refactor: clean sewage

17 files changed, 582 insertions, 383 deletions

diff --git a/.clang-tidy b/.clang-tidy
new file mode 100644
index 0000000..71be149
--- /dev/null
+++ b/.clang-tidy
@@ -0,0 +1,59 @@
+---
+Checks: '
+  clang-analyzer-*,
+  cppcoreguidelines-*,
+  google-*,
+  misc-*,
+  modernize-*,
+  bugprone-*,
+  performance-*,
+  readability-*,
+  -bugprone-lambda-function-name,
+  -bugprone-reserved-identifier,
+  -google-readability-braces-around-statements,
+  -google-readability-function-size,
+  -modernize-return-braced-init-list,
+  -modernize-use-trailing-return-type,
+  -modernize-use-auto,
+  -modernize-deprecated-headers,
+  -modernize-pass-by-value,
+  -performance-unnecessary-value-param,
+  -readability-make-member-function-const,
+  -misc-non-private-member-variables-in-classes,
+  -cppcoreguidelines-non-private-member-variables-in-classes,
+  -cppcoreguidelines-no-malloc,
+  -cppcoreguidelines-owning-memory,
+  -cppcoreguidelines-avoid-non-const-global-variables'
+WarningsAsErrors: '*'
+HeaderFilterRegex: '\/src\/'
+AnalyzeTemporaryDtors: false
+CheckOptions:
+  - key: readability-function-cognitive-complexity.Threshold
+    value: 100
+  - key: readability-identifier-naming.ClassCase
+    value: CamelCase
+  - key: readability-identifier-naming.PrivateMemberPrefix
+    value: _
+  - key: readability-identifier-naming.StructCase
+    value: CamelCase
+  - key: google-readability-braces-around-statements.ShortStatementLines
+    value: '1'
+  - key: google-readability-function-size.StatementThreshold
+    value: '800'
+  - key: google-readability-namespace-comments.ShortNamespaceLines
+    value: '10'
+  - key: google-readability-namespace-comments.SpacesBeforeComments
+    value: '2'
+  - key: modernize-loop-convert.MaxCopySize
+    value: '16'
+  - key: modernize-loop-convert.MinConfidence
+    value: reasonable
+  - key: modernize-loop-convert.NamingStyle
+    value: CamelCase
+  - key: modernize-pass-by-value.IncludeStyle
+    value: llvm
+  - key: modernize-replace-auto-ptr.IncludeStyle
+    value: llvm
+  - key: modernize-use-nullptr.NullMacros
+    value: 'NULL'
+...
diff --git a/src/calibration.cpp b/src/calibration.cpp
index a772ae9..66a52bf 100644
--- a/src/calibration.cpp
+++ b/src/calibration.cpp
@@ -3,7 +3,7 @@
 #include "utils/general.hpp"
 #include "utils/time.hpp"
 
-SensorCalibrator::SensorCalibrator(unique_ptr<Sensor> &sensor, SerialStream sout)
+SensorCalibrator::SensorCalibrator(UniquePtr<Sensor> &sensor, SerialStream sout)
 	: _sensor(sensor), _sout(sout)
 {
 	_resetValues();
@@ -25,7 +25,7 @@ bool SensorCalibrator::calibrate(unsigned int throttle_time)
 
 		_resetValues();
 
-		for (int i = 0; i < SENSOR_READ_CNT; i++)
+		for (unsigned int i = 0U; i < SENSOR_READ_CNT; i++)
 		{
 			_updateValues();
 		}
diff --git a/src/calibration.hpp b/src/calibration.hpp
index e66b6fc..e29602a 100644
--- a/src/calibration.hpp
+++ b/src/calibration.hpp
@@ -1,33 +1,32 @@
-#ifndef CALIBRATION_HPP
-#define CALIBRATION_HPP
+#pragma once
 
 #include "sensor/sensor.hpp"
 #include "utils/memory.hpp"
 #include "utils/serial.hpp"
 
 // Calibration precision
-#define ACCEL_CAL_X_MAX 0.006
-#define ACCEL_CAL_X_MIN -0.006
+constexpr float ACCEL_CAL_X_MAX = 0.006;
+constexpr float ACCEL_CAL_X_MIN = -0.006;
 
-#define ACCEL_CAL_Y_MAX 0.006
-#define ACCEL_CAL_Y_MIN -0.006
+constexpr float ACCEL_CAL_Y_MAX = 0.006;
+constexpr float ACCEL_CAL_Y_MIN = -0.006;
 
-#define ACCEL_CAL_Z_MAX 0.006
-#define ACCEL_CAL_Z_MIN -0.006
+constexpr float ACCEL_CAL_Z_MAX = 0.006;
+constexpr float ACCEL_CAL_Z_MIN = -0.006;
 
-#define GYRO_CAL_X_MAX 0.06
-#define GYRO_CAL_X_MIN -0.06
+constexpr float GYRO_CAL_X_MAX = 0.06;
+constexpr float GYRO_CAL_X_MIN = -0.06;
 
-#define GYRO_CAL_Y_MAX 0.06
-#define GYRO_CAL_Y_MIN -0.06
+constexpr float GYRO_CAL_Y_MAX = 0.06;
+constexpr float GYRO_CAL_Y_MIN = -0.06;
 
-#define GYRO_CAL_Z_MAX 0.06
-#define GYRO_CAL_Z_MIN -0.06
+constexpr float GYRO_CAL_Z_MAX = 0.06;
+constexpr float GYRO_CAL_Z_MIN = -0.06;
 
