From 4f308412e4a94d0a724bfb59b58fed44feff593f Mon Sep 17 00:00:00 2001
From: hhaupt <hans.haupt@dezibot.de>
Date: Thu, 13 Jun 2024 23:35:17 +0200
Subject: [PATCH] added FIFOdata fetch method

---
 src/Dezibot.cpp                         |  7 +++----
 src/Dezibot.h                           | 25 +++----------------------
 src/motionDetection/MotionDetection.cpp |  2 +-
 3 files changed, 7 insertions(+), 27 deletions(-)

diff --git a/src/Dezibot.cpp b/src/Dezibot.cpp
index 45af406..1c1b19d 100644
--- a/src/Dezibot.cpp
+++ b/src/Dezibot.cpp
@@ -12,14 +12,13 @@
 
 #include "Dezibot.h"
 
-MotionDetection motionDetection;
-static MotionDetection* motionDetectionPTR = &motionDetection;
+
 Dezibot::Dezibot():multiColorLight(){
 
 };
 void Dezibot::begin(void) {
-    //motion.begin();
+    motion.begin();
     multiColorLight.begin();
-    //motionDetection.begin();
+    motionDetection.begin();
     Wire.begin(1,2);
 };
diff --git a/src/Dezibot.h b/src/Dezibot.h
index a78a76c..d9d9d80 100644
--- a/src/Dezibot.h
+++ b/src/Dezibot.h
@@ -19,37 +19,18 @@
 #include "Arduino.h"
 #include "Wire.h"
 
-extern static MotionDetection* motionDetectionPTR;
-
 class Dezibot {
 protected:
-    void setIMU(Motion& m){
-        m.imuInst = motionDetection;
-    };
+
 public:
     Dezibot();
     LightDetection lightDetection;
     ColorDetection colorDetection;
     MultiColorLight multiColorLight;
-    Motion motion = Motion(motionDetectionPTR);
-   static MotionDetection motionDetection = *motionDetectionPTR;
+    Motion motion ;
+    MotionDetection motionDetection;
     void begin(void);
-/*
-Display display
-IRCommuncation irCommuncation (beinhaltet Kommuniaktion / Annhärung...) 
-Battery battery
-Extension extension
-WiFi wifi //wie wird WiFi geschrieben?
 
-//nur lesender Zugriff, in dieser Klasse sind andere Instanzen mit dem Dezibotinterface gekapselt
-Friends friends  
-OperatingSystem operatingSystem
-USBCommunication usbCommunication
-Button button
-//nicht unique, initzial Dezibot
-String robotName
-
-*/
 };
 
 #endif //Dezibot_h
\ No newline at end of file
diff --git a/src/motionDetection/MotionDetection.cpp b/src/motionDetection/MotionDetection.cpp
index b907b73..14da520 100644
--- a/src/motionDetection/MotionDetection.cpp
+++ b/src/motionDetection/MotionDetection.cpp
@@ -1,7 +1,7 @@
 #include "MotionDetection.h"
 #include <math.h>
 
-MotionDetection::MotionDetection(){//:handler(FSPI){
+MotionDetection::MotionDetection(){
     handler = new SPIClass(FSPI);
 };