][0] = coords.lat;
-        doc["points"][i][1] = coords.lon;
-    }
-    String jsonData;
-    serializeJson(doc, jsonData);
-
-    WiFiClient client;
-    HTTPClient http;
-
-    http.begin(client, "http://rover.kleiax.de/api/");
-    http.addHeader("Content-Type", "application/json");
-    const int httpResponseCode = http.POST(jsonData);
-
-    if (httpResponseCode == MenuRoute::httpValidExport)
-    {
-        lineOne = "Export complete";
-    }
-    else
-    {
-        lineOne = "HTTP Error";
-    }
-    lineTwo = "Code: ";
-    lineTwo.concat(httpResponseCode);
-    this->print(lineOne, lineTwo);
-    this->blockInput = false;
-
-    http.end();
-}
-
-void MenuRoute::deleteRoute(uint8_t routeNumber)
-{
-    this->blockInput = true;
-
-    String lineOne = "";
-    String lineTwo = "";
-
-    if (WiFiSTAClass::status() != WL_CONNECTED)
-    {
-        lineOne = "Not connected to";
-        lineTwo = "the WiFi.";
-        this->print(lineOne, lineTwo);
-        this->blockInput = false;
-        return;
-    }
-
-    if (ESP.getMaxAllocHeap() < JSON_DOCUMENT_SIZE_ROUTE)
-    {
-        lineOne = "Not enough mem";
-        lineTwo = "for Json obj";
-        this->print(lineOne, lineTwo);
-        this->blockInput = false;
-        return;
-    }
-
-    WiFiClient client;
-    HTTPClient http;
-    DynamicJsonDocument doc(JSON_DOCUMENT_SIZE_ROUTE);
-
-    String host = "http://rover.kleiax.de/api/";
-    host.concat(routeNumber);
-    http.begin(client, host);
-    const int httpResponseCode = http.sendRequest("DELETE");
-
-    lineOne = "Delete complete";
-    lineTwo = "Code: ";
-
-    if (httpResponseCode == MenuRoute::httpValidDelete)
-    {
-        deserializeJson(doc, http.getStream());
-    }
-    else
-    {
-        lineOne = "HTTP Error";
-    }
-
-    lineTwo.concat(httpResponseCode);
-    this->print(lineOne, lineTwo);
-
-    this->blockInput = false;
-    http.end();
-}
-
-void MenuRoute::clearRoute(uint8_t none)
-{
-    // The parameter exist only for compability
-    none;
-    this->route->clear();
-    this->print("Currente route", "deleted...");
-}
-
-MenuRouteWrapper::MenuRouteWrapper(MenuRoute *menuRoute, DataFunction dataFunction)
-    : menuRoute{menuRoute}, dataFunction{dataFunction}
-{
-}
-
-void MenuRouteWrapper::action(int16_t *values, uint8_t length)
-{
-    if (length < 1)
-    {
-        std::cout << "Error in MenuRouteWrapper::action" << std::endl;
-        return;
-    }
-
-    if (values[0] < 0)
-    {
-        values[0] = 0;
-    }
-
-    if (values[0] > UINT8_MAX)
-    {
-        values[0] = UINT8_MAX;
-    }
-
-    (this->menuRoute->*this->dataFunction)(values[0]);
-}
@@ -1,173 +0,0 @@
-/**
- * @file menuRoute.h
- * @author Alexander Klein (alex@kleiax.de)
- * @brief Contains a classes to handles routes with the user input.
- * @version 0.1
- * @date 2022-12-28
- *
- * @copyright Copyright (c) 2022
- *
- */
-
-#ifndef MENU_ROUTE_H
-#define MENU_ROUTE_H
-
-#include <Arduino.h>
-#include <ArduinoJson.h>
-#include <WiFi.h>
-#include <HTTPClient.h>
-
-#include "route.h"
-#include "menu.h"
-#include "menuControl.h"
-#include "menuIntInput.h"
-#include "menuRoutePoints.h"
-
-#define JSON_DOCUMENT_SIZE_ROUTE 4096
-
-class MenuRoute;
-typedef void (MenuRoute::*DataFunction)(uint8_t);
-
-/**
- * @brief MenuActionWrapper to call DataFunctions
- *
- * This class should be used to call importRoute,
- * exportRoute and clearRoute over the Menu.
- */
-class MenuActionRoute : public MenuActionWrapper
-{
-public:
-    /**
-     * @brief Construct a new Menu Action Route object
-     *
-     * @param menuRoute
-     * @param dataFunction like exportRoute
-     */
-    MenuActionRoute(MenuRoute *menuRoute, DataFunction dataFunction);
-
-    /**
-     * @brief Runs the given DataFunction
-     */
-    void action() override;
-
-private:
-    MenuRoute *menuRoute;
-    DataFunction dataFunction;
-};
-
-/**
- * @brief Handles routes
- *
- * With this menu the user can import, export and delete routes.
- */
-class MenuRoute : public MenuControl
-{
-public:
-    /**
-     * @brief Construct a new Menu Route object
-     *
-     * @param route
-     */
-    MenuRoute(Route *route);
-    ~MenuRoute();
-
-    /**
-     * @brief Prints the last informations
-     *
-     * On first call this function calls the init function.
-     * On every call this functions call the printMenu function from
-     * the mainMenu of this class.
-     */
-    void printMenu() override;
-
-    /**
-     * @name User Inputs
-     * @brief Inputs given by the parentMenu
-     */
-    ///@{
-    void down() override;
-    void up() override;
-    void right() override;
-    void left() override;
-    void yes() override;
-    void no() override;
-    ///@}
-
-    /**
-     * @brief Import a Route.
-     *
-     * The functions tries to pull the given route id from the RoverApi.
-     *
-     * @param routeNumber id
-     */
-    void importRoute(uint8_t routeNumber);
-
-    /**
-     * @brief Export a Route.
-     *
-     * The functions tries to push the current route to the RoverApi.
-     *
-     * @param routeNumber id
-     */
-    void exportRoute(uint8_t routeNumber);
-
-    /**
-     * @brief Delete a Route
-     *
-     * The functions tries to delete the current route from the RoverApi.
-     *
-     * @param routeNumber
-     */
-    void deleteRoute(uint8_t routeNumber);