-#define CALIBRATION_TIMEOUT 120000 // Milliseconds
+constexpr uint32_t CALIBRATION_TIMEOUT = 120000; // Milliseconds
 
-#define SENSOR_READ_CNT 20
-#define SENSOR_VAL_ADJUST 0.05
+constexpr unsigned int SENSOR_READ_CNT = 20;
+constexpr float SENSOR_VAL_ADJUST = 0.05;
 
 /**
  * Sensor calibrator.
@@ -41,7 +40,7 @@ public:
 	 * @param sensor A sensor to calibrate
 	 * @param sout A Serial output stream
 	 */
-	SensorCalibrator(unique_ptr<Sensor> &sensor, SerialStream sout);
+	SensorCalibrator(UniquePtr<Sensor> &sensor, SerialStream sout);
 
 	/**
 	 * Calibrates the sensor.
@@ -60,17 +59,15 @@ private:
 
 	void _adjustCalibration();
 
-	unique_ptr<Sensor> &_sensor;
+	UniquePtr<Sensor> &_sensor;
 
 	SerialStream _sout;
 
-	float _accel_x;
-	float _accel_y;
-	float _accel_z;
+	double _accel_x = 0;
+	double _accel_y = 0;
+	double _accel_z = 0;
 
-	float _gyro_x;
-	float _gyro_y;
-	float _gyro_z;
+	double _gyro_x = 0;
+	double _gyro_y = 0;
+	double _gyro_z = 0;
 };
-
-#endif
diff --git a/src/gyronardo.cpp b/src/gyronardo.cpp
index 53a1912..1133f3f 100644
--- a/src/gyronardo.cpp
+++ b/src/gyronardo.cpp
@@ -1,28 +1,31 @@
-#include "Arduino.h"
-
-#include "Wire.h"
 #include "calibration.hpp"
 #include "sensor/sensor.hpp"
 #include "utils/memory.hpp"
-
 #include "utils/serial.hpp"
 
-#define LINE_CLEAR_LENGTH 30
+#include <Arduino.h>
+#include <Wire.h>
+
+// constexpr unsigned int LINE_CLEAR_LENGTH = 30U;
 
-#define SENSOR_ADDRESS 0x68
-#define SENSOR_THROTTLE_TIME 50 // milliseconds
+constexpr unsigned int SENSOR_ADDRESS = 0x68U;
+constexpr unsigned int SENSOR_THROTTLE_TIME = 50U; // milliseconds
 
-unique_ptr<SerialStream> sout_ptr = nullptr;
+constexpr unsigned int BAUD_RATE = 9600U;
 
-unique_ptr<Sensor> sensor = nullptr;
+constexpr unsigned int SENSOR_RETRY_TIME = 2000U;
+
+UniquePtr<SerialStream> sout_ptr;
+
+UniquePtr<Sensor> sensor;
 
 void setup()
 {
-	sout_ptr = make_unique<SerialStream>(Serial, 9600);
+	sout_ptr = make_unique<SerialStream>(Serial, BAUD_RATE);
 
 	auto sout = *sout_ptr;
 
-	sensor = make_unique<Sensor>(SENSOR_ADDRESS, &Wire, sout, SENSOR_THROTTLE_TIME);
+	sensor = make_unique<Sensor>(SENSOR_ADDRESS, Wire, sout, SENSOR_THROTTLE_TIME);
 
 	while (!sensor->begin())
 	{
@@ -30,11 +33,9 @@ void setup()
 				"milliseconds..."
 			 << endl;
 
-		delay(2000);
+		delay(SENSOR_RETRY_TIME);
 	}
 
-	sout << "Skit!" << endl;
-
 	if (!sensor->setAccelSensitivity(2)) // 8g
 	{
 		sout << "Error: Failed to set the sensor's accelerometer sensitivity. Status: "
diff --git a/src/sensor/registers.hpp b/src/sensor/registers.hpp
index c1b19b4..fadb62b 100644
--- a/src/sensor/registers.hpp
+++ b/src/sensor/registers.hpp
@@ -1,137 +1,136 @@
-#ifndef SENSOR_REGISTERS_HPP
-#define SENSOR_REGISTERS_HPP
+#pragma once
+
+#include <stdint.h>
 
