refactor: use MPU6050_light & clean up bloatHEADmaster

23 files changed, 25 insertions, 1609 deletions

diff --git a/platformio.ini b/platformio.ini
index 718ffc5..54761bc 100644
--- a/platformio.ini
+++ b/platformio.ini
@@ -3,10 +3,11 @@ build_dir = build
 
 [env:leonardo]
 platform = atmelavr
-board = leonardo
-# board = leonardo-xinput
+#board = leonardo
+board = leonardo-xinput
 framework = arduino
 lib_deps =
+    https://github.com/rfetick/MPU6050_light
     https://github.com/dmadison/ArduinoXInput
 src_build_flags =
 	-Wextra
diff --git a/src/common/conversion.cpp b/src/common/conversion.cpp
deleted file mode 100644
index b016537..0000000
--- a/src/common/conversion.cpp
+++ /dev/null
@@ -1,42 +0,0 @@
-#include "conversion.hpp"
-
-#include <math.h>
-#include <stdlib.h>
-
-namespace common
-{
-
-common::UniquePtr<common::String> doubleToStr(double num, unsigned int width,
-											  unsigned int precision)
-{
-	auto str = common::make_unique<common::String>(width + precision);
-
-	dtostrf(num, static_cast<signed char>(width), static_cast<unsigned char>(precision),
-			str->c_str);
-
-	return str;
-}
-
-common::UniquePtr<common::String> intToStr(int num)
-{
-	auto width = static_cast<unsigned int>(log10(num));
-
-	auto str = common::make_unique<common::String>(width + 1U);
-
-	dtostrf(num, static_cast<signed char>(width + 1U), 0U, str->c_str);
-
-	return str;
-}
-
-common::UniquePtr<common::String> uintToStr(unsigned int num)
-{
-	auto width = static_cast<unsigned int>(log10(num));
-
-	auto str = common::make_unique<common::String>(width + 1U);
-
-	dtostrf(num, static_cast<signed char>(width + 1U), 0U, str->c_str);
-
-	return str;
-}
-
-} // namespace common
diff --git a/src/common/conversion.hpp b/src/common/conversion.hpp
deleted file mode 100644
index e87adc5..0000000
--- a/src/common/conversion.hpp
+++ /dev/null
@@ -1,36 +0,0 @@
-#pragma once
-
-#include "common/memory/unique_ptr.hpp"
-#include "common/string.hpp"
-
-namespace common
-{
-
-/**
- * Converts a double number to a string.
- *
- * @param num A double number
- * @param width The desired double width
- * @param precision The desired double precision
- * @returns The double as a string.
- */
-common::UniquePtr<common::String> doubleToStr(double num, unsigned int width = 3,
-											  unsigned int precision = 2);
-
-/**
- * Converts a integer to a string.
- *
- * @param num A number
- * @returns The number as a string.
- */
-common::UniquePtr<common::String> intToStr(int num);
-
-/**
- * Converts a unsigned integer to a string.
- *
- * @param num A number
- * @returns The number as a string.
- */
-common::UniquePtr<common::String> uintToStr(unsigned int num);
-
-} // namespace common
diff --git a/src/common/memory.hpp b/src/common/memory.hpp
deleted file mode 100644
index 888ede3..0000000
--- a/src/common/memory.hpp
+++ /dev/null
@@ -1,13 +0,0 @@
-#pragma once
-
-#include <stddef.h>
-
-namespace common
-{
-
-template <typename memType>
-memType *malloc_s(unsigned int size);
-
-} // namespace common
-
-#include "memory.tpp"
diff --git a/src/common/memory.tpp b/src/common/memory.tpp
deleted file mode 100644
index af833bc..0000000
--- a/src/common/memory.tpp
+++ /dev/null
@@ -1,27 +0,0 @@
-#pragma once
-
-#include "memory.hpp"
-
-#include "utils.hpp"
-
-#include <Arduino.h>
-#include <stdlib.h>
-
-namespace common
-{
-
-template <typename memType>
-memType *malloc_s(unsigned int size)
-{
-	auto *mem = malloc(size);
-
-	if (mem == nullptr)
-	{
-		Serial.println("Error: Memory allocation failed");
-		while (true) {}
-	}
-
-	return static_cast<memType *>(mem);
-}
-
-} // namespace common
diff --git a/src/common/memory/shared_ptr.hpp b/src/common/memory/shared_ptr.hpp
deleted file mode 100644
index 7e8a910..0000000
--- a/src/common/memory/shared_ptr.hpp
+++ /dev/null
@@ -1,44 +0,0 @@
-#pragma once

-

-#include <stddef.h>

-

-namespace common

-{

-template <class Target>

-class SharedPtr

-{

-public:

-	SharedPtr() noexcept;

-	SharedPtr(nullptr_t) noexcept; // NOLINT(google-explicit-constructor)

-

-	explicit SharedPtr(Target *target) noexcept;

-

-	SharedPtr(const SharedPtr &shared_ptr) noexcept;

-

-	SharedPtr(SharedPtr &&shared_ptr) noexcept;

-

-	~SharedPtr() noexcept;

-

-	[[nodiscard]] unsigned int reference_cnt() const noexcept;

-

-	[[nodiscard]] bool is_disposable() const noexcept;

-

-	SharedPtr &operator=(const SharedPtr &rhs) noexcept;

-

-	SharedPtr &operator=(SharedPtr &&rhs) noexcept;

-

-	Target &operator*() const noexcept;

-	Target *operator->() const noexcept;

-

-private:

-	Target *_target = nullptr;

-

-	unsigned int *_reference_cnt;

-};

-

-template <typename Target, typename... Args>

-SharedPtr<Target> make_shared(Args &&...args) noexcept;

-

-} // namespace common

-

-#include "shared_ptr.tpp"

diff --git a/src/common/memory/shared_ptr.tpp b/src/common/memory/shared_ptr.tpp
deleted file mode 100644
index d9b57c3..0000000
--- a/src/common/memory/shared_ptr.tpp
+++ /dev/null
@@ -1,153 +0,0 @@
-#pragma once

-

-#include "shared_ptr.hpp"

-

-#include "common/memory.hpp"

-

-#include <stdlib.h>

-

-namespace common

-{

-

-template <class Target>

-SharedPtr<Target>::SharedPtr() noexcept

-	: _reference_cnt(malloc_s<unsigned int>(sizeof(unsigned int)))

-{

-	(*_reference_cnt) = 0;

-}

-

-template <class Target>

-SharedPtr<Target>::SharedPtr(nullptr_t) noexcept

-	: _reference_cnt(malloc_s<unsigned int>(sizeof(unsigned int)))

-{

-	(*_reference_cnt) = 0;

-}

-

-template <class Target>

-SharedPtr<Target>::SharedPtr(Target *target) noexcept

-	: _target(target), _reference_cnt(malloc_s<unsigned int>(sizeof(unsigned int)))

-{

-	(*_reference_cnt) = 0;