-
-    /**
-     * @brief Delete the current Route.
-     *
-     * @param none this param is not be used.
-     */
-    void clearRoute(uint8_t none);
-
-private:
-    void init();
-
-    Route *route;
-    Menu *mainMenu = nullptr;
-
-    bool isInit = false;
-    bool blockInput = false;
-
-    static constexpr uint8_t maxRouteNumber = 100;
-    static constexpr uint16_t httpValidExport = 201;
-    static constexpr uint16_t httpValidImport = 202;
-    static constexpr uint16_t httpValidDelete = 202;
-};
-
-/**
- * @brief MenuRouteWrapper to call DataFunctions with numeric user input
- *
- */
-class MenuRouteWrapper : public MenuIntInputWrapper
-{
-public:
-    /**
-     * @brief Construct a new Menu Route Wrapper object.
-     *
-     * @param menuRoute
-     * @param dataFunction
-     */
-    MenuRouteWrapper(MenuRoute *menuRoute, DataFunction dataFunction);
-
-    /**
-     * @brief Calls the given DataFunction.
-     *
-     * @param values The value to be given to the DataFunction.
-     * @param length Number of values, should be 1.
-     */
-    void action(int16_t *values, uint8_t length) override;
-
-private:
-    MenuRoute *menuRoute;
-    DataFunction dataFunction = nullptr;
-};
-
-#endif // MENU_ROUTE_H
@@ -1,101 +0,0 @@
-/**
- * @file menuRoutePoints.cpp
- * @author Alexander Klein (alex@kleiax.de)
- * @brief Contains the implementation of the class MenuRoutePoints.
- * @version 0.1
- * @date 2022-12-28
- *
- * @copyright Copyright (c) 2022
- *
- */
-
-#include "menuRoutePoints.h"
-
-MenuRoutePoints::MenuRoutePoints(Route *route)
-    : route{route}
-{
-}
-
-void MenuRoutePoints::init()
-{
-    const uint16_t amountPoints = this->route->getRouteInfo().totalPoints;
-    if (amountPoints > UINT8_MAX)
-    {
-        this->error = true;
-    }
-    else
-    {
-        this->setCountPages(amountPoints);
-    }
-}
-
-void MenuRoutePoints::printPage() const
-{
-    static constexpr int8_t width = 9;
-    static constexpr int8_t prec = 7;
-    static constexpr int8_t bufSize = 20;
-
-    const uint8_t currentPage = this->getCurrentPage();
-    if (this->lastPageNumber == currentPage)
-    {
-        return;
-    }
-
-    String lineOne = "N ";
-    String lineTwo = "E ";
-
-    if (this->error)
-    {
-        lineOne = "Error: To much";
-        lineTwo = "points are given";
-        this->print(lineOne, lineTwo);
-        return;
-    }
-
-    RouteInfo info = this->route->getRouteInfo();
-    if (info.totalPoints == 0)
-    {
-        lineOne = "No Points are";
-        lineTwo = "available";
-        this->print(lineOne, lineTwo);
-        return;
-    }
-
-    Point point;
-    if (currentPage == 0)
-    {
-        point = this->route->startRoute();
-    }
-    else if (this->lastPageNumber - 1 == currentPage)
-    {
-        point = this->route->getPreviousPoint();
-    }
-    else if (this->lastPageNumber + 1 == currentPage)
-    {
-        point = this->route->getNextPoint();
-    }
-    else if (currentPage == this->getCountPages() - 1)
-    {
-        point = this->route->endRoute();
-    }
-    else
-    {
-        std::cout << "Error in: MenuRoutePoints::printPage()" << std::endl;
-    }
-
-    char buf[bufSize];
-    char *string;
-
-    info = this->route->getRouteInfo();
-    string = dtostrf(point.getLatitude(), width, prec, static_cast<char *>(buf));
-    lineOne.concat(string);
-    lineOne.concat(" ");
-    lineOne.concat(info.currentPoint);
-    // lineOne.concat(currentPage);
-    string = dtostrf(point.getLongitude(), width, prec, static_cast<char *>(buf));
-    lineTwo.concat(string);
-    lineTwo.concat(" ");
-    lineTwo.concat(info.totalPoints);
-    // std::cout << "MenuRoutePoints::printPage currentPage: " << (int) currentPage << std::endl;
-    this->print(lineOne, lineTwo);
-}
@@ -1,50 +0,0 @@
-/**
- * @file menuRoutePoints.h
- * @author Alexander Klein (alex@kleiax.de)
- * @brief Contains a class to print the coordinates of a Route.
- * @version 0.1
- * @date 2022-12-28
- *
- * @copyright Copyright (c) 2022
- *
- */
-
-#ifndef MENU_ROUTE_POINTS_H
-#define MENU_ROUTE_POINTS_H
-
-#include "navigation.h"
-#include "route.h"
-#include "menuInformationSites.h"
-
-/**
- * @brief Prints coordinates of Route side by side.
- *
- */
-class MenuRoutePoints : public MenuInformationSites
-{
-public:
-    /**
-     * @brief Construct a new Menu Route Points object
-     *
-     * @param route
-     */
-    MenuRoutePoints(Route *route);
-
-    /**
-     * @brief Configure the base class MenuInformationSites
-     *
-     * Set the amount of pages.
-     */
-    void init() override;
-
-    /**
-     * @brief Prints the the coordinates of the current Point.
-     */
-    void printPage() const override;
-
-private:
-    Route *route;
-    bool error = false;
-};
-
-#endif // MENU_ROUTE_POINTS_H
@@ -31,27 +31,11 @@ void MenuSensorData::printPage() const
    switch (this->getCurrentPage())
    {
    case 0:
-        lineOne = " Y     P     R :";
-        lineTwo.concat(this->sensorData->getGyroData()[0]);
-        lineTwo.concat(" ");
-        lineTwo.concat(this->sensorData->getGyroData()[1]);
-        lineTwo.concat(" ");
-        lineTwo.concat(this->sensorData->getGyroData()[2]);
-        break;
-
-    case 1:
        lineOne = "Real Azimuth:";
        lineTwo.concat(this->sensorData->getRealAzimuth());
        break;