 namespace SensorRegisters
 {
-	const uint8_t XG_OFFS_TC = 0x00;
-	const uint8_t YG_OFFS_TC = 0x01;
-	const uint8_t ZG_OFFS_TC = 0x02;
-
-	const uint8_t X_FINE_GAIN = 0x03;
-	const uint8_t Y_FINE_GAIN = 0x04;
-	const uint8_t Z_FINE_GAIN = 0x05;
-
-	const uint8_t XA_OFFS_H = 0x06;
-	const uint8_t XA_OFFS_L_TC = 0x07;
-	const uint8_t YA_OFFS_H = 0x08;
-	const uint8_t YA_OFFS_L_TC = 0x09;
-	const uint8_t ZA_OFFS_H = 0x0A;
-	const uint8_t ZA_OFFS_L_TC = 0x0B;
-
-	const uint8_t SELF_TEST_X = 0x0D;
-	const uint8_t SELF_TEST_Y = 0x0E;
-	const uint8_t SELF_TEST_Z = 0x0F;
-	const uint8_t SELF_TEST_A = 0x10;
-
-	const uint8_t XG_OFFS_USRH = 0x13;
-	const uint8_t XG_OFFS_USRL = 0x14;
-	const uint8_t YG_OFFS_USRH = 0x15;
-	const uint8_t YG_OFFS_USRL = 0x16;
-	const uint8_t ZG_OFFS_USRH = 0x17;
-	const uint8_t ZG_OFFS_USRL = 0x18;
-
-	const uint8_t SMPLRT_DIV = 0x19;
-	const uint8_t CONFIG = 0x1A;
-	const uint8_t GYRO_CONFIG = 0x1B;
-	const uint8_t ACCEL_CONFIG = 0x1C;
-
-	const uint8_t FF_THR = 0x1D;
-	const uint8_t FF_DUR = 0x1E;
-	const uint8_t MOT_THR = 0x1F;
-	const uint8_t MOT_DUR = 0x20;
-	const uint8_t ZRMOT_THR = 0x21;
-	const uint8_t ZRMOT_DUR = 0x22;
-	const uint8_t FIFO_EN = 0x23;
-
-	const uint8_t I2C_MST_CTRL = 0x24;
-	const uint8_t I2C_SLV0_ADDR = 0x25;
-	const uint8_t I2C_SLV0_REG = 0x26;
-	const uint8_t I2C_SLV0_CTRL = 0x27;
-	const uint8_t I2C_SLV1_ADDR = 0x28;
-	const uint8_t I2C_SLV1_REG = 0x29;
-	const uint8_t I2C_SLV1_CTRL = 0x2A;
-	const uint8_t I2C_SLV2_ADDR = 0x2B;
-	const uint8_t I2C_SLV2_REG = 0x2C;
-	const uint8_t I2C_SLV2_CTRL = 0x2D;
-	const uint8_t I2C_SLV3_ADDR = 0x2E;
-	const uint8_t I2C_SLV3_REG = 0x2F;
-	const uint8_t I2C_SLV3_CTRL = 0x30;
-	const uint8_t I2C_SLV4_ADDR = 0x31;
-	const uint8_t I2C_SLV4_REG = 0x32;
-	const uint8_t I2C_SLV4_DO = 0x33;
-	const uint8_t I2C_SLV4_CTRL = 0x34;
-	const uint8_t I2C_SLV4_DI = 0x35;
-	const uint8_t I2C_MST_STATUS = 0x36;
-
-	const uint8_t INT_PIN_CFG = 0x37;
-	const uint8_t INT_ENABLE = 0x38;
-	const uint8_t DMP_INT_STATUS = 0x39;
-	const uint8_t INT_STATUS = 0x3A;
-
-	const uint8_t ACCEL_XOUT_H = 0x3B;
-	const uint8_t ACCEL_XOUT_L = 0x3C;
-	const uint8_t ACCEL_YOUT_H = 0x3D;
-	const uint8_t ACCEL_YOUT_L = 0x3E;
-	const uint8_t ACCEL_ZOUT_H = 0x3F;
-	const uint8_t ACCEL_ZOUT_L = 0x40;
-	const uint8_t TEMP_OUT_H = 0x41;
-	const uint8_t TEMP_OUT_L = 0x42;
-	const uint8_t GYRO_XOUT_H = 0x43;
-	const uint8_t GYRO_XOUT_L = 0x44;
-	const uint8_t GYRO_YOUT_H = 0x45;
-	const uint8_t GYRO_YOUT_L = 0x46;
-	const uint8_t GYRO_ZOUT_H = 0x47;
-	const uint8_t GYRO_ZOUT_L = 0x48;
-
-	const uint8_t EXT_SENS_DATA_00 = 0x49;
-	const uint8_t EXT_SENS_DATA_01 = 0x4A;
-	const uint8_t EXT_SENS_DATA_02 = 0x4B;
-	const uint8_t EXT_SENS_DATA_03 = 0x4C;
-	const uint8_t EXT_SENS_DATA_04 = 0x4D;
-	const uint8_t EXT_SENS_DATA_05 = 0x4E;
-	const uint8_t EXT_SENS_DATA_06 = 0x4F;
-	const uint8_t EXT_SENS_DATA_07 = 0x50;
-	const uint8_t EXT_SENS_DATA_08 = 0x51;
-	const uint8_t EXT_SENS_DATA_09 = 0x52;
-	const uint8_t EXT_SENS_DATA_10 = 0x53;
-	const uint8_t EXT_SENS_DATA_11 = 0x54;
-	const uint8_t EXT_SENS_DATA_12 = 0x55;
-	const uint8_t EXT_SENS_DATA_13 = 0x56;
-	const uint8_t EXT_SENS_DATA_14 = 0x57;
-	const uint8_t EXT_SENS_DATA_15 = 0x58;
-	const uint8_t EXT_SENS_DATA_16 = 0x59;
-	const uint8_t EXT_SENS_DATA_17 = 0x5A;
-	const uint8_t EXT_SENS_DATA_18 = 0x5B;
-	const uint8_t EXT_SENS_DATA_19 = 0x5C;
-	const uint8_t EXT_SENS_DATA_20 = 0x5D;
-	const uint8_t EXT_SENS_DATA_21 = 0x5E;
-	const uint8_t EXT_SENS_DATA_22 = 0x5F;
-	const uint8_t EXT_SENS_DATA_23 = 0x60;
-
-	const uint8_t MOT_DETECT_STATUS = 0x61;
-
-	const uint8_t I2C_SLV0_DO = 0x63;
-	const uint8_t I2C_SLV1_DO = 0x64;
-	const uint8_t I2C_SLV2_DO = 0x65;
-	const uint8_t I2C_SLV3_DO = 0x66;
-	const uint8_t I2C_MST_DELAY_CTRL = 0x67;
-
-	const uint8_t SIGNAL_PATH_RESET = 0x68;
-	const uint8_t MOT_DETECT_CTRL = 0x69;
-	const uint8_t USER_CTRL = 0x6A;
-
-	const uint8_t PWR_MGMT_1 = 0x6B;
-	const uint8_t PWR_MGMT_2 = 0x6C;
-	const uint8_t BANK_SEL = 0x6D;
-	const uint8_t MEM_START_ADDR = 0x6E;
-	const uint8_t MEM_R_W = 0x6F;
-
-	const uint8_t DMP_CFG_1 = 0x70;
-	const uint8_t DMP_CFG_2 = 0x71;
-	const uint8_t FIFO_COUNTH = 0x72;
-	const uint8_t FIFO_COUNTL = 0x73;
-	const uint8_t FIFO_R_W = 0x74;
-	const uint8_t WHO_AM_I = 0x75;
-}
-
-#endif
+	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
index e11a74b..a3b9a5c 100644
--- a/src/sensor/sensor.cpp
+++ b/src/sensor/sensor.cpp
@@ -1,50 +1,34 @@
 #include "sensor.hpp"
-#include "../utils/serial.hpp"
-#include "../utils/time.hpp"
+
 #include "registers.hpp"
+#include "utils/serial.hpp"
+#include "utils/time.hpp"
 