-}

-

-/**

- * Copy constructor

- */

-template <class Target>

-SharedPtr<Target>::SharedPtr(const SharedPtr &shared_ptr) noexcept

-	: _target(shared_ptr._target), _reference_cnt(shared_ptr._reference_cnt)

-{

-	(*_reference_cnt)++;

-}

-

-/**

- * Move constructor

- */

-template <class Target>

-SharedPtr<Target>::SharedPtr(SharedPtr &&shared_ptr) noexcept

-	: _target(shared_ptr._target), _reference_cnt(shared_ptr._reference_cnt)

-{

-	shared_ptr._target = nullptr;

-}

-

-template <class Target>

-SharedPtr<Target>::~SharedPtr() noexcept

-{

-	if ((*_reference_cnt) != 0U)

-	{

-		(*_reference_cnt)--;

-	}

-

-	if ((*_reference_cnt) == 0U)

-	{

-		delete _target;

-		free(_reference_cnt);

-		_reference_cnt = nullptr;

-	}

-}

-

-template <class Target>

-unsigned int SharedPtr<Target>::reference_cnt() const noexcept

-{

-	if (_reference_cnt == nullptr)

-	{

-		return 0;

-	}

-

-	return *_reference_cnt;

-}

-

-template <class Target>

-bool SharedPtr<Target>::is_disposable() const noexcept

-{

-	return _reference_cnt == nullptr || (*_reference_cnt) == 0U;

-}

-

-/**

- * Copy assignment operator

- */

-template <class Target>

-SharedPtr<Target> &SharedPtr<Target>::operator=(const SharedPtr &rhs) noexcept

-{

-	if (&rhs != this)

-	{

-		if (is_disposable())

-		{

-			delete _target;

-			free(_reference_cnt);

-		}

-

-		_target = nullptr;

-		_target = rhs._target;

-

-		_reference_cnt = nullptr;

-		_reference_cnt = rhs._reference_cnt;

-		(*_reference_cnt)++;

-	}

-

-	return *this;

-}

-

-/**

- * Move assignment operator

- */

-template <class Target>

-SharedPtr<Target> &SharedPtr<Target>::operator=(SharedPtr &&rhs) noexcept

-{

-	if (&rhs != this)

-	{

-		if (is_disposable())

-		{

-			delete _target;

-			free(_reference_cnt);

-		}

-

-		_target = rhs._target;

-		rhs._target = nullptr;

-

-		_reference_cnt = rhs._reference_cnt;

-		rhs._reference_cnt = nullptr;

-	}

-

-	return *this;

-}

-

-template <class Target>

-Target &SharedPtr<Target>::operator*() const noexcept

-{

-	return *(_target);

-}

-

-template <class Target>

-Target *SharedPtr<Target>::operator->() const noexcept

-{

-	return _target;

-}

-

-template <class Target, typename... Args>

-SharedPtr<Target> make_shared(Args &&...args) noexcept

-{

-	return SharedPtr<Target>(new Target(args...));

-}

-

-} // namespace common

diff --git a/src/common/memory/unique_ptr.hpp b/src/common/memory/unique_ptr.hpp
deleted file mode 100644
index 94c02d0..0000000
--- a/src/common/memory/unique_ptr.hpp
+++ /dev/null
@@ -1,37 +0,0 @@
-#pragma once

-

-namespace common

-{

-template <class Target>

-class UniquePtr

-{

-public:

-	explicit UniquePtr() = default;

-	explicit UniquePtr(Target *target);

-

-	// Move constructor

-	UniquePtr(UniquePtr &&unique_ptr) noexcept;

-

-	// Move assignment operator

-	UniquePtr &operator=(UniquePtr &&unique_ptr) noexcept;

-

-	// Disable the copy constructor

-	UniquePtr(const UniquePtr &unique_ptr) = delete;

-

-	// Disable the copy assignment operator

-	UniquePtr &operator=(const UniquePtr &unique_ptr) = delete;

-

-	~UniquePtr();

-

-	Target operator*() const;

-	Target *operator->() const;

-

-private:

-	Target *_target = nullptr;

-};

-

-template <typename Target, typename... Args>

-UniquePtr<Target> make_unique(Args... args);

-} // namespace common

-

-#include "unique_ptr.tpp"

diff --git a/src/common/memory/unique_ptr.tpp b/src/common/memory/unique_ptr.tpp
deleted file mode 100644
index 3cab9ec..0000000
--- a/src/common/memory/unique_ptr.tpp
+++ /dev/null
@@ -1,55 +0,0 @@
-#pragma once

-

-#include "unique_ptr.hpp"

-

-namespace common

-{

-template <class Target>

-UniquePtr<Target>::UniquePtr(Target *target) : _target(target)

-{

-}

-

-template <class Target>

-UniquePtr<Target>::UniquePtr(UniquePtr &&unique_ptr) noexcept

-	: _target(unique_ptr._target)

-{

-	unique_ptr._target = nullptr;

-}

-

-template <class Target>

-UniquePtr<Target> &UniquePtr<Target>::operator=(UniquePtr &&unique_ptr) noexcept

-{

-	if (&unique_ptr != this)

-	{

-		delete _target;

-		_target = unique_ptr._target;

-		unique_ptr._target = nullptr;

-	}

-

-	return *this;

-}

-

-template <class Target>

-UniquePtr<Target>::~UniquePtr()

-{

-	delete _target;

-}

-

-template <class Target>

-Target UniquePtr<Target>::operator*() const

-{

-	return *(_target);

-}

-

-template <class Target>

-Target *UniquePtr<Target>::operator->() const

-{

-	return _target;

-}

-

-template <class Target, typename... Args>

-UniquePtr<Target> make_unique(Args... args)

-{

-	return UniquePtr<Target>(new Target(args...));