-    case 2:
-        lineOne = "Calc Azimuth:";
-        lineTwo.concat(this->sensorData->getCalcAzimuth());
-        lineTwo.concat(" ");
-        lineTwo.concat(CalcAzimuth::stateToString(this->sensorData->getCalcAzimuthState()));
-        break;
-
-    case 3:
+    case 1:
    {
        lineOne = "Lat:";
        lineTwo = "Lon:";
@@ -61,7 +45,7 @@ void MenuSensorData::printPage() const
    }
    break;

-    case 4:
+    case 2:
        lineOne = "Time: ";
        lineTwo = "";
        if (static_cast<bool>(fixType))
@@ -91,44 +75,7 @@ void MenuSensorData::printPage() const

        break;

-    case 5:
-    {
-        lineOne = "CarSol: ";
-        lineTwo = "Ntrip: ";
-        const uint8_t carrSoln = gpsData->flags.bits.carrSoln;
-        if (carrSoln == 0)
-        {
-            lineOne.concat("None");
-        }
-        else if (carrSoln == 1)
-        {
-            lineOne.concat("Floating");
-        }
-        else if (carrSoln == 2)
-        {
-            lineOne.concat("Fixed");
-        }
-        else
-        {
-            lineOne = "UNKNOWN";
-        }
-        const NTRIPClientStates status = this->sensorData->getNtripState();
-        if (status == NTRIPClientStates::pushData)
-        {
-            lineTwo.concat("enabled");
-        }
-        else if (status == NTRIPClientStates::notAvailable)
-        {
-            lineTwo.concat(" N/A");
-        }
-        else
-        {
-            lineTwo.concat("disabled");
-        }
-    }
-    break;
-
-    case 6:
+    case 3:
        lineOne = "HAcc: ";
        lineTwo = "Sats: ";
        if (static_cast<bool>(fixType))
@@ -1,308 +0,0 @@
-/**
- * @file menuAutopilot.cpp
- * @author Alexander Klein (alex@kleiax.de)
- * @brief Contains an implementation of the class MenuAutopilot
- * @version 0.1
- * @date 2022-02-03
- *
- * @copyright Copyright (c) 2022
- *
- */
-
-#include "menuAutopilot.h"
-
-void MenuAutopilot::printPage() const
-{
-    const CourseCorrection correction = this->autopilot->getCourseCorrection();
-    const UBX_NAV_PVT_data_t *gpsData = this->autopilot->getSensorData()->getGnssData();
-    const bool navigationStarted = this->autopilot->getState() >= Autopilot::State::NavigationStarted;
-
-    String distanceString = "";
-    if (navigationStarted)
-    {
-        uint16_t distance = 0;
-        if (correction.distance < 1)
-        {
-            distance = static_cast<uint16_t>(correction.distance * 100);
-            distanceString.concat(distance);
-            distanceString.concat("cm");
-        }
-        else if (correction.distance < 1000)
-        {
-            distance = static_cast<uint16_t>(correction.distance);
-            distanceString.concat(distance);
-            distanceString.concat("m");
-        }
-        else
-        {
-            distance = static_cast<uint16_t>(correction.distance / 1000);
-            distanceString.concat(distance);
-            distanceString.concat("km");
-        }
-    }
-
-    String lineOne = "No information";
-    String lineTwo = "available";
-
-    switch (this->getCurrentPage())
-    {
-    case 0:
-    {
-        lineOne = "Status: ";
-        lineTwo = "";
-        switch (this->autopilot->getState())
-        {
-        case Autopilot::State::InsufficientAccuracy:
-            lineTwo = "Err: LowAccuracy";
-            break;
-
-        case Autopilot::State::NoRoute:
-            lineTwo = "Err: No route";
-            break;
-
-        case Autopilot::State::NavigationStarted:
-            lineTwo = "Nav started";
-            break;
-
-        case Autopilot::State::GetToStartPoint:
-            lineTwo = "Drive to start";
-            break;
-
-        case Autopilot::State::SelfDrivingAvailable:
-            lineTwo = "Autopilot ready";
-            break;
-
-        case Autopilot::State::SelfDriving:
-            lineTwo = "Autopilot active";
-            break;
-
-        case Autopilot::State::SelfDrivingRotate:
-            lineTwo = "Rotating";
-            break;
-
-        case Autopilot::State::TargetReached:
-            lineTwo = "Target reached";
-            break;
-
-        default:
-            lineTwo = "UNKOWN - ";
-            lineTwo.concat(static_cast<int>(this->autopilot->getState()));
-
-            break;
-        }
-        break;
-    }
-
-    case 1:
-        if (!navigationStarted)
-        {
-            lineOne = "Navigation is";
-            lineTwo = "not started";
-            break;
-        }
-        lineOne = "Distance: ";
-        lineOne.concat(distanceString);
-        lineTwo = "Turn: ";
-        lineTwo.concat(correction.correction);
-        break;
-
-    case 2:
-        lineOne = "Target waypoint";
-        lineTwo = "";
-        lineTwo.concat(this->autopilot->getRouteInfo().currentPoint);
-        lineTwo.concat(" from ");
-        lineTwo.concat(this->autopilot->getRouteInfo().totalPoints);
-        break;
-
-    case 3:
-    {
-        NTRIPClientStates status = this->autopilot->getSensorData()->getNtripClient()->getClientState();
-        const uint8_t carrSoln = gpsData->flags.bits.carrSoln;
-        lineOne = "GNSS: ";
-
-        if (status == NTRIPClientStates::pushData)
-        {
-            if (carrSoln == 0)
-            {
-                lineOne.concat("None");
-            }
-            else if (carrSoln == 1)
-            {
-                lineOne.concat("Floating");
-            }
-            else if (carrSoln == 2)
-            {
-                lineOne.concat("Fixed");
-            }
-            else
-            {
-                lineOne.concat("UNKNOWN");
-            }
-        }
-        else if (status == NTRIPClientStates::notAvailable)
-            lineOne.concat("No WiFi");
-        else
-        {
-            lineOne.concat("Offline");
-        }
-
-        lineTwo = "hAcc: ";
-        if (static_cast<bool>(gpsData->fixType))
-        {
-            lineTwo.concat(gpsData->hAcc);
-        }
-        else
-        {
-            lineTwo.concat("0");
-        }
-        break;
-    }
-
-    case 4:
-
-        if (this->autopilot->getSensorData()->getCalcAzimuth() == CalcAzimuth::State::Good || this->autopilot->getSensorData()->getCalcAzimuth() == CalcAzimuth::State::Super)
-        {
-            lineOne = "Calc Azi: ";
-            lineTwo = "State: ";
-            lineOne.concat(this->autopilot->getSensorData()->getCalcAzimuth());
-            switch (this->autopilot->getSensorData()->getCalcAzimuthState())
-            {
-            case CalcAzimuth::State::Bad:
-                lineTwo.concat("Bad");
-                break;
-
-            case CalcAzimuth::State::Good:
-                lineTwo.concat("Good");
-                break;
-
-            case CalcAzimuth::State::Invalid:
-                lineTwo.concat("Invalid");
-                break;
-
-            case CalcAzimuth::State::Ok:
-                lineTwo.concat("Ok");
-                break;
-
-            case CalcAzimuth::State::Super:
-                lineTwo.concat("Super");
-                break;
-
-            default:
-                lineTwo.concat("Unkown");
-                break;
-            }
-        }
-        else
-        {
-            lineOne = "Real Azi: ";
-            lineTwo = "";
-            lineOne.concat(this->autopilot->getSensorData()->getRealAzimuth());
-        }
-        break;
-
-    case 5:
-        lineOne = "Loop mode is";
-        if (this->autopilot->getLoopMode())
-        {
-            lineTwo = "enabled";
-        }
-        else
-        {
-            lineTwo = "disabled";
-        }
-        break;
-
-    case 6:
-        lineOne = "Freeze target is";
-        if (this->targetFreezed)
-        {
-            lineTwo = "activated";
-        }
-        else
-        {
-            lineTwo = "deactivated";
-        }
-        break;
-
-    case 7:
-        lineOne = "MinDisToPoint:";
-        lineTwo = "<- ";
-        lineTwo.concat(this->minDistance);
-        lineTwo.concat(" ->");
-        break;
-
-    default:
-        this->printDefault();
-        return;
-    }
-
-    this->print(lineOne, lineTwo);
-}
-
-void MenuAutopilot::runCommand()
-{
-    switch (this->getCurrentPage())
-    {
-    case 5:
-        this->autopilot->switchLoopMode();
-        break;
-
-    case 6:
-        if (this->targetFreezed)
-        {
-            this->targetFreezed = false;
-            this->autopilot->getNavigation()->freezeTargetPoint(false);
-        }
-        else
-        {
-            this->targetFreezed = true;
-            this->autopilot->getNavigation()->freezeTargetPoint();
-        }
-        break;
-
-    case 7:
-        this->minDistance = this->autopilot->getNavigation()->increaseMinDistanceToReachPoint();
-        break;
-
-    default:
-        break;
-    }
-}
-
-void MenuAutopilot::runCommandNo()
-{
-    switch (this->getCurrentPage())
-    {
-    case 7:
-        this->minDistance = this->autopilot->getNavigation()->decreaseMinDistanceToReachPoint();
-        break;
-
-    default:
-        break;
-    }
-}
-
-void MenuAutopilot::update()
-{
-    if (!this->autopilot->shouldUpdate())
-    {
-        return;
-    }
-
-    this->routeInfo = this->autopilot->getRouteInfo();
-    this->printMenu();
-}
-
-void MenuAutopilot::init()
-{
-    this->setCountPages(8);
-    this->autopilot = new Autopilot();
-    this->driveManager->changeModus(this->autopilot);
-    this->routeInfo = this->autopilot->getRouteInfo();
-
-    // dirty hack to get the val, can be better!!! TODO
-    this->autopilot->getNavigation()->increaseMinDistanceToReachPoint();
-    this->minDistance = this->autopilot->getNavigation()->decreaseMinDistanceToReachPoint();
-
-    MenuDriveMode::init();
-}
@@ -1,60 +0,0 @@
-/**
- * @file menuAutopilot.h
- * @author Alexander Klein (alex@kleiax.de)
- * @brief Contains a class to print informations about the Autopilot
- * @version 0.1
- * @date 2022-02-03
- *
- * @copyright Copyright (c) 2022
- *
- */
-
-#ifndef MENU_AUTOPILOT_DRIVE_H
-#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
- *
- */
-class MenuAutopilot : public MenuDriveMode
-{
-public:
-    /**
-     * @brief Construct a new Menu Autopilot object
-     *
-     * @param driveManager for MenuDriveMode
-     */
-    MenuAutopilot(DriveManager *driveManager) : MenuDriveMode(driveManager) {}
-
-    /**
-     * @brief Prints the Information to display and console
-     *
-     * The informations are only printed to the display if it
-     * set.
-     *
-     * Changes the DriveModi to Autopilot if it is the first time called
-     * and save the Autopilot object.
-     */
-    void printPage() const override;
-
-    /**
-     * @brief can be called to update shown data
-     */
-    void update() override;
-
-private:
-    void init() override;
-    void runCommand() override;
-    void runCommandNo() override;
-
-    bool mutable targetFreezed = false;
-    double mutable minDistance;
-
-    Autopilot *autopilot;
-    RouteInfo routeInfo;
-};
-
-#endif // MENU_AUTOPILOT_DRIVE_H
@@ -1,174 +0,0 @@
-/**
- * @file menuCaptureRoute.cpp
- * @author Alexander Klein (alex@kleiax.de)
- * @brief Contains an implementation of the class MenuCaptureRoute
- * @version 0.1
- * @date 2022-01-31
- *
- * @copyright Copyright (c) 2022
- *
- */
-#include "menuCaptureRoute.h"
-
-void MenuCaptureRoute::printPage() const
-{
-    const RouteInfo routeInfo = this->captureRoute->getRouteInfo();
-    const UBX_NAV_PVT_data_t *gpsData = this->captureRoute->getSensorData()->getGnssData();
-
-    String lineOne = "";
-    String lineTwo = "";
-
-    switch (this->getCurrentPage())
-    {
-    case 0:
-        lineOne = "Capture Route";
-        lineTwo = "You can drive";
-        break;
-
-    case 1:
-        lineOne = "Saved waypoints";
-        lineTwo.concat(routeInfo.totalPoints);
-        break;
-
-    case 2:
-        lineOne = "Last status:";
-        switch (this->captureRoute->getLastStatus())
-        {
-        case Navigation::Status::InsufficientAccuracy:
-            lineTwo = "Poor Accuracy";
-            break;
-
-        case Navigation::Status::Updated:
-            lineTwo = "Point added";
-            break;
-
-        case Navigation::Status::Unchanged:
-            lineTwo = "Point too close";
-            break;
-
-        default:
-            lineTwo = "---";
-            break;
-        }
-        break;
-
-    case 3:
-        lineOne = "Distance to last";
-        lineTwo = "point: ";
-        lineTwo.concat(this->captureRoute->getDistanceToLastPoint());
-        break;
-
-    case 4:
-    {
-        NTRIPClientStates status = this->captureRoute->getSensorData()->getNtripClient()->getClientState();
-        lineOne = "NTRIP Client is";
-
-        if (status == NTRIPClientStates::pushData)
-        {
-            lineTwo = "enabled";
-        }
-        else if (status == NTRIPClientStates::notAvailable)
-        {
-            lineTwo = "not available";
-        }
-        else
-        {
-            lineTwo = "disabled";
-        }
-        break;
-    }
-
-    case 5:
-    {
-        lineOne = "Carrier Solution";
-        uint8_t carrSoln = gpsData->flags.bits.carrSoln;
-        if (carrSoln == 0)
-        {
-            lineTwo = "None";
-        }
-        else if (carrSoln == 1)
-        {
-            lineTwo = "Floating";
-        }
-        else if (carrSoln == 2)
-        {
-            lineTwo = "Fixed";
-        }
-        else
-        {
-            lineTwo = "UNKNOWN";
-        }
-        break;
-    }
-
-    case 6:
-        lineOne = "hAccuracy: ";
-        lineTwo = "Azimuth: ";
-        lineTwo.concat(this->captureRoute->getSensorData()->getRealAzimuth());
-        if (gpsData->fixType)
-        {
-            lineOne.concat(gpsData->hAcc);
-        }
-        else
-        {
-            lineOne.concat("0");
-        }
-        break;
-
-    case 7:
-        lineOne = "Current minimal";
-        if (this->captureRoute->getNavigation()->getMinAccuracy() >= Point::Accuracy::twoDigOfCM)
-        {
-            lineTwo = "accuracy is high";
-        }
-        else
-        {
-            lineTwo = "accuracy is low";
-        }
-        break;
-
-    default:
-        this->printDefault();
-        return;
-    }
-
-    this->print(lineOne, lineTwo);
-}
-
-void MenuCaptureRoute::update()
-{
-    if (!this->captureRoute->shouldUpdate())
-    {
-        return;
-    }
-    this->printMenu();
-}
-
-void MenuCaptureRoute::runCommand()
-{
-    switch (this->getCurrentPage())
-    {
-    case 7:
-        if (this->captureRoute->getNavigation()->getMinAccuracy() >= Point::Accuracy::twoDigOfCM)
-        {
-            this->captureRoute->getNavigation()->setMinAccuracy(Point::Accuracy::none);
-        }
-        else
-        {
-            this->captureRoute->getNavigation()->setMinAccuracy(Point::Accuracy::twoDigOfCM);
-        }
-        break;
-
-    default:
-        break;
-    }
-}
-
-void MenuCaptureRoute::init()
-{
-    this->setCountPages(8);
-    MenuDriveMode::updateDelay = MenuCaptureRoute::updateDelay;
-    this->captureRoute = new CaptureRoute();
-    this->driveManager->changeModus(this->captureRoute);
-    MenuDriveMode::init();
-}
@@ -1,56 +0,0 @@
-/**
- * @file menuCaptureRoute.h
- * @author Alexander Klein (alex@kleiax.de)
- * @brief Contains a class to print informations about CaptureRoute
- * @version 0.1
- * @date 2022-01-31
- *
- * @copyright Copyright (c) 2022
- *
- */
-#ifndef MENU_CAPTURE_ROUTE_H
-#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
- *
- */
-class MenuCaptureRoute : public MenuDriveMode
-{
-public:
-    /**
-     * @brief Construct a new Menu Capture Route object
-     *
-     * @param driveManager
-     */
-    MenuCaptureRoute(DriveManager *driveManager) : MenuDriveMode(driveManager) {}
-
-    /**
-     * @brief Prints the Information to display and console
-     *
-     * The informations are only printed to the display if it
-     * set.
-     *
-     * Changes the DriveModi to CaptureRoute if it is the first time called
-     * and save the CaptureRoute object.
-     */
-    void printPage() const override;
-
-    /**
-     * @brief can be called to update shown data
-     */
-    void update() override;
-
-private:
-    void runCommand() override;
-    void init() override;
-
-    CaptureRoute *captureRoute = nullptr;
-
-    static constexpr uint16_t updateDelay = 500;
-};
-
-#endif // MENU_MANUAL_DRIVE_H
@@ -48,7 +48,6 @@ void MenuDriveMode::left()