-Sensor::Sensor(uint8_t address, TwoWire *wire, SerialStream sout,
+Sensor::Sensor(uint8_t address, TwoWire wire, SerialStream sout,
 			   unsigned int throttle_time)
-	: _last_time(0), _sout(sout)
+	: _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),
+	  _sout(sout)
 {
-	_address = address;
-	_wire = wire;
-
-	// Set default values
-	accel_cal_x = 0;
-	accel_cal_y = 0;
-	accel_cal_z = 0;
-
-	gyro_cal_x = 0;
-	gyro_cal_y = 0;
-	gyro_cal_z = 0;
-
-	_throttle_enabled = true;
-	_throttle_time = throttle_time;
-
-	_status = SensorStatus::OK;
-
-	_accel_sensitivity = 0;
-	_accel_to_g_force = 1.0 / 16384.0;
-
-	_gyro_sensitivity = 0;
-	_ang_rate_to_dps = 1.0 / 131.0;
-
-	// Reset the sensor
-	reset();
 }
 
 bool Sensor::begin()
 {
-	_wire->begin();
+	_wire.begin();
 
 	if (isConnected())
 	{
-		_wire->beginTransmission(_address);
-		_wire->write(SensorRegisters::PWR_MGMT_1);
-		_wire->write(SENSOR_WAKEUP);
+		_wire.beginTransmission(_address);
+		_wire.write(SensorRegisters::PWR_MGMT_1);
+		_wire.write(SENSOR_WAKEUP);
 
-		return (_wire->endTransmission() == 0);
+		return (_wire.endTransmission() == 0);
 	}
 
 	return false;
@@ -52,31 +36,13 @@ bool Sensor::begin()
 
 bool Sensor::isConnected()
 {
-	_wire->beginTransmission(_address);
-	return (_wire->endTransmission() == 0);
-}
-
-void Sensor::reset()
-{
-	_accel_raw_x = 0;
-	_accel_raw_y = 0;
-	_accel_raw_z = 0;
-
-	_gyro_raw_x = 0;
-	_gyro_raw_y = 0;
-	_gyro_raw_z = 0;
-
-	_accel_x = 0;
-	_accel_y = 0;
-
-	_pitch = 0;
-	_roll = 0;
-	_yaw = 0;
+	_wire.beginTransmission(_address);
+	return (_wire.endTransmission() == 0);
 }
 
 bool Sensor::read()
 {
-	Time now = time_now();
+	auto now = time_now();
 
 	if (_throttle_enabled && now.diff(_last_time).millisecs() < _throttle_time)
 	{
@@ -84,18 +50,20 @@ bool Sensor::read()
 		return false;
 	}
 
-	_wire->beginTransmission(_address);
-	_wire->write(SensorRegisters::ACCEL_XOUT_H);
+	_wire.beginTransmission(_address);
+	_wire.write(SensorRegisters::ACCEL_XOUT_H);
 
-	if (_wire->endTransmission() != 0)
+	if (_wire.endTransmission() != 0U)
 	{
 		_status = SensorStatus::ERR_WRITE;
 		return false;
 	}
 
-	int8_t response_length = _wire->requestFrom(_address, (uint8_t)14);
+	uint8_t response_length = _wire.requestFrom(_address, SensorRegisters::SELF_TEST_Y);
+
+	const uint8_t self_test_success = 14U;
 
-	if (response_length != 14)
+	if (response_length != self_test_success)
 	{
 		_status = SensorStatus::ERR_READ;
 		return false;
@@ -123,7 +91,7 @@ bool Sensor::read()
 
 	// Duration interval
 	now.update();
-	float duration = now.diff(_last_time).secs();
+	auto duration = now.diff(_last_time).secs();
 	_last_time = now;
 
 	// Convert raw acceleration to g:s (g-force)
@@ -147,12 +115,13 @@ bool Sensor::read()
 		  << endl;
 