-}

-} // namespace common

diff --git a/src/common/string.cpp b/src/common/string.cpp
deleted file mode 100644
index 27b65d4..0000000
--- a/src/common/string.cpp
+++ /dev/null
@@ -1,70 +0,0 @@
-#include "string.hpp"
-
-#include "common/memory.hpp"
-
-#include <stdlib.h>
-
-namespace common
-{
-
-String::String(char *c_string) : c_str(c_string)
-{
-}
-
-String::String(unsigned int size) : c_str(malloc_s<char>(size + 1))
-{
-}
-
-String::String(const String &smart_str)
-	: c_str(malloc_s<char>(strlen(smart_str.c_str) + 1))
-{
-	memcpy(c_str, smart_str.c_str, strlen(smart_str.c_str) + 1);
-}
-
-String::String(String &&smart_str) noexcept : c_str(smart_str.c_str)
-{
-	smart_str.c_str = nullptr;
-}
-
-String &String::operator=(const String &smart_str)
-{
-	if (&smart_str != this)
-	{
-		free(c_str);
-		c_str = nullptr;
-
-		auto str_size = strlen(smart_str.c_str) + 1;
-
-		c_str = malloc_s<char>(str_size);
-		memcpy(c_str, smart_str.c_str, str_size);
-	}
-
-	return *this;
-}
-
-String &String::operator=(String &&smart_str) noexcept
-{
-	if (&smart_str != this)
-	{
-		free(c_str);
-		c_str = smart_str.c_str;
-		smart_str.c_str = nullptr;
-	}
-
-	return *this;
-}
-
-String::~String()
-{
-	if (c_str != nullptr)
-	{
-		free(c_str);
-	}
-}
-
-String::operator char *() const
-{
-	return c_str;
-}
-
-} // namespace common
diff --git a/src/common/string.hpp b/src/common/string.hpp
deleted file mode 100644
index 2641457..0000000
--- a/src/common/string.hpp
+++ /dev/null
@@ -1,25 +0,0 @@
-#pragma once
-
-namespace common
-{
-
-class String
-{
-public:
-	explicit String(char *c_str);
-	explicit String(unsigned int size);
-	String(const String &smart_str);
-	String(String &&smart_str) noexcept;
-
-	String &operator=(const String &smart_str);
-
-	String &operator=(String &&smart_str) noexcept;
-
-	~String();
-
-	explicit operator char *() const;
-
-	char *c_str = nullptr;
-};
-
-} // namespace common
diff --git a/src/common/time.cpp b/src/common/time.cpp
deleted file mode 100644
index ee297d7..0000000
--- a/src/common/time.cpp
+++ /dev/null
@@ -1,42 +0,0 @@
-#include "time.hpp"
-
-#include <Arduino.h>
-
-namespace common
-{
-
-	Time::Time(uint64_t time_micros) : _time_micros(time_micros)
-	{
-	}
-
-	void Time::update()
-	{
-		_time_micros = micros();
-	}
-
-	Time Time::diff(Time prev_time) const
-	{
-		return Time(_time_micros - prev_time.microsecs());
-	}
-
-	double Time::secs() const
-	{
-		return static_cast<double>(_time_micros) * MICROS_TO_SECS;
-	}
-
-	double Time::millisecs() const
-	{
-		return static_cast<double>(_time_micros) * MICROS_TO_MILLIS;
-	}
-
-	uint64_t Time::microsecs() const
-	{
-		return _time_micros;
-	}
-
-	Time time_now()
-	{
-		return Time(micros());
-	}
-
-} // namespace common
diff --git a/src/common/time.hpp b/src/common/time.hpp
deleted file mode 100644
index 8efbd28..0000000
--- a/src/common/time.hpp
+++ /dev/null
@@ -1,60 +0,0 @@
-#pragma once
-
-#include <stdint.h>
-
-constexpr double MICROS_TO_SECS = 0.000001;
-constexpr double MICROS_TO_MILLIS = 0.001;
-
-namespace common
-{
-
-	/**
-	 * A representation of time.
-	 */
-	class Time
-	{
-	public:
-		/**
-		 * A representation of time.
-		 *
-		 * @param time_micros Time in microseconds
-		 */
-		explicit Time(uint64_t time_micros);
-
-		/**
-		 * Updates the time to the current time.
-		 */
-		void update();
-
-		/**
-		 * Returns the difference between two points in time.
-		 *
-		 * @param prev_time A previous point in time
-		 */
-		Time diff(Time prev_time) const;
-
-		/**
-		 * Returns the time in seconds.
-		 */
-		double secs() const;
-
-		/**
-		 * Returns the time in milliseconds.
-		 */
-		double millisecs() const;
-
-		/**
-		 * Returns the time in microseconds.
-		 */
-		uint64_t microsecs() const;
-
-	private:
-		uint64_t _time_micros;
-	};
-
-	/**
-	 * Returns a time object for the time since the program started.
-	 */
-	Time time_now();
-
-} // namespace common
diff --git a/src/gyronardo.cpp b/src/gyronardo.cpp
index 9b1aa24..b876193 100644
--- a/src/gyronardo.cpp
+++ b/src/gyronardo.cpp
@@ -1,107 +1,56 @@
-#include "common/memory/shared_ptr.hpp"
-#include "sensor/calibration.hpp"
-#include "sensor/sensor.hpp"
-#include "serial.hpp"
 #include "status.hpp"
-#include "utils.hpp"
 
+#include <MPU6050_light.h>
 #include <Wire.h>
 #include <XInput.h>
 
-constexpr uint8_t SENSOR_ADDRESS = 0x68U;
-constexpr unsigned int SENSOR_THROTTLE_TIME = 50U; // milliseconds
-constexpr unsigned int SENSOR_RETRY_TIME = 2000U;  // milliseconds
+constexpr unsigned int SENSOR_RETRY_TIME = 2000U; // milliseconds
 
 constexpr unsigned int BAUD_RATE = 9600U;
 
+constexpr int32_t JOY_MAX = 180;
+constexpr int32_t JOY_MIN = -180;
+
+#define LEONARDO_XINPUT_VID 0x045E // NOLINT(cppcoreguidelines-macro-usage)
+#define LEONARDO_XINPUT_PID 0x028E // NOLINT(cppcoreguidelines-macro-usage)
+
 void setup()
 {
 	initialize_status_leds();
 
-	auto sout = common::make_shared<SerialStream>(Serial, BAUD_RATE);
+	auto sensor = MPU6050(Wire);
 
-	auto sensor = common::make_shared<Sensor>(SENSOR_ADDRESS, Wire, SENSOR_THROTTLE_TIME);
+	Wire.begin();
 
-	sout->waitReady();
+	set_led_positive(HIGH);
 
-	while (!sensor->begin())
+	while (sensor.begin() != 0)
 	{
-		*sout << "Error: Could not connect to the _sensor-> Retrying after 2000 "
-				 "milliseconds..."
-			  << endl;
+		set_led_positive(LOW);
 
 		delay(SENSOR_RETRY_TIME);
 	}
 
-	if (!sensor->setAccelSensitivity(2)) // 8g
-	{
-		*sout << "Error: Failed to set the sensor's accelerometer sensitivity. Status: "
-			  << static_cast<int>(sensor->getStatus()) << endl;
-
-		stop();
-	}
-
-	if (!sensor->setGyroSensitivity(1)) // 500 degrees/s
-	{
-		*sout << "Error: Failed to set the sensor's gyro sensitivity. Status: "
-			  << static_cast<int>(sensor->getStatus()) << endl;
-
-		stop();
-	}
-
-	*sout << "Calibrating _sensor->.." << endl;
-
-	SensorCalibrator sensor_calibrator(sensor, sout);
-
-	if (!sensor_calibrator.calibrate(SENSOR_THROTTLE_TIME))
-	{
-		*sout << "Error: Sensor calibration timed out after " << CALIBRATION_TIMEOUT
-			  << " milliseconds" << endl;
-
-		stop();
-	}
-
 	set_led_positive(HIGH);
 
-	*sout << "Finished calibrating sensor\n";
-
-	*sout << "Calibration values:\n"
-		  << "Accelerometer X: " << sensor->accel_cal_x << "\n"
-		  << "Accelerometer Y: " << sensor->accel_cal_y << "\n"
-		  << "Accelerometer Z: " << sensor->accel_cal_z << "\n"
-		  << "Gyro X: " << sensor->gyro_cal_x << "\n"
-		  << "Gyro Y: " << sensor->gyro_cal_y << "\n"
-		  << "Gyro Z: " << sensor->gyro_cal_z << "\n";
-
-	*sout << "Starting..." << endl;
+	sensor.calcOffsets();
 