    this->firstPrint = true;
    this->configureOnLeave();
-    delete this->menuSpeed;
    this->driveManager->changeModus();
    MenuInformationSites::left();
 }
@@ -1,304 +0,0 @@
-/**
- * @file autopilot.cpp
- * @author Alexander Klein (alex@kleiax.de)
- * @brief Contains the implementation of the class Autopilot
- * @version 0.1
- * @date 2022-02-02
- *
- * @copyright Copyright (c) 2022
- *
- */
-
-#include "driveModi/Modi/Autopilot/autopilot.h"
-#include "autopilot.h"
-
-DirectionChangeSignal::DirectionChangeSignal(Autopilot *pilot)
-    : pilot {pilot}
-{
-    this->action();
-}
-
-DirectionChangeSignal::~DirectionChangeSignal()
-{
-    CalcAzimuth *calcAzimuth = pilot->getSensorData()->getCalcCompass();
-    if (static_cast<bool>(calcAzimuth))
-    {
-        calcAzimuth->disableCalcAzimuth();
-    }
-}
-
-void DirectionChangeSignal::action()
-{
-    CalcAzimuth *calcAzimuth = pilot->getSensorData()->getCalcCompass();
-    if (static_cast<bool>(calcAzimuth))
-    {
-        calcAzimuth->drivingDirectionChange(pilot->getSensorData()->getCurrentPos());
-    }
-}
-
-Autopilot::~Autopilot()
-{
-    delete this->directionChangeSignal;
-    // this->navigation->getNTRIPClient()->setActivated(false);
-}
-
-void Autopilot::run()
-{
-    this->routeInfo = this->navigation->getRouteInfo();
-
-    switch (this->state)
-    {
-    case State::InsufficientAccuracy:
-        this->askNavigationForOrder();
-        return;
-
-    case State::NoRoute:
-        return;
-
-    case State::None:
-        return;
-
-    case State::NavigationStarted:
-        this->askNavigationForOrder();
-        this->checkButtonInput();
-        break;
-
-    case State::GetToStartPoint:
-        ManualControl::run();
-        this->askNavigationForOrder();
-        if (this->routeInfo.currentPoint >= 2){
-            this->state = State::SelfDrivingAvailable;
-        }
-        break;
-
-    case State::SelfDrivingAvailable:
-        ManualControl::run();
-        this->askNavigationForOrder();
-        this->checkButtonInput();
-        break;
-
-    case State::SelfDriving:
-        this->askNavigationForOrder();
-        this->checkButtonInput();
-        this->selfDriving();
-        break;
-
-    case SelfDrivingRotate:
-        this->checkButtonInput();
-        this->rotate();
-        break;
-
-    case State::TargetReached:
-        if (this->loopMode){
-            this->restartLoop();
-        }
-        break;
-
-    default:
-        break;
-    }
-}
-
-void Autopilot::restart()
-{
-    this->init();
-}
-
-bool Autopilot::shouldUpdate()
-{
-    if (this->updateDisplay)
-    {
-        this->updateDisplay = false;
-        return true;
-    }
-    return false;
-}
-
-void Autopilot::testRotate(int16_t degree)
-{
-    if (!static_cast<bool>(degree))
-    {
-        return;
-    }
-
-    this->courseCorrection.correction = degree;
-    this->beginRotate();
-}
-
-void Autopilot::init()
-{
-    if (this->navigation->startNavigation())
-    {
-        this->state = State::NavigationStarted;
-    }
-    else
-    {
-        this->state = State::NoRoute;
-    }
-    this->routeInfo = this->navigation->getRouteInfo();
-    this->sensorData->getNtripClient()->setAutoReconnect(true);
-
-    this->lastOrderStatus = this->navigation->getCourseCorrection(this->courseCorrection, true);
-
-    this->courseCorrection.correction = 0;
-    this->courseCorrection.distance = 0;
-    this->updateDisplay = true;
-}
-
-void Autopilot::drive()
-{
-    DrivingSpeeds speeds = {0, 0};
-    if (this->courseCorrection.distance >= this->minRemainingDistance)
-    {
-        speeds.x = this->maxSpeeds.x;
-    }
-    this->moveControl->setSpeeds(speeds);
-}
-
-void Autopilot::beginRotate()
-{
-    if (this->state != State::SelfDrivingRotate)
-    {
-        this->lastState = this->state;
-        this->state = State::SelfDrivingRotate;
-        this->rotationAimAzimuth = this->getSensorData()->getRealAzimuth() + this->courseCorrection.correction;
-        this->rotationAimAzimuth = Navigation::fixDegree(this->rotationAimAzimuth);
-
-        DrivingSpeeds speeds = {0, 0};
-        if (this->courseCorrection.correction > 0)
-        {
-            speeds.rot = -this->maxSpeeds.rot;
-        }
-        else
-        {
-            speeds.rot = this->maxSpeeds.rot;
-        }
-
-        this->moveControl->setSpeeds(speeds);
-    }
-}
-
-void Autopilot::rotate()
-{
-    if (abs(this->getSensorData()->getRealAzimuth() - this->rotationAimAzimuth) < this->maxCourseDeviationBeforeAct)
-    {
-        this->endRotate();
-        return;
-    }
-
-    if ((abs(this->getSensorData()->getRealAzimuth() - this->rotationAimAzimuth) < this->maxCourseDeviationBeforeAct * 3) &&
-        ((this->courseCorrection.correction > 0 && this->rotationAimAzimuth < this->getSensorData()->getRealAzimuth()) || (this->courseCorrection.correction < 0 && this->rotationAimAzimuth > this->getSensorData()->getRealAzimuth())))
-    {
-        this->endRotate();
-        std::cout << "Autopilot::rotate: Rover rotated too far" << std::endl;
-    }
-}
-
-void Autopilot::endRotate()
-{
-    if (this->state != State::SelfDrivingRotate)
-    {
-        return;
-    }
-
-    this->state = this->lastState;
-    this->sensorData->getCalcCompass()->drivingDirectionChange(this->sensorData->getCurrentPos());
-    this->moveControl->setRotationSpeed(0);
-    this->moveControl->emergencyStop();
-    this->moveControl->setDrivingStatus(MoveControl::Status::Drive);
-}
-
-void Autopilot::checkButtonInput()
-{
-    if (ControlPadButton::isControlPadButtonPressed(this->input, ControlPadButton::PadButton::Action) && millis() - this->lastAutopilotChangeMillis > this->autopilotChangeDelayMillis)
-    {
-
-        if (this->state == State::SelfDrivingAvailable)
-        {
-            this->state = State::SelfDriving;
-        }
-        else if (this->state == State::SelfDriving || this->state == State::SelfDrivingRotate)
-        {
-            this->state = State::SelfDrivingAvailable;
-        }
-        else if (this->state == State::NavigationStarted)
-        {
-            this->state = State::GetToStartPoint;
-        }
-        this->updateDisplay = true;
-        this->lastAutopilotChangeMillis = millis();
-    }
-}
-
-void Autopilot::askNavigationForOrder()
-{
-    this->lastOrderStatus = this->navigation->getCourseCorrection(this->courseCorrection);
-    switch (this->lastOrderStatus)
-    {
-    case Navigation::Status::Complete:
-        this->state = State::TargetReached;
-        this->moveControl->setSpeed(0);
-        this->moveControl->setRotationSpeed(0);
-        break;
-
-    case Navigation::Status::InsufficientAccuracy:
-        if (this->state == State::InsufficientAccuracy){
-            break;
-        }
-        this->lastState = this->state;
-        this->state = State::InsufficientAccuracy;
-        this->moveControl->setSpeed(0);
-        this->moveControl->setRotationSpeed(0);
-        break;
-
-    case Navigation::Status::Unchanged:
-        if (this->state == State::InsufficientAccuracy){
-            this->state = this->lastState;
-        }
-        break;
-
-    case Navigation::Status::Updated:
-        if (this->state == State::InsufficientAccuracy){
-            this->state = this->lastState;
-        }
-        break;
-
-    default:
-        break;
-    }
-}
-
-void Autopilot::selfDriving()
-{
-    if (this->state != State::SelfDriving)
-    {
-        return;
-    }
-