 	// Prepare for Pitch Roll Yaw
-	float accel_y_pow_two = pow(_accel_raw_y, 2);
-	float accel_z_pow_two = pow(_accel_raw_z, 2);
+	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) * 180 / PI;
+	_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)) * 180 / PI;
+	_accel_y =
+		atan2(-_accel_raw_x, sqrt(accel_y_pow_two + accel_z_pow_two)) * ONE_EIGHTY / PI;
 
 	/*
 	_accel_x =
@@ -191,8 +160,11 @@ bool Sensor::read()
 		  << "Gyro raw z w/o time: " << _gyro_raw_z << "\n"
 		  << endl;
 
-	_pitch = 0.96 * _gyro_y + 0.04 * _accel_y;
-	_roll = 0.96 * _gyro_x + 0.04 * _accel_x;
+	const float gyro_balance = 0.96F;
+	const float accel_balance = 0.04F;
+
+	_pitch = gyro_balance * _gyro_y + accel_balance * _accel_y;
+	_roll = gyro_balance * _gyro_x + accel_balance * _accel_x;
 	_yaw = _gyro_z;
 
 	return true;
@@ -201,23 +173,31 @@ bool Sensor::read()
 bool Sensor::setAccelSensitivity(uint8_t sensitivity)
 {
 	if (sensitivity > 3)
+	{
 		sensitivity = 3;
+	}
 
 	_accel_sensitivity = sensitivity;
 
 	uint8_t accel_config = getRegister(SensorRegisters::ACCEL_CONFIG);
 
 	if (_status != SensorStatus::OK)
+	{
 		return false;
+	}
 
 	// No need to write same value
 	if (((accel_config >> 3) & 3) != _accel_sensitivity)
 	{
-		accel_config &= 0xE7;
+		const uint8_t magic = 0xE7U;
+
+		accel_config &= magic;
 		accel_config |= (_accel_sensitivity << 3);
 
 		if (!setRegister(SensorRegisters::ACCEL_CONFIG, accel_config))
+		{
 			return false;
+		}
 	}
 
 	// Calculate conversion factor.
@@ -229,7 +209,9 @@ bool Sensor::setAccelSensitivity(uint8_t sensitivity)
 bool Sensor::setGyroSensitivity(uint8_t sensitivity)
 {
 	if (sensitivity > 3)
+	{
 		sensitivity = 3;
+	}
 
 	_gyro_sensitivity = sensitivity;
 
@@ -243,7 +225,9 @@ bool Sensor::setGyroSensitivity(uint8_t sensitivity)
 	// No need to write same value
 	if (((gyro_config >> 3) & 3) != _gyro_sensitivity)
 	{
-		gyro_config &= 0xE7;
+		const uint8_t magic = 0xE7U;
+
+		gyro_config &= magic;
 		gyro_config |= (_gyro_sensitivity << 3);
 
 		if (!setRegister(SensorRegisters::GYRO_CONFIG, gyro_config))
@@ -257,63 +241,63 @@ bool Sensor::setGyroSensitivity(uint8_t sensitivity)
 	return true;
 }
 
-float Sensor::getAccelX()
+double Sensor::getAccelX()
 {
 	return _accel_raw_x;
 }
 
-float Sensor::getAccelY()
+double Sensor::getAccelY()
 {
 	return _accel_raw_y;
 }
 
-float Sensor::getAccelZ()
+double Sensor::getAccelZ()
 {
 	return _accel_raw_z;
 }
 
-float Sensor::getAngleX()
+double Sensor::getAngleX()
 {
 	return _accel_x;
 }
 
-float Sensor::getAngleY()
+double Sensor::getAngleY()
 {
 	return _accel_y;
 }
 
-float Sensor::getGyroX()
+double Sensor::getGyroX()
 {
 	return _gyro_raw_x;
 }
 
-float Sensor::getGyroY()
+double Sensor::getGyroY()
 {
 	return _gyro_raw_y;
 }
 
-float Sensor::getGyroZ()
+double Sensor::getGyroZ()
 {
 	return _gyro_raw_z;
 }
 
-float Sensor::getPitch()
+double Sensor::getPitch()
 {
 	return _pitch;
 }
 
-float Sensor::getRoll()
+double Sensor::getRoll()
 {
 	return _roll;
 }
 
 bool Sensor::setRegister(uint8_t reg, uint8_t value)
 {
-	_wire->beginTransmission(_address);
-	_wire->write(reg);
-	_wire->write(value);
+	_wire.beginTransmission(_address);
+	_wire.write(reg);
+	_wire.write(value);
 
-	if (_wire->endTransmission() != 0)
+	if (_wire.endTransmission() != 0)
 	{
 		_status = SensorStatus::ERR_WRITE;
 		return false;
@@ -324,23 +308,23 @@ bool Sensor::setRegister(uint8_t reg, uint8_t value)
 
 uint8_t Sensor::getRegister(uint8_t reg)
 {
-	_wire->beginTransmission(_address);
-	_wire->write(reg);
+	_wire.beginTransmission(_address);
+	_wire.write(reg);
 
-	if (_wire->endTransmission() != 0)
+	if (_wire.endTransmission() != 0U)
 	{
 		_status = SensorStatus::ERR_WRITE;
-		return 0;
+		return 0U;
 	}
 
-	uint8_t response_length = _wire->requestFrom(_address, (uint8_t)1);
-	if (response_length != 1)
+	uint8_t response_length = _wire.requestFrom(_address, 1U);
+	if (response_length != 1U)
 	{
 		_status = SensorStatus::ERR_READ;
-		return 0;
+		return 0U;
 	}
 