 	XInput.begin();
 
+	XInput.setRange(JOY_LEFT, JOY_MIN, JOY_MAX);
+
 	while (true)
 	{
-		delay(SENSOR_THROTTLE_TIME);
-
-		if (!sensor->read())
-		{
-			SensorStatus status = sensor->getStatus();
+		sensor.update();
 
-			if (status == SensorStatus::THROTTLED)
-			{
-				*sout << "Warning: The sensor was read too frequently and throttled"
-					  << endl;
-				continue;
-			}
+		auto pitch = static_cast<int32_t>(sensor.getAngleX());
 
-			*sout << "Error: Failed to read _sensor-> Status: "
-				  << static_cast<int>(status) << endl;
-			stop();
-		}
+		auto roll = static_cast<int32_t>(sensor.getAngleY());
 
-		*sout << "Pitch: " << sensor->getPitch() << "    Roll: " << sensor->getRoll()
-			  << endl;
+		XInput.setJoystick(JOY_LEFT, -roll, pitch);
 
-		XInput.setJoystick(JOY_LEFT, static_cast<int32_t>(sensor->getRoll()),
-						   static_cast<int32_t>(sensor->getPitch()));
+#if USB_VID != LEONARDO_XINPUT_VID && USB_PID != LEONARDO_XINPUT_PID
 		XInput.printDebug(Serial);
+#endif
 	}
 }
diff --git a/src/sensor/calibration.cpp b/src/sensor/calibration.cpp
deleted file mode 100644
index 5626388..0000000
--- a/src/sensor/calibration.cpp
+++ /dev/null
@@ -1,96 +0,0 @@
-#include "calibration.hpp"
-
-#include "common/time.hpp"
-#include "utils.hpp"
-
-SensorCalibrator::SensorCalibrator(common::SharedPtr<Sensor> sensor,
-								   common::SharedPtr<SerialStream> sout)
-	: _sensor(sensor), _sout(sout)
-{
-}
-
-bool SensorCalibrator::calibrate(unsigned int throttle_time)
-{
-	bool done = false;
-	auto start_time = common::time_now();
-
-	while (!done)
-	{
-		if (common::time_now().diff(start_time).millisecs() >= CALIBRATION_TIMEOUT)
-		{
-			return false;
-		}
-
-		delay(throttle_time);
-
-		auto values = SensorCalibratorValues();
-
-		for (unsigned int i = 0U; i < SENSOR_READ_CNT; i++)
-		{
-			_updateValues(values);
-		}
-
-		_adjustValues(values);
-
-		*_sout << "Accel X: " << values.accel_x << "	"
-			   << "Accel Y: " << values.accel_y << "	"
-			   << "Accel Z: " << values.accel_z << "	"
-			   << "Gyro X: " << values.gyro_x << "	"
-			   << "Gyro Y: " << values.gyro_y << "	"
-			   << "Gyro Z: " << values.gyro_z << endl;
-
-		if (_isValuesInRange(values))
-		{
-			done = true;
-		}
-
-		_adjustCalibrationWithValues(values);
-	}
-
-	return true;
-}
-
-void SensorCalibrator::_updateValues(SensorCalibratorValues &values)
-{
-	_sensor->read();
-
-	values.accel_x -= _sensor->getAccelX();
-	values.accel_y -= _sensor->getAccelY();
-	values.accel_z -= _sensor->getAccelZ();
-
-	values.gyro_x -= _sensor->getGyroX();
-	values.gyro_y -= _sensor->getGyroY();
-	values.gyro_z -= _sensor->getGyroZ();
-}
-
-void SensorCalibrator::_adjustCalibrationWithValues(const SensorCalibratorValues &values)
-{
-	_sensor->accel_cal_x += values.accel_x;
-	_sensor->accel_cal_y += values.accel_y;
-	_sensor->accel_cal_z += values.accel_z;
-
-	_sensor->gyro_cal_x += values.gyro_x;
-	_sensor->gyro_cal_y += values.gyro_y;
-	_sensor->gyro_cal_z += values.gyro_z;
-}
-
-void SensorCalibrator::_adjustValues(SensorCalibratorValues &values)
-{
-	values.accel_x *= SENSOR_VAL_ADJUST;
-	values.accel_y *= SENSOR_VAL_ADJUST;
-	values.accel_z *= SENSOR_VAL_ADJUST;
-
-	values.gyro_x *= SENSOR_VAL_ADJUST;
-	values.gyro_y *= SENSOR_VAL_ADJUST;
-	values.gyro_z *= SENSOR_VAL_ADJUST;
-}
-
-bool SensorCalibrator::_isValuesInRange(const SensorCalibratorValues &values)
-{
-	return (values.accel_x < ACCEL_CAL_X_MAX && values.accel_x > ACCEL_CAL_X_MIN &&
-			values.accel_y < ACCEL_CAL_Y_MAX && values.accel_y > ACCEL_CAL_Y_MIN &&
-			values.accel_z < ACCEL_CAL_Z_MAX && values.accel_z > ACCEL_CAL_Z_MIN &&
-			values.gyro_x < GYRO_CAL_X_MAX && values.gyro_x > GYRO_CAL_X_MIN &&
-			values.gyro_y < GYRO_CAL_Y_MAX && values.gyro_y > GYRO_CAL_Y_MIN &&
-			values.gyro_z < GYRO_CAL_Z_MAX && values.gyro_z > GYRO_CAL_Z_MIN);
-}
diff --git a/src/sensor/calibration.hpp b/src/sensor/calibration.hpp
deleted file mode 100644
index c85d336..0000000
--- a/src/sensor/calibration.hpp
+++ /dev/null
@@ -1,76 +0,0 @@
-#pragma once
-
-#include "common/memory/shared_ptr.hpp"
-#include "sensor/sensor.hpp"
-#include "serial.hpp"
-
-// Calibration precision
-constexpr double ACCEL_CAL_X_MAX = 0.003;
-constexpr double ACCEL_CAL_X_MIN = -0.003;
-
-constexpr double ACCEL_CAL_Y_MAX = 0.003;
-constexpr double ACCEL_CAL_Y_MIN = -0.003;
-
-constexpr double ACCEL_CAL_Z_MAX = 0.003;
-constexpr double ACCEL_CAL_Z_MIN = -0.003;
-
-constexpr double GYRO_CAL_X_MAX = 0.003;
-constexpr double GYRO_CAL_X_MIN = -0.003;
-
-constexpr double GYRO_CAL_Y_MAX = 0.05;
-constexpr double GYRO_CAL_Y_MIN = -0.05;
-
-constexpr double GYRO_CAL_Z_MAX = 0.04;
-constexpr double GYRO_CAL_Z_MIN = -0.04;
-
-constexpr uint32_t CALIBRATION_TIMEOUT = 120000; // milliseconds
-
-constexpr uint32_t SENSOR_READ_CNT = 20;
-constexpr double SENSOR_VAL_ADJUST = 0.05;