-    if (abs(this->courseCorrection.correction) >= this->maxCourseDeviationBeforeAct)
-    {
-        this->beginRotate();
-    }
-    else
-    {
-        this->drive();
-    }
-}
-
-void Autopilot::restartLoop()
-{
-    this->navigation->startNavigation();
-    this->state = State::SelfDriving;
-    this->routeInfo = this->navigation->getRouteInfo();
-    this->lastOrderStatus = this->navigation->getCourseCorrection(this->courseCorrection, true);
-    this->updateDisplay = true;
-}
-
-void Autopilot::afterActivate()
-{
-    this->setInputMode(ManualControl::InputMode::Digital);
-    this->directionChangeSignal = new DirectionChangeSignal(this);
-    this->setDirectionChangeCallback(this->directionChangeSignal);
-    this->navigation = new Navigation(this->sensorData);
-    this->init();
-}
@@ -1,131 +0,0 @@
-/**
- * @file autopilot.h
- * @author Alexander Klein (alex@kleiax.de)
- * @brief Contains a class which use the navigate class to drive automaticaly
- * @version 0.1
- * @date 2022-02-02
- *
- * @copyright Copyright (c) 2022
- *
- */
-
-#ifndef AUTOPILOT_H
-#define AUTOPILOT_H
-
-#include "navigation.h"
-#include "driveModi/Modi/ManualControl/manualControl.h"
-
-class DirectionChangeSignal;
-
-/**
- * @brief This class use the navigate class to drive automaticaly
- *
- * This class get the information from the navigate class. When an
- * object of this class is constructed the rover can be driven manually.
- * When the Rover is near to the first position of the Route, you can
- * switch to automatic drive.
- *
- */
-class Autopilot : public ManualControl
-{
-public:
-    enum State
-    {
-        InsufficientAccuracy = -2,
-        NoRoute = -1,
-        None = 0,
-        NavigationStarted,
-        GetToStartPoint,
-        SelfDrivingAvailable,
-        SelfDriving,
-        SelfDrivingRotate,
-        TargetReached
-    };
-
-    /**
-     * @brief Destroy the Autopilot object
-     *
-     * Disconnect the NTRIP-Client
-     */
-    ~Autopilot();
-
-    void restart();
-
-    /**
-     * @brief Get the Route Info object
-     *
-     * @return RouteInfo
-     */
-    RouteInfo getRouteInfo() const { return this->routeInfo; }
-
-    /**
-     * @brief Get the Course Correction object
-     *
-     * @return CourseCorrection
-     */
-    CourseCorrection getCourseCorrection() const { return this->courseCorrection; }
-
-    /**
-     * @brief Get the State object
-     *
-     * @return State
-     */
-    State getState() const { return this->state; }
-    Navigation *getNavigation() const { return this->navigation; }
-
-    /**
-     * @brief Tells if there are new informations to display
-     *
-     * @return true
-     * @return false
-     */
-    bool shouldUpdate();
-    void testRotate(int16_t degree);
-    void endRotate();
-    void switchLoopMode() { this->loopMode = !this->loopMode; }
-    bool getLoopMode() const { return this->loopMode; }
-
-private:
-    void init();
-    void drive();
-    void beginRotate();
-    void rotate();
-    void run() override;
-    void checkButtonInput();
-    void askNavigationForOrder();
-    void selfDriving();
-    void restartLoop();
-    void afterActivate() override;
-
-    Navigation *navigation = nullptr;
-    CourseCorrection courseCorrection{0, 0};
-    RouteInfo routeInfo{0, 0};
-    State state = State::None;
-    State lastState = State::None;
-    Navigation::Status lastOrderStatus;
-    DirectionChangeSignal *directionChangeSignal = nullptr;
-
-    bool updateDisplay = false;
-    bool loopMode = false;
-
-    uint8_t maxCourseDeviationBeforeAct = 5;
-    uint16_t autopilotChangeDelayMillis = 500;
-    uint32_t lastAutopilotChangeMillis = 0;
-
-    int16_t rotationAimAzimuth = 0;
-
-    double minRemainingDistance = 0.25;
-};
-
-class DirectionChangeSignal : public DirectionChangeWrapper
-{
-public:
-    DirectionChangeSignal(Autopilot *pilot);
-    ~DirectionChangeSignal();
-    void action() override;
-
-private:
-    Autopilot *pilot;
-};
-
-#endif // AUTOPILOT_H
@@ -1,65 +0,0 @@
-/**
- * @file captureRoute.cpp
- * @author Alexander Klein (alex@kleiax.de)
- * @brief Contains the implementation of the class CaptureRoute
- * @version 0.1
- * @date 2022-02-15
- *
- * @copyright Copyright (c) 2022
- *
- */
-
-#include "driveModi/Modi/CaptureRoute/captureRoute.h"
-#include "captureRoute.h"
-
-CaptureRoute::~CaptureRoute()
-{
-    delete this->navigation;
-
-    if (static_cast<bool>(this->sensorData->getNtripClient()))
-    {
-        this->sensorData->getNtripClient()->setActivated(false);
-    }
-}
-
-void CaptureRoute::run()
-{
-    ManualControl::run();
-    if (ControlPadButton::isControlPadButtonPressed(this->input, ControlPadButton::PadButton::Action))
-    {
-        this->status = this->navigation->addCurrentPosToRoute();
-        if (this->status == Navigation::Status::Updated)
-        {
-            this->lastSavedPoint = this->navigation->getCurrentPosition();
-            this->routeInfo = navigation->getRouteInfo();
-            this->updateDisplay = true;
-        }
-    }
-}
-
-void CaptureRoute::afterActivate()
-{
-    this->navigation = new Navigation(this->sensorData);
-    this->navigation->getRoute()->clear();
-    this->sensorData->getNtripClient()->setAutoReconnect(true);
-    this->routeInfo = navigation->getRouteInfo();
-}
-
-double CaptureRoute::getDistanceToLastPoint() const
-{
-    if (!this->lastSavedPoint.isInit())
-    {
-        return 0;
-    }
-    return this->lastSavedPoint.distanceTo(this->navigation->getCurrentPosition());
-}
-
-bool CaptureRoute::shouldUpdate()
-{
-    if (this->updateDisplay)
-    {
-        this->updateDisplay = false;
-        return true;
-    }
-    return false;
-}
@@ -1,75 +0,0 @@
-/**
- * @file captureRoute.h
- * @author Alexander Klein (alex@kleiax.de)
- * @brief Contains a class to capture a driven route
- * @version 0.1
- * @date 2022-02-15
- *
- * @copyright Copyright (c) 2022
- *
- */
-
-#ifndef CAPTURE_ROUTE_H
-#define CAPTURE_ROUTE_H
-
-#include <iostream>
-
-#include "driveModi/Modi/ManualControl/manualControl.h"
-#include "navigation.h"
-
-/**
- * @brief A class to capture a driven class
- *
- * This class inherits ManualControl so you can drive
- * normally as in ManualControl. If GPS signal is valid
- * you can add a Point everytime you want.
- *
- */
-class CaptureRoute : public ManualControl
-{
-public:
-    /**
-     * @brief Destroy the Capture Route object
-     *
-     * Disconnect the NTRIP-Client
-     */
-    ~CaptureRoute();
-
-    /**
-     * @brief Get the Route Info object
-     *
-     * @return RouteInfo
-     */
-    RouteInfo getRouteInfo() const { return this->routeInfo; }
-
-    Navigation::Status getLastStatus() const { return this->status; }
-    Navigation *getNavigation() const { return this->navigation; }
-
-    /**
-     * @brief Get the distance to the last saved oint
-     *
-     * @return double in meters
-     */
-    double getDistanceToLastPoint() const;
-
-    /**
-     * @brief Tells if there are new informations to display
-     *
-     * @return true
-     * @return false
-     */
-    bool shouldUpdate();
-
-private:
-    void run() override;
-    void afterActivate() override;
-
-    Navigation *navigation = nullptr;
-    RouteInfo routeInfo;
-    Point lastSavedPoint;
-    Navigation::Status status = Navigation::Status::Complete;
-
-    bool updateDisplay = false;
-};
-
-#endif // CAPTURE_ROUTE_H
@@ -47,7 +47,7 @@ void ManualControl::analogControl()