-	return _wire->read();
+	return _wire.read();
 }
 
 SensorStatus Sensor::getStatus()
@@ -353,8 +337,10 @@ SensorStatus Sensor::getStatus()
 
 int16_t Sensor::_readHighLow()
 {
-	int16_t high = _wire->read();
-	int16_t low = _wire->read();
+	const int16_t high = _wire.read();
+	const int16_t low = _wire.read();
+
+	const int8_t bits_in_byte = 8;
 
-	return high << 8 | low;
+	return high << bits_in_byte | low;
 }
diff --git a/src/sensor/sensor.hpp b/src/sensor/sensor.hpp
index c982fac..3e56627 100644
--- a/src/sensor/sensor.hpp
+++ b/src/sensor/sensor.hpp
@@ -1,16 +1,17 @@
-#ifndef SENSOR_HPP
-#define SENSOR_HPP
+#pragma once
 
-#include "../utils/serial.hpp"
-#include "../utils/time.hpp"
+#include "utils/serial.hpp"
+#include "utils/time.hpp"
 
-#include "Wire.h"
 #include <Arduino.h>
+#include <Wire.h>
 
-#define SENSOR_WAKEUP 0x00
+constexpr uint8_t SENSOR_WAKEUP = 0x00U;
 
-#define RAW_TO_DPS_FACTOR (1.0 / 131.0)
-#define RAW_TO_G_FACTOR (1.0 / 16384.0)
+constexpr float RAW_TO_DPS_FACTOR = 1.0 / 131.0;
+constexpr float RAW_TO_G_FACTOR = 1.0 / 16384.0;
+
+constexpr unsigned int ONE_EIGHTY = 180;
 
 enum class SensorStatus
 {
@@ -35,7 +36,7 @@ public:
 	 * @param sout A serial output stream
 	 * @param throttle_time A minumum time between sensor reads for the sensor to throttle
 	 */
-	Sensor(uint8_t address, TwoWire *wire, SerialStream sout, unsigned int throttle_time);
+	Sensor(uint8_t address, TwoWire wire, SerialStream sout, unsigned int throttle_time);
 
 	/**
 	 * Initializes communication with the sensor.
@@ -50,11 +51,6 @@ public:
 	bool isConnected();
 
 	/**
-	 * Resets the sensor.
-	 */
-	void reset();
-
-	/**
 	 * Reads from the sensor.
 	 *
 	 * @returns Whether or not it succeeded.
@@ -81,52 +77,52 @@ public:
 	/**
 	 * Returns the current X axis acceleration in g:s (g-force).
 	 */
-	float getAccelX();
+	double getAccelX();
 
 	/**
 	 * Returns the current Y axis acceleration in g:s (g-force).
 	 */
-	float getAccelY();
+	double getAccelY();
 
 	/**
 	 * Returns the current Z axis acceleration in g:s (g-force).
 	 */
-	float getAccelZ();
+	double getAccelZ();
 
 	/**
 	 * Returns the current X angle.
 	 */
-	float getAngleX();
+	double getAngleX();
 
 	/**
 	 * Returns the current Y angle.
 	 */
-	float getAngleY();
+	double getAngleY();
 
 	/**
 	 * Returns the current X axis in degrees/s.
 	 */
-	float getGyroX();
+	double getGyroX();
 
 	/**
 	 * Returns the current Y axis in degrees/s.
 	 */
-	float getGyroY();
+	double getGyroY();
 
 	/**
 	 * Returns the current Z axis in degrees/s.
 	 */
-	float getGyroZ();
+	double getGyroZ();
 
 	/**
 	 * Returns the current pitch angle.
 	 */
-	float getPitch();
+	double getPitch();
 
 	/**
 	 * Returns the current roll angle.
 	 */
-	float getRoll();
+	double getRoll();
 
 	/**
 	 * Sets the value of a key in the sensor's register.
@@ -150,16 +146,18 @@ public:
 	SensorStatus getStatus();
 
 	// Accelerometer calibration values
-	float accel_cal_x;
-	float accel_cal_y;
-	float accel_cal_z;
+	double accel_cal_x = 0.0F;
+	double accel_cal_y = 0.0F;
+	double accel_cal_z = 0.0F;
 
 	// Gyroscope calibration values
-	float gyro_cal_x;
-	float gyro_cal_y;
-	float gyro_cal_z;
+	double gyro_cal_x = 0.0F;
+	double gyro_cal_y = 0.0F;
+	double gyro_cal_z = 0.0F;
 
 private:
+	TwoWire _wire;
+
 	uint8_t _address;
 
 	bool _throttle_enabled;
@@ -169,25 +167,32 @@ private:
 
 	SensorStatus _status;
 
-	uint8_t _accel_sensitivity;
+	uint8_t _accel_sensitivity = 0U;
 	float _accel_to_g_force;
 
-	float _accel_raw_x, _accel_raw_y, _accel_raw_z;
-	float _accel_x, _accel_y;
+	double _accel_raw_x = 0;
+	double _accel_raw_y = 0;
+	double _accel_raw_z = 0;
 
-	uint8_t _gyro_sensitivity;
+	double _accel_x = 0;
+	double _accel_y = 0;
+
+	uint8_t _gyro_sensitivity = 0U;
 	float _ang_rate_to_dps;
 