-
-class SensorCalibratorValues
-{
-public:
-	double accel_x = 0;
-	double accel_y = 0;
-	double accel_z = 0;
-
-	double gyro_x = 0;
-	double gyro_y = 0;
-	double gyro_z = 0;
-};
-
-/**
- * Sensor calibrator.
- */
-class SensorCalibrator
-{
-public:
-	/**
-	 * Sensor calibrator.
-	 *
-	 * @param sensor A sensor to calibrate
-	 * @param sout A Serial output stream
-	 */
-	SensorCalibrator(common::SharedPtr<Sensor> sensor,
-					 common::SharedPtr<SerialStream> sout);
-
-	/**
-	 * Calibrates the sensor.
-	 *
-	 * @param throttle_time The sensor's throttle time
-	 * @returns Whether or not the calibration succeeded. Will return false on
-	 * timeout.
-	 */
-	bool calibrate(unsigned int throttle_time);
-
-private:
-	void _updateValues(SensorCalibratorValues &values);
-	void _adjustCalibrationWithValues(const SensorCalibratorValues &values);
-
-	static void _adjustValues(SensorCalibratorValues &values);
-	static bool _isValuesInRange(const SensorCalibratorValues &values);
-
-	common::SharedPtr<Sensor> _sensor;
-	common::SharedPtr<SerialStream> _sout;
-};
diff --git a/src/sensor/registers.hpp b/src/sensor/registers.hpp
deleted file mode 100644
index fadb62b..0000000
--- a/src/sensor/registers.hpp
+++ /dev/null
@@ -1,136 +0,0 @@
-#pragma once
-
-#include <stdint.h>
-
-namespace SensorRegisters
-{
-	const uint8_t XG_OFFS_TC = 0x00U;
-	const uint8_t YG_OFFS_TC = 0x01U;
-	const uint8_t ZG_OFFS_TC = 0x02U;
-
-	const uint8_t X_FINE_GAIN = 0x03U;
-	const uint8_t Y_FINE_GAIN = 0x04U;
-	const uint8_t Z_FINE_GAIN = 0x05U;
-
-	const uint8_t XA_OFFS_H = 0x06U;
-	const uint8_t XA_OFFS_L_TC = 0x07U;
-	const uint8_t YA_OFFS_H = 0x08U;
-	const uint8_t YA_OFFS_L_TC = 0x09U;
-	const uint8_t ZA_OFFS_H = 0x0AU;
-	const uint8_t ZA_OFFS_L_TC = 0x0BU;
-
-	const uint8_t SELF_TEST_X = 0x0DU;
-	const uint8_t SELF_TEST_Y = 0x0EU;
-	const uint8_t SELF_TEST_Z = 0x0FU;
-	const uint8_t SELF_TEST_A = 0x10U;
-
-	const uint8_t XG_OFFS_USRH = 0x13U;
-	const uint8_t XG_OFFS_USRL = 0x14U;
-	const uint8_t YG_OFFS_USRH = 0x15U;
-	const uint8_t YG_OFFS_USRL = 0x16U;
-	const uint8_t ZG_OFFS_USRH = 0x17U;
-	const uint8_t ZG_OFFS_USRL = 0x18U;
-
-	const uint8_t SMPLRT_DIV = 0x19U;
-	const uint8_t CONFIG = 0x1AU;
-	const uint8_t GYRO_CONFIG = 0x1BU;
-	const uint8_t ACCEL_CONFIG = 0x1CU;
-
-	const uint8_t FF_THR = 0x1DU;
-	const uint8_t FF_DUR = 0x1EU;
-	const uint8_t MOT_THR = 0x1FU;
-	const uint8_t MOT_DUR = 0x20U;
-	const uint8_t ZRMOT_THR = 0x21U;
-	const uint8_t ZRMOT_DUR = 0x22U;
-	const uint8_t FIFO_EN = 0x23U;
-
-	const uint8_t I2C_MST_CTRL = 0x24U;
-	const uint8_t I2C_SLV0_ADDR = 0x25U;
-	const uint8_t I2C_SLV0_REG = 0x26U;
-	const uint8_t I2C_SLV0_CTRL = 0x27U;
-	const uint8_t I2C_SLV1_ADDR = 0x28U;
-	const uint8_t I2C_SLV1_REG = 0x29U;
-	const uint8_t I2C_SLV1_CTRL = 0x2AU;
-	const uint8_t I2C_SLV2_ADDR = 0x2BU;
-	const uint8_t I2C_SLV2_REG = 0x2CU;
-	const uint8_t I2C_SLV2_CTRL = 0x2DU;
-	const uint8_t I2C_SLV3_ADDR = 0x2EU;
-	const uint8_t I2C_SLV3_REG = 0x2FU;
-	const uint8_t I2C_SLV3_CTRL = 0x30U;
-	const uint8_t I2C_SLV4_ADDR = 0x31U;
-	const uint8_t I2C_SLV4_REG = 0x32U;
-	const uint8_t I2C_SLV4_DO = 0x33U;
-	const uint8_t I2C_SLV4_CTRL = 0x34U;
-	const uint8_t I2C_SLV4_DI = 0x35U;
-	const uint8_t I2C_MST_STATUS = 0x36U;
-
-	const uint8_t INT_PIN_CFG = 0x37U;
-	const uint8_t INT_ENABLE = 0x38U;
-	const uint8_t DMP_INT_STATUS = 0x39U;
-	const uint8_t INT_STATUS = 0x3AU;
-
-	const uint8_t ACCEL_XOUT_H = 0x3BU;
-	const uint8_t ACCEL_XOUT_L = 0x3CU;
-	const uint8_t ACCEL_YOUT_H = 0x3DU;
-	const uint8_t ACCEL_YOUT_L = 0x3EU;
-	const uint8_t ACCEL_ZOUT_H = 0x3FU;
-	const uint8_t ACCEL_ZOUT_L = 0x40U;
-	const uint8_t TEMP_OUT_H = 0x41U;
-	const uint8_t TEMP_OUT_L = 0x42U;
-	const uint8_t GYRO_XOUT_H = 0x43U;
-	const uint8_t GYRO_XOUT_L = 0x44U;
-	const uint8_t GYRO_YOUT_H = 0x45U;
-	const uint8_t GYRO_YOUT_L = 0x46U;
-	const uint8_t GYRO_ZOUT_H = 0x47U;
-	const uint8_t GYRO_ZOUT_L = 0x48U;
-
-	const uint8_t EXT_SENS_DATA_00 = 0x49U;
-	const uint8_t EXT_SENS_DATA_01 = 0x4AU;
-	const uint8_t EXT_SENS_DATA_02 = 0x4BU;
-	const uint8_t EXT_SENS_DATA_03 = 0x4CU;
-	const uint8_t EXT_SENS_DATA_04 = 0x4DU;
-	const uint8_t EXT_SENS_DATA_05 = 0x4EU;
-	const uint8_t EXT_SENS_DATA_06 = 0x4FU;
-	const uint8_t EXT_SENS_DATA_07 = 0x50U;
-	const uint8_t EXT_SENS_DATA_08 = 0x51U;
-	const uint8_t EXT_SENS_DATA_09 = 0x52U;
-	const uint8_t EXT_SENS_DATA_10 = 0x53U;
-	const uint8_t EXT_SENS_DATA_11 = 0x54U;
-	const uint8_t EXT_SENS_DATA_12 = 0x55U;
-	const uint8_t EXT_SENS_DATA_13 = 0x56U;
-	const uint8_t EXT_SENS_DATA_14 = 0x57U;
-	const uint8_t EXT_SENS_DATA_15 = 0x58U;
-	const uint8_t EXT_SENS_DATA_16 = 0x59U;
-	const uint8_t EXT_SENS_DATA_17 = 0x5AU;
-	const uint8_t EXT_SENS_DATA_18 = 0x5BU;
-	const uint8_t EXT_SENS_DATA_19 = 0x5CU;
-	const uint8_t EXT_SENS_DATA_20 = 0x5DU;