 void ManualControl::digitalControl()
 {
-    static constexpr uint8_t deadzone = 120;
+    static constexpr uint8_t deadzone = 110;
    const int16_t yAxis = this->input->x - 127;
    const int16_t xAxis = this->input->y - 127;

@@ -82,8 +82,6 @@ bool TestMode::drive(int16_t cmDistance, int16_t degree)
    }
    else
    {
-        // forward or backward and left or right
-        //  TODO: Calculate roationspeed
        if (cmDistance < 0)
        {
            this->moveControl->setSpeed(-this->maxSpeeds.x);
@@ -14,7 +14,6 @@

 #include "moveControl.h"
 #include "driveModi/driveModi.h"
-#include "navigation.h"
 #include "config.h"
 #include "controlPadInput.h"
 #include "component.h"
@@ -39,13 +39,10 @@
 #include "menu.h"
 #include "menuAction.h"
 #include "SpecialMenus/driveModi/ManualDrive/menuManualDrive.h"
-#include "SpecialMenus/driveModi/CaptureRoute/menuCaptureRoute.h"
-#include "SpecialMenus/driveModi/Autopilot/menuAutopilot.h"
 #include "SpecialMenus/driveModi/TestMode/menuTestMode.h"
 #include "SpecialMenus/driveModi/CalibrateCompass/menuCalibrateCompass.h"
 #include "SpecialMenus/Systeminformation/menuSysteminformation.h"
 #include "SpecialMenus/PID/menuPidSettings.h"
-#include "SpecialMenus/Route/menuRoute.h"
 #include "SpecialMenus/SensorData/menuSensorData.h"
 #include "SpecialMenus/CalibrateBattery/menuCalibrateBattery.h"