-	float _gyro_raw_x, _gyro_raw_y, _gyro_raw_z;
-	float _gyro_x, _gyro_y, _gyro_z;
+	double _gyro_raw_x = 0;
+	double _gyro_raw_y = 0;
+	double _gyro_raw_z = 0;
 
-	float _pitch, _roll, _yaw;
+	double _gyro_x = 0;
+	double _gyro_y = 0;
+	double _gyro_z = 0;
 
-	int16_t _readHighLow();
+	double _pitch = 0;
+	double _roll = 0;
+	double _yaw = 0;
 
-	TwoWire *_wire;
+	int16_t _readHighLow();
 
 	SerialStream _sout;
 };
-
-#endif
diff --git a/src/utils/general.cpp b/src/utils/general.cpp
index bbcd4dd..3464c30 100644
--- a/src/utils/general.cpp
+++ b/src/utils/general.cpp
@@ -5,10 +5,33 @@ void stop()
 	while (true) {}
 }
 
-unique_ptr<SmartString> floatToStr(float num, unsigned int width, unsigned int precision)
+UniquePtr<SmartString> doubleToStr(double num, unsigned int width, unsigned int precision)
 {
 	auto str = make_unique<SmartString>(width + precision);
-	dtostrf(num, width, precision, str->c_str);
+
+	dtostrf(num, static_cast<signed char>(width), precision, str->c_str);
+
+	return str;
+}
+
+UniquePtr<SmartString> intToStr(int num)
+{
+	auto width = static_cast<unsigned int>(log10(num));
+
+	auto str = make_unique<SmartString>(width + 1U);
+
+	dtostrf(num, static_cast<signed char>(width + 1U), 0, str->c_str);
+
+	return str;
+}
+
+UniquePtr<SmartString> uintToStr(unsigned int num)
+{
+	auto width = static_cast<unsigned int>(log10(num));
+
+	auto str = make_unique<SmartString>(width + 1U);
+
+	dtostrf(num, static_cast<signed char>(width + 1U), 0, str->c_str);
 
 	return str;
 }
diff --git a/src/utils/general.hpp b/src/utils/general.hpp
index 9ad0655..dbdbdfc 100644
--- a/src/utils/general.hpp
+++ b/src/utils/general.hpp
@@ -9,15 +9,28 @@
 void stop();
 
 /**
- * Converts a floating point number to a string.
+ * Converts a double number to a string.
  *
- * @param num A floating point number
- * @param width The desired float width
- * @param precision The desired float precision
- * @returns The float as 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.
  */
-unique_ptr<SmartString> floatToStr(
-	float num,
-	unsigned int width = 3,
-	unsigned int precision = 2
-);
+UniquePtr<SmartString> 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.
+ */
+UniquePtr<SmartString> intToStr(int num);
+
+/**
+ * Converts a unsigned integer to a string.
+ *
+ * @param num A number
+ * @returns The number as a string.
+ */
+UniquePtr<SmartString> uintToStr(unsigned int num);
diff --git a/src/utils/memory.hpp b/src/utils/memory.hpp
index 81e3757..e870b0b 100644
--- a/src/utils/memory.hpp
+++ b/src/utils/memory.hpp
@@ -1,23 +1,33 @@
 #pragma once
 
+#include <stddef.h>
+
 template <typename memType>
 memType *malloc_s(unsigned int size);
 
 template <class Target>
-class unique_ptr
+class UniquePtr
 {
 public:
-	unique_ptr(Target *target);
-	~unique_ptr();
+	explicit UniquePtr();
+	explicit UniquePtr(Target *target);
+	UniquePtr(const UniquePtr &unique_ptr);
+	UniquePtr(UniquePtr &&unique_ptr) noexcept;
+
+	UniquePtr &operator=(const UniquePtr &unique_ptr);
+
+	UniquePtr &operator=(UniquePtr &&unique_ptr) noexcept;
+
+	~UniquePtr();
 
-	Target operator *() const;
-	Target *operator ->() const;
+	Target operator*() const;
+	Target *operator->() const;
 
 private:
-	Target *_target;
+	Target *_target = nullptr;
 };
 
-template<class Target, typename...Args>
-unique_ptr<Target> make_unique(Args&... args);
+template <typename Target, typename... Args>
+UniquePtr<Target> make_unique(Args... args);
 
 #include "memory.tpp"
diff --git a/src/utils/memory.tpp b/src/utils/memory.tpp
index 276b0b4..6261c81 100644
--- a/src/utils/memory.tpp
+++ b/src/utils/memory.tpp
@@ -1,8 +1,9 @@
-#include "memory.hpp"
+#pragma once
 
-#include "Arduino.h"
 #include "general.hpp"
 
+#include <Arduino.h>
+
 template <typename memType>
 memType *malloc_s(unsigned int size)
 {
@@ -18,31 +19,75 @@ memType *malloc_s(unsigned int size)
 }
 
 template <class Target>
-unique_ptr<Target>::unique_ptr(Target *target)
+UniquePtr<Target>::UniquePtr() = default;
+
+template <class Target>
+UniquePtr<Target>::UniquePtr(Target *target) : _target(target)
+{
+}
+
+template <class Target>
+UniquePtr<Target>::UniquePtr(const UniquePtr &unique_ptr)
+	: _target(new Target(*(unique_ptr._target)))
 {
-	this->_target = target;
 }
 