-	const uint8_t EXT_SENS_DATA_21 = 0x5EU;
-	const uint8_t EXT_SENS_DATA_22 = 0x5FU;
-	const uint8_t EXT_SENS_DATA_23 = 0x60U;
-
-	const uint8_t MOT_DETECT_STATUS = 0x61U;
-
-	const uint8_t I2C_SLV0_DO = 0x63U;
-	const uint8_t I2C_SLV1_DO = 0x64U;
-	const uint8_t I2C_SLV2_DO = 0x65U;
-	const uint8_t I2C_SLV3_DO = 0x66U;
-	const uint8_t I2C_MST_DELAY_CTRL = 0x67U;
-
-	const uint8_t SIGNAL_PATH_RESET = 0x68U;
-	const uint8_t MOT_DETECT_CTRL = 0x69U;
-	const uint8_t USER_CTRL = 0x6AU;
-
-	const uint8_t PWR_MGMT_1 = 0x6BU;
-	const uint8_t PWR_MGMT_2 = 0x6CU;
-	const uint8_t BANK_SEL = 0x6DU;
-	const uint8_t MEM_START_ADDR = 0x6EU;
-	const uint8_t MEM_R_W = 0x6FU;
-
-	const uint8_t DMP_CFG_1 = 0x70U;
-	const uint8_t DMP_CFG_2 = 0x71U;
-	const uint8_t FIFO_COUNTH = 0x72U;
-	const uint8_t FIFO_COUNTL = 0x73U;
-	const uint8_t FIFO_R_W = 0x74U;
-	const uint8_t WHO_AM_I = 0x75U;
-} // namespace SensorRegisters
diff --git a/src/sensor/sensor.cpp b/src/sensor/sensor.cpp
deleted file mode 100644
index a801270..0000000
--- a/src/sensor/sensor.cpp
+++ /dev/null
@@ -1,298 +0,0 @@
-#include "sensor.hpp"
-
-#include "sensor/registers.hpp"
-
-Sensor::Sensor(uint8_t address, TwoWire wire, unsigned int throttle_time) noexcept
-	: _wire(wire),
-	  _address(address),
-	  _throttle_enabled(true),
-	  _throttle_time(throttle_time),
-	  _last_time(0),
-	  _status(SensorStatus::OK),
-	  _accel_to_g_force(RAW_TO_G_FACTOR),
-	  _ang_rate_to_dps(RAW_TO_DPS_FACTOR)
-{
-}
-
-bool Sensor::begin() noexcept
-{
-	_wire.begin();
-
-	if (isConnected())
-	{
-		_wire.beginTransmission(_address);
-		_wire.write(SensorRegisters::PWR_MGMT_1);
-		_wire.write(SENSOR_WAKEUP);
-
-		return (_wire.endTransmission() == 0);
-	}
-
-	return false;
-}
-
-bool Sensor::isConnected() noexcept
-{
-	_wire.beginTransmission(_address);
-	return (_wire.endTransmission() == 0);
-}
-
-bool Sensor::read() noexcept
-{
-	auto now = common::time_now();
-
-	if (_throttle_enabled && now.diff(_last_time).millisecs() < _throttle_time)
-	{
-		_status = SensorStatus::THROTTLED;
-		return false;
-	}
-
-	_wire.beginTransmission(_address);
-	_wire.write(SensorRegisters::ACCEL_XOUT_H);
-
-	if (_wire.endTransmission() != 0U)
-	{
-		_status = SensorStatus::ERR_WRITE;
-		return false;
-	}
-
-	uint8_t response_length = _wire.requestFrom(_address, SensorRegisters::SELF_TEST_Y);
-
-	const uint8_t self_test_success = 14U;
-
-	if (response_length != self_test_success)
-	{
-		_status = SensorStatus::ERR_READ;
-		return false;
-	}
-
-	// Accelerometer
-	_accel_raw_x = _readHighLow();
-	_accel_raw_y = _readHighLow();
-	_accel_raw_z = _readHighLow();
-
-	// Gyroscope
-	_gyro_raw_x = _readHighLow();
-	_gyro_raw_y = _readHighLow();
-	_gyro_raw_z = _readHighLow();
-
-	// Duration interval
-	now.update();
-	auto duration = now.diff(_last_time).secs();
-	_last_time = now;
-
-	// Convert raw acceleration to g:s (g-force)
-	_accel_raw_x *= _accel_to_g_force;
-	_accel_raw_y *= _accel_to_g_force;
-	_accel_raw_z *= _accel_to_g_force;
-
-	// Error correct raw acceleration
-	_accel_raw_x += accel_cal_x;
-	_accel_raw_y += accel_cal_y;
-	_accel_raw_z += accel_cal_z;
-
-	// Prepare for Pitch Roll Yaw
-	auto accel_y_pow_two = pow(_accel_raw_y, 2);
-	auto accel_z_pow_two = pow(_accel_raw_z, 2);
-
-	_accel_x = atan2(_accel_raw_y, _accel_raw_z) * ONE_EIGHTY / PI;
-
-	_accel_y =
-		atan2(-_accel_raw_x, sqrt(accel_y_pow_two + accel_z_pow_two)) * ONE_EIGHTY / PI;
-
-	// Convert raw Gyro to degrees/s
-	_gyro_raw_x *= _ang_rate_to_dps;
-	_gyro_raw_y *= _ang_rate_to_dps;
-	_gyro_raw_z *= _ang_rate_to_dps;
-
-	// Error correct raw gyro measurements.
-	_gyro_raw_x += gyro_cal_x;
-	_gyro_raw_y += gyro_cal_y;
-	_gyro_raw_z += gyro_cal_z;
-
-	_gyro_x += _gyro_raw_x * duration;
-	_gyro_y += _gyro_raw_y * duration;
-	_gyro_z += _gyro_raw_z * duration;
-
-	_pitch = _gyro_y + _accel_y;
-	_roll = _gyro_x + _accel_x;
-
-	_yaw = _gyro_z;
-
-	return true;
-}
-
-bool Sensor::setAccelSensitivity(uint8_t sensitivity) noexcept
-{
-	if (sensitivity > 3)
-	{
-		sensitivity = 3;
-	}
-
-	_accel_sensitivity = sensitivity;
-
-	auto accel_config = static_cast<int>(getRegister(SensorRegisters::ACCEL_CONFIG));
-
-	if (_status != SensorStatus::OK)
-	{
-		return false;
-	}
-
-	// No need to write same value
-	if (((accel_config >> 3) & 3) != _accel_sensitivity)
-	{
-		const uint8_t magic = 0xE7U;
-
-		accel_config &= magic;
-		accel_config |= (_accel_sensitivity << 3U);
-
-		if (!setRegister(SensorRegisters::ACCEL_CONFIG,
-						 static_cast<uint8_t>(accel_config)))
-		{
-			return false;
-		}
-	}
-
-	// Calculate conversion factor.
-	_accel_to_g_force = static_cast<float>(1 << _accel_sensitivity) * RAW_TO_G_FACTOR;
-
-	return true;
-}
-
-bool Sensor::setGyroSensitivity(uint8_t sensitivity) noexcept
-{
-	if (sensitivity > 3)
-	{
-		sensitivity = 3;
-	}
-
-	_gyro_sensitivity = sensitivity;