@@ -125,12 +122,6 @@ void setup()
    sensorData = new SensorData();
    sensorData->enableGnss(spiPort, PinNumbers::gnssSpiCs);
    sensorData->enableRealCompass();
-    sensorData->enableNtrip(static_cast<const char *>(NtripConfig::host),
-                            NtripConfig::port,
-                            static_cast<const char *>(NtripConfig::mountPoint),
-                            static_cast<const char *>(NtripConfig::user),
-                            static_cast<const char *>(NtripConfig::password));
-    // sensorData->enableGyroscope();
    driveManager = new DriveManager(&moveController, sensorData, controlPad->getControlPadDataPtr());

    char wifiIndicator = 'X';
@@ -138,12 +129,16 @@ void setup()
    {
        wifiIndicator = '-';
    }
+
+    lcdWrapper = new LcdWrapper(lcd);
+    lcdWrapper->setCallback(lcdWrapperCallback);
+    lcdWrapper->loop();
+
    lcd->backlight();
+    lcd->setCursor(0, 0);
    lcd->printf("%c Kleiax-Rover %c", wifiIndicator, wifiIndicator);
    lcd->setCursor(0, 1);
    lcd->printf("WiFi channel %u", Network::getCurrentChannel());
-    lcdWrapper = new LcdWrapper(lcd);
-    lcdWrapper->setCallback(lcdWrapperCallback);

    makeMenu();

@@ -160,7 +155,7 @@ void loop()
    lcdWrapper->loop();
    mainBattery->loop();

-    // new Value ervery 0.5s
+    // new Value every 0.5s
    if (mainBattery->isNewValue())
    {
        static uint8_t batteryLowCounter = 0;
@@ -193,14 +188,14 @@ void loop()
 void i2cScanner()
 {
    constexpr uint8_t checkForLength = 16;
-    constexpr uint8_t maxAdresses = UINT8_MAX / 2;
+    constexpr uint8_t maxAddresses = UINT8_MAX / 2;
    std::cout << "\nI2C Scanner" << std::endl;

    byte error = 0;
    byte address = 0;
    int nDevices = 0;
    std::cout << "Scanning..." << std::endl;
-    for (address = 1; address < maxAdresses; address++)
+    for (address = 1; address < maxAddresses; address++)
    {
        Wire.beginTransmission(address);
        error = Wire.endTransmission();
@@ -254,32 +249,24 @@ void makeMenu()
    auto *pidr_m = new MenuIntInput(3, new MenuPidSettings(moveController.getPID(1)));
    auto *speed_m = new MenuIntInput(2, new MenuSpeed(driveManager->getDrivingSpeedsRef()));
    auto *man_m = new MenuManualControl(driveManager);
-    auto *cap_m = new MenuCaptureRoute(driveManager);
-    auto *auto_m = new MenuAutopilot(driveManager);
    auto *testM_m = new MenuTestMode(driveManager);
    auto *comp_m = new MenuCalibrateCompass(driveManager);
    auto *sys_m = new MenuSysteminformation(mainBattery);
    auto *sen_m = new MenuSensorData(sensorData);
-    // TODO: Wie bekommt jeder die dumme Route?
-    auto *rout_m = new MenuRoute(new Route());
    auto *bat_m = new MenuCalibrateBattery(mainBattery);

-    auto_m->setUpdateDelay(displayUpdateDelay);
    sys_m->setUpdateDelay(displayUpdateDelay);
    sen_m->setUpdateDelay(displayUpdateDelay);

    // Entry for the main menu
    main_m->addEntry(new MenuAction("Mode", mode_m));
    main_m->addEntry(new MenuAction("Sensor", sen_m));
-    main_m->addEntry(new MenuAction("Route", rout_m));
    main_m->addEntry(new MenuAction("Settings", set_m));
    main_m->addEntry(new MenuAction("Systeminfo", sys_m));
    main_m->addEntry(new MenuAction("Restart", restart));

    // Entry for the mode Menu
    mode_m->addEntry(new MenuAction("Manual Control", man_m));
-    mode_m->addEntry(new MenuAction("Capture Route", cap_m));
-    mode_m->addEntry(new MenuAction("Autopilot", auto_m));
    mode_m->addEntry(new MenuAction("Gauge Compass", comp_m));
    mode_m->addEntry(new MenuAction("Test Mode", testM_m));
    mode_m->addEntry(new MenuAction("Consol Control", dummy));
@@ -357,16 +344,16 @@ void lcdWrapperCallback(const char data[][LcdWrapper::totalRows], uint8_t lines,

 NetworkAddresses setIPs()
 {
-    NetworkAddresses adresses;
-    adresses.localIP.fromString(static_cast<const char *>(NetworkConfig::ip));
-    adresses.subnet.fromString(static_cast<const char *>(NetworkConfig::subnet));
-    adresses.gateway.fromString(static_cast<const char *>(NetworkConfig::gateway));
-    adresses.dnsServer.fromString(static_cast<const char *>(NetworkConfig::dns));
+    NetworkAddresses addresses;
+    addresses.localIP.fromString(static_cast<const char *>(NetworkConfig::ip));
+    addresses.subnet.fromString(static_cast<const char *>(NetworkConfig::subnet));
+    addresses.gateway.fromString(static_cast<const char *>(NetworkConfig::gateway));
+    addresses.dnsServer.fromString(static_cast<const char *>(NetworkConfig::dns));
    if (NetworkConfig::mqtt)
    {
-        adresses.mqttServer.fromString(static_cast<const char *>(MqttConfig::server));
-        adresses.mqttPort = MqttConfig::port;
+        addresses.mqttServer.fromString(static_cast<const char *>(MqttConfig::server));
+        addresses.mqttPort = MqttConfig::port;
    }

-    return adresses;
+    return addresses;
 }
Author	SHA1	Message	Date
kleiax	a7930e2915	more refactor bug fixes	2023-10-13 14:17:51 +02:00
kleiax	f0474027be	remove CalcAzimuth	2023-10-12 20:58:30 +02:00
kleiax	12c338def1	fix merge bugs	2023-10-12 20:50:59 +02:00
kleiax	e511afb2a5	Merge branch 'main' into projektarbeit	2023-10-12 20:35:31 +02:00
kleiax	f78804d836	first build	2023-09-04 14:13:14 +02:00
kleiax	682a99ffea	Merge branch 'main' into projektarbeit	2023-09-04 13:35:40 +02:00
kleiax	d7a9e9cfd8	delete everthing for bachelore	2023-09-02 18:34:06 +02:00
kleiax	fd946f2aa3	Merge branch 'main' into projektarbeit	2023-09-02 18:31:46 +02:00
kleiax	4e2b5bd347	delete old debug python files	2023-09-02 17:51:16 +02:00