 template <class Target>
-unique_ptr<Target>::~unique_ptr()
+UniquePtr<Target>::UniquePtr(UniquePtr &&unique_ptr) noexcept
+	: _target(unique_ptr._target)
 {
-	delete this->_target;
+	unique_ptr._target = nullptr;
+}
+
+template <class Target>
+UniquePtr<Target> &UniquePtr<Target>::operator=(const UniquePtr &unique_ptr)
+{
+	if (&unique_ptr != this)
+	{
+		delete _target;
+		_target = nullptr;
+		_target = new Target(*(unique_ptr._target));
+	}
+
+	return *this;
+}
+
+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()
+{
+	if (this->_target != nullptr)
+	{
+		delete this->_target;
+	}
 }
 
 template <class Target>
-Target unique_ptr<Target>::operator*() const
+Target UniquePtr<Target>::operator*() const
 {
 	return *(this->_target);
 }
 
 template <class Target>
-Target *unique_ptr<Target>::operator->() const
+Target *UniquePtr<Target>::operator->() const
 {
 	return this->_target;
 }
 
 template <class Target, typename... Args>
-unique_ptr<Target> make_unique(Args... args)
+UniquePtr<Target> make_unique(Args... args)
 {
-	return unique_ptr<Target>(new Target(args...));
+	return UniquePtr<Target>(new Target(args...));
 }
diff --git a/src/utils/serial.cpp b/src/utils/serial.cpp
index 11be550..8e4194f 100644
--- a/src/utils/serial.cpp
+++ b/src/utils/serial.cpp
@@ -2,20 +2,13 @@
 
 #include "general.hpp"
 
-SerialStream::SerialStream(Serial_ serial, unsigned long baud_rate)
+SerialStream::SerialStream(Serial_ serial, uint64_t baud_rate) : _serial(serial)
 {
-	this->_serial = serial;
-
 	this->_serial.begin(baud_rate);
 
 	while (!this->_serial) {}
 }
 
-SerialStream::~SerialStream()
-{
-	Serial.end();
-}
-
 SerialStream &SerialStream::operator<<(const char *str)
 {
 	this->write(str);
@@ -28,9 +21,27 @@ SerialStream &SerialStream::operator<<(const SmartString &str)
 	return *this;
 }
 
-SerialStream &SerialStream::operator<<(const float num)
+SerialStream &SerialStream::operator<<(const double &num)
+{
+	this->write(doubleToStr(num)->c_str);
+	return *this;
+}
+
+SerialStream &SerialStream::operator<<(const int &num)
+{
+	this->write(intToStr(num)->c_str);
+	return *this;
+}
+
+SerialStream &SerialStream::operator<<(const unsigned int &num)
+{
+	this->write(uintToStr(num)->c_str);
+	return *this;
+}
+
+SerialStream &SerialStream::operator<<(const uint32_t &num)
 {
-	this->write(floatToStr(num)->c_str);
+	this->write(uintToStr(num)->c_str);
 	return *this;
 }
 
diff --git a/src/utils/serial.hpp b/src/utils/serial.hpp
index f97e1d8..0d4f929 100644
--- a/src/utils/serial.hpp
+++ b/src/utils/serial.hpp
@@ -7,12 +7,14 @@
 class SerialStream
 {
 public:
-	SerialStream(Serial_ serial, unsigned long baud_rate);
-	~SerialStream();
+	SerialStream(Serial_ serial, uint64_t baud_rate);
 
 	SerialStream &operator<<(const char *str);
 	SerialStream &operator<<(const SmartString &str);
-	SerialStream &operator<<(const float num);
+	SerialStream &operator<<(const double &num);
+	SerialStream &operator<<(const int &num);
+	SerialStream &operator<<(const unsigned int &num);
+	SerialStream &operator<<(const uint32_t &num);
 
 	SerialStream &operator<<(void (*manipulator)(SerialStream *));
 
diff --git a/src/utils/smart_string.cpp b/src/utils/smart_string.cpp
index 5258ffe..ac9a862 100644
--- a/src/utils/smart_string.cpp
+++ b/src/utils/smart_string.cpp
@@ -4,23 +4,62 @@
 
 #include <stdlib.h>
 
-SmartString::SmartString(char *c_string)
+SmartString::SmartString(char *c_string) : c_str(c_string)
 {
-	this->c_str = c_string;
 }
 
-SmartString::SmartString(unsigned int size)
+SmartString::SmartString(unsigned int size) : c_str(malloc_s<char>(size + 1))
 {
-	this->c_str = malloc_s<char>(size + 1);
+}
+
+SmartString::SmartString(const SmartString &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);
+}
+
+SmartString::SmartString(SmartString &&smart_str) noexcept : c_str(smart_str.c_str)
+{
+	smart_str.c_str = nullptr;
+}
+
+SmartString &SmartString::operator=(const SmartString &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;
+}
+
+SmartString &SmartString::operator=(SmartString &&smart_str) noexcept
+{
+	if (&smart_str != this)
+	{
+		free(c_str);
+		c_str = smart_str.c_str;
+		smart_str.c_str = nullptr;
+	}
+
+	return *this;
 }
 
 SmartString::~SmartString()
 {
-	if (this->c_str != nullptr)
-		free(this->c_str);
+	if (c_str != nullptr)
+	{
+		free(c_str);
+	}
 }
 
 SmartString::operator char *() const
 {
-	return this->c_str;
+	return c_str;
 }
diff --git a/src/utils/smart_string.hpp b/src/utils/smart_string.hpp
index fcaff98..6390465 100644
--- a/src/utils/smart_string.hpp
+++ b/src/utils/smart_string.hpp