-
-	auto gyro_config = static_cast<int>(getRegister(SensorRegisters::GYRO_CONFIG));
-
-	if (_status != SensorStatus::OK)
-	{
-		return false;
-	}
-
-	// No need to write same value
-	if (((gyro_config >> 3) & 3) != _gyro_sensitivity)
-	{
-		const uint8_t magic = 0xE7U;
-
-		gyro_config &= magic;
-		gyro_config |= (_gyro_sensitivity << 3U);
-
-		if (!setRegister(SensorRegisters::GYRO_CONFIG, static_cast<uint8_t>(gyro_config)))
-		{
-			return false;
-		}
-	}
-
-	_ang_rate_to_dps = static_cast<float>(1 << _gyro_sensitivity) * RAW_TO_DPS_FACTOR;
-
-	return true;
-}
-
-double Sensor::getAccelX() const noexcept
-{
-	return _accel_raw_x;
-}
-
-double Sensor::getAccelY() const noexcept
-{
-	return _accel_raw_y;
-}
-
-double Sensor::getAccelZ() const noexcept
-{
-	return _accel_raw_z;
-}
-
-double Sensor::getAngleX() const noexcept
-{
-	return _accel_x;
-}
-
-double Sensor::getAngleY() const noexcept
-{
-	return _accel_y;
-}
-
-double Sensor::getGyroX() const noexcept
-{
-	return _gyro_raw_x;
-}
-
-double Sensor::getGyroY() const noexcept
-{
-	return _gyro_raw_y;
-}
-
-double Sensor::getGyroZ() const noexcept
-{
-	return _gyro_raw_z;
-}
-
-double Sensor::getPitch() const noexcept
-{
-	return _pitch;
-}
-
-double Sensor::getRoll() const noexcept
-{
-	return _roll;
-}
-
-bool Sensor::setRegister(uint8_t reg, uint8_t value) noexcept
-{
-	_wire.beginTransmission(_address);
-	_wire.write(reg);
-	_wire.write(value);
-
-	if (_wire.endTransmission() != 0U)
-	{
-		_status = SensorStatus::ERR_WRITE;
-		return false;
-	}
-
-	return true;
-}
-
-uint8_t Sensor::getRegister(uint8_t reg) noexcept
-{
-	_wire.beginTransmission(_address);
-	_wire.write(reg);
-
-	if (_wire.endTransmission() != 0U)
-	{
-		_status = SensorStatus::ERR_WRITE;
-		return 0U;
-	}
-
-	uint8_t response_length = _wire.requestFrom(_address, 1U);
-	if (response_length != 1U)
-	{
-		_status = SensorStatus::ERR_READ;
-		return 0U;
-	}
-
-	return static_cast<uint8_t>(_wire.read());
-}
-
-SensorStatus Sensor::getStatus() noexcept
-{
-	SensorStatus status = _status;
-	_status = SensorStatus::OK;
-
-	return status;
-}
-
-int16_t Sensor::_readHighLow() noexcept
-{
-	const auto high = static_cast<int16_t>(_wire.read());
-	const auto low = static_cast<int16_t>(_wire.read());
-
-	const int8_t bits_in_byte = 8;
-
-	return static_cast<int16_t>(high << bits_in_byte | low);
-}
diff --git a/src/sensor/sensor.hpp b/src/sensor/sensor.hpp
deleted file mode 100644
index 1b99f6e..0000000
--- a/src/sensor/sensor.hpp
+++ /dev/null
@@ -1,194 +0,0 @@
-#pragma once
-
-#include "common/time.hpp"
-
-#include <Arduino.h>
-#include <Wire.h>
-
-constexpr uint8_t SENSOR_WAKEUP = 0x00U;
-
-constexpr float RAW_TO_DPS_FACTOR = 1.0 / 131.0;
-constexpr float RAW_TO_G_FACTOR = 1.0 / 16384.0;
-
-constexpr uint32_t ONE_EIGHTY = 180;
-
-enum class SensorStatus
-{
-	OK = 0,
-	THROTTLED = 1,
-	ERR_READ = -1,
-	ERR_WRITE = -2,
-	ERR_NOT_CONNECTED = -3
-};
-
-/**
- * A GY521 gyro and accelerometer sensor.
- */
-class Sensor
-{
-public:
-	/**
-	 * A GY521 gyro and accelerometer sensor.
-	 *
-	 * @param address The address of the sensor
-	 * @param wire A Wire instance
-	 * @param throttle_time A minumum time between sensor reads for the sensor to throttle
-	 */
-	Sensor(uint8_t address, TwoWire wire, unsigned int throttle_time) noexcept;
-
-	/**
-	 * Initializes communication with the sensor.
-	 *
-	 * @returns Whether or not the sensor can be communicated with.
-	 */
-	bool begin() noexcept;
-
-	/**
-	 * Returns whether or not the sensor is connected.
-	 */
-	bool isConnected() noexcept;
-
-	/**
-	 * Reads from the sensor.
-	 *
-	 * @returns Whether or not it succeeded.
-	 */
-	bool read() noexcept;
-
-	/**
-	 * Sets the accelerometer sensitivity.
-	 *
-	 * @param sensitivity Accelerometer sensitivity. 0, 1, 2, 3 => 2g 4g 8g 16g
-	 * @returns Whether or not it succeeded.
-	 */
-	bool setAccelSensitivity(uint8_t sensitivity) noexcept;
-
-	/**
-	 * Sets the gyro sensitivity.
-	 *
-	 * @param sensitivity Gyro sensitivity.
-	 * 	0, 1, 2, 3 => 250, 500, 1000, 2000 degrees/s
-	 * @returns Whether or not it succeeded.
-	 */
-	bool setGyroSensitivity(uint8_t sensitivity) noexcept;
-
-	/**
-	 * Returns the current X axis acceleration in g:s (g-force).
-	 */
-	double getAccelX() const noexcept;
-
-	/**
-	 * Returns the current Y axis acceleration in g:s (g-force).
-	 */
-	double getAccelY() const noexcept;
-
-	/**
-	 * Returns the current Z axis acceleration in g:s (g-force).
-	 */
-	double getAccelZ() const noexcept;
-
-	/**
-	 * Returns the current X angle.
-	 */
-	double getAngleX() const noexcept;
-
-	/**
-	 * Returns the current Y angle.
-	 */
-	double getAngleY() const noexcept;
-
-	/**
-	 * Returns the current X axis in degrees/s.
-	 */
-	double getGyroX() const noexcept;
-
-	/**
-	 * Returns the current Y axis in degrees/s.
