diff --git a/MobileApp/app/src/main/java/com/example/lfrmobileapp/ui/home/HomeFragment.java b/MobileApp/app/src/main/java/com/example/lfrmobileapp/ui/home/HomeFragment.java
index 9ae6d91..e8f0b8b 100644
--- a/MobileApp/app/src/main/java/com/example/lfrmobileapp/ui/home/HomeFragment.java
+++ b/MobileApp/app/src/main/java/com/example/lfrmobileapp/ui/home/HomeFragment.java
@@ -38,7 +38,6 @@ public class HomeFragment extends Fragment {
     MainActivity mainActivity;
 
     Communication com = new Communication();
-    DataTransferAsyncTask dataTransferAsyncTask;
 
     private FragmentManuellBinding binding;
 
@@ -76,10 +75,10 @@ public class HomeFragment extends Fragment {
 
                     if(event.getAction() == MotionEvent.ACTION_UP){
                         binding.rotateLeft.performClick();
-                        dataTransferAsyncTask.writeTelegram(com.telegram(new int[]{0, 0, 0, 0}, 0));
+                        mainActivity.sendTelegram(com.telegram(new int[]{0, 0, 0, 0}, 0));
                         return true;
                     }else{
-                        dataTransferAsyncTask.writeTelegram(com.telegram(new int[]{-1, 1, -1, 1}, 100));
+                        mainActivity.sendTelegram(com.telegram(new int[]{-1, 1, -1, 1}, 100));
                     }
                     return false;
                 }
@@ -92,10 +91,10 @@ public class HomeFragment extends Fragment {
 
                 if(event.getAction() == MotionEvent.ACTION_UP){
                     binding.rotateRight.performClick();
-                    dataTransferAsyncTask.writeTelegram(com.telegram(new int[]{0, 0, 0, 0}, 0));
+                    mainActivity.sendTelegram(com.telegram(new int[]{0, 0, 0, 0}, 0));
                     return true;
                 }else{
-                    dataTransferAsyncTask.writeTelegram(com.telegram(new int[]{1, -1, 1, -1}, 100));
+                    mainActivity.sendTelegram(com.telegram(new int[]{1, -1, 1, -1}, 100));
                 }
                 return false;
             }
@@ -110,32 +109,32 @@ public class HomeFragment extends Fragment {
                 //8 segments of the joystick
                 if((angle >= 338 || angle < 22) && strength != 0){
                     joystick.setBackgroundResource(R.mipmap.right);
-                    dataTransferAsyncTask.writeTelegram(com.telegram(new int[]{1, -1, -1, 1}, strength));
+                    mainActivity.sendTelegram(com.telegram(new int[]{1, -1, -1, 1}, strength));
                 }else if((angle >= 22 && angle < 67) && strength != 0){
                     joystick.setBackgroundResource(R.mipmap.right_forward);
-                    dataTransferAsyncTask.writeTelegram(com.telegram(new int[]{1, 0, 0, 1}, strength));
+                    mainActivity.sendTelegram(com.telegram(new int[]{1, 0, 0, 1}, strength));
                 }else if((angle >=67 && angle < 112) && strength != 0){
                     joystick.setBackgroundResource(R.mipmap.forward);
-                    dataTransferAsyncTask.writeTelegram(com.telegram(new int[]{1, 1, 1, 1}, strength));
+                    mainActivity.sendTelegram(com.telegram(new int[]{1, 1, 1, 1}, strength));
                 }else if((angle >=112 && angle < 157) && strength != 0){
                     joystick.setBackgroundResource(R.mipmap.left_forward);
-                    dataTransferAsyncTask.writeTelegram(com.telegram(new int[]{0, 1, 1, 0}, strength));
+                    mainActivity.sendTelegram(com.telegram(new int[]{0, 1, 1, 0}, strength));
                 }else if((angle >=157 && angle < 202) && strength != 0){
                     joystick.setBackgroundResource(R.mipmap.left);
-                    dataTransferAsyncTask.writeTelegram(com.telegram(new int[]{-1, 1, 1, -1}, strength));
+                    mainActivity.sendTelegram(com.telegram(new int[]{-1, 1, 1, -1}, strength));
                 }else if((angle >=202 && angle < 247) && strength != 0){
                     joystick.setBackgroundResource(R.mipmap.left_back);
-                    dataTransferAsyncTask.writeTelegram(com.telegram(new int[]{-1, 0, 0, -1}, strength));
+                    mainActivity.sendTelegram(com.telegram(new int[]{-1, 0, 0, -1}, strength));
                 }else if((angle >=247 && angle < 292) && strength != 0){
                     joystick.setBackgroundResource(R.mipmap.back);
-                    dataTransferAsyncTask.writeTelegram(com.telegram(new int[]{-1, -1, -1, -1}, strength));
+                    mainActivity.sendTelegram(com.telegram(new int[]{-1, -1, -1, -1}, strength));
                 }else if((angle >=292 && angle < 337) && strength != 0){
                     joystick.setBackgroundResource(R.mipmap.right_back);
-                    dataTransferAsyncTask.writeTelegram(com.telegram(new int[]{0, -1, -1, 0}, strength));
+                    mainActivity.sendTelegram(com.telegram(new int[]{0, -1, -1, 0}, strength));
                 }
                 else{
                     joystick.setBackgroundResource(R.mipmap.blank);
-                    dataTransferAsyncTask.writeTelegram(com.telegram(new int[]{0, 0, 0, 0}, strength));
+                    mainActivity.sendTelegram(com.telegram(new int[]{0, 0, 0, 0}, strength));
                 }
             }
         });