-	 */
-	double getGyroY() const noexcept;
-
-	/**
-	 * Returns the current Z axis in degrees/s.
-	 */
-	double getGyroZ() const noexcept;
-
-	/**
-	 * Returns the current pitch angle.
-	 */
-	double getPitch() const noexcept;
-
-	/**
-	 * Returns the current roll angle.
-	 */
-	double getRoll() const noexcept;
-
-	/**
-	 * Sets the value of a key in the sensor's register.
-	 *
-	 * @param reg The address of a registry key
-	 * @param value A new value
-	 * @returns Whether or not it succeeded.
-	 */
-	bool setRegister(uint8_t reg, uint8_t value) noexcept;
-
-	/**
-	 * Returns the value of a key in the sensor's registry.
-	 *
-	 * @param reg The address of a registry key
-	 */
-	uint8_t getRegister(uint8_t reg) noexcept;
-
-	/**
-	 * Returns the last sensor status.
-	 */
-	SensorStatus getStatus() noexcept;
-
-	// Accelerometer calibration values
-	double accel_cal_x = 0;
-	double accel_cal_y = 0;
-	double accel_cal_z = 0;
-
-	// Gyroscope calibration values
-	double gyro_cal_x = 0;
-	double gyro_cal_y = 0;
-	double gyro_cal_z = 0;
-
-private:
-	TwoWire _wire;
-
-	uint8_t _address;
-
-	bool _throttle_enabled;
-	unsigned int _throttle_time;
-
-	common::Time _last_time;
-
-	SensorStatus _status;
-
-	uint8_t _accel_sensitivity = 0U;
-	float _accel_to_g_force;
-
-	double _accel_raw_x = 0;
-	double _accel_raw_y = 0;
-	double _accel_raw_z = 0;
-
-	double _accel_x = 0;
-	double _accel_y = 0;
-
-	uint8_t _gyro_sensitivity = 0U;
-	float _ang_rate_to_dps;
-
-	double _gyro_raw_x = 0;
-	double _gyro_raw_y = 0;
-	double _gyro_raw_z = 0;
-
-	double _gyro_x = 0;
-	double _gyro_y = 0;
-	double _gyro_z = 0;
-
-	double _pitch = 0;
-	double _roll = 0;
-	double _yaw = 0;
-
-	int16_t _readHighLow() noexcept;
-};
diff --git a/src/serial.cpp b/src/serial.cpp
deleted file mode 100644
index 874d6d7..0000000
--- a/src/serial.cpp
+++ /dev/null
@@ -1,75 +0,0 @@
-#include "serial.hpp"
-
-#include "common/conversion.hpp"
-
-SerialStream::SerialStream(Serial_ serial, const unsigned long &baud_rate) noexcept
-	: _serial(serial)
-{
-	_serial.begin(baud_rate);
-}
-
-void SerialStream::waitReady()
-{
-	while (!_serial) {}
-}
-
-void SerialStream::write(const char *str)
-{
-	if (SerialStream::is_enabled())
-	{
-		_serial.write(str);
-	}
-}
-
-void SerialStream::flush()
-{
-	_serial.flush();
-}
-
-SerialStream &SerialStream::operator<<(const char *str)
-{
-	write(str);
-	return *this;
-}
-
-SerialStream &SerialStream::operator<<(const common::String &str)
-{
-	write(str.c_str);
-	return *this;
-}
-
-SerialStream &SerialStream::operator<<(const double &num)
-{
-	write(common::doubleToStr(num, 3U, 4U)->c_str);
-	return *this;
-}
-
-SerialStream &SerialStream::operator<<(const int &num)
-{
-	write(common::intToStr(num)->c_str);
-	return *this;
-}
-
-SerialStream &SerialStream::operator<<(const unsigned int &num)
-{
-	write(common::uintToStr(num)->c_str);
-	return *this;
-}
-
-SerialStream &SerialStream::operator<<(const unsigned long &num)
-{
-	write(common::uintToStr(num)->c_str);
-	return *this;
-}
-
-SerialStream &SerialStream::operator<<(void (*manipulator)(SerialStream *))
-{
-	manipulator(this);
-	return *this;
-}
-
-void endl(SerialStream *serial_stream)
-{
-	serial_stream->write("\n");
-	serial_stream->flush();
-}
diff --git a/src/serial.hpp b/src/serial.hpp
deleted file mode 100644
index ae51c3f..0000000
--- a/src/serial.hpp
+++ /dev/null
@@ -1,43 +0,0 @@
-#pragma once
-
-#include "common/string.hpp"
-
-#include <USBAPI.h>
-
-#define LEONARDO_XINPUT_VID 0x045E // NOLINT(cppcoreguidelines-macro-usage)
-#define LEONARDO_XINPUT_PID 0x028E // NOLINT(cppcoreguidelines-macro-usage)
-
-class SerialStream
-{
-public:
-	SerialStream(Serial_ serial, const unsigned long &baud_rate) noexcept;
-
-	void waitReady();
-
-	void write(const char *str);
-
-	void flush();
-
-	constexpr static bool is_enabled() noexcept
-	{
-#if USB_VID != LEONARDO_XINPUT_VID && USB_PID != LEONARDO_XINPUT_PID
-		return true;
-#else
-		return false;
-#endif
-	}
-
-	SerialStream &operator<<(const char *str);
-	SerialStream &operator<<(const common::String &str);
-	SerialStream &operator<<(const double &num);
-	SerialStream &operator<<(const int &num);
-	SerialStream &operator<<(const unsigned int &num);
-	SerialStream &operator<<(const unsigned long &num);
-
-	SerialStream &operator<<(void (*manipulator)(SerialStream *));
-
-private:
-	Serial_ _serial;
-};
-
-void endl(SerialStream *serial_stream);
diff --git a/src/utils.cpp b/src/utils.cpp
deleted file mode 100644
index cb25471..0000000
--- a/src/utils.cpp
+++ /dev/null
@@ -1,6 +0,0 @@
-#include "utils.hpp"
-
-void stop()
-{
-	while (true) {}
-}
diff --git a/src/utils.hpp b/src/utils.hpp
deleted file mode 100644
index 33f3379..0000000
--- a/src/utils.hpp
+++ /dev/null
@@ -1,6 +0,0 @@
-#pragma once
-
-/**
- * Stops code execution.
- */
-void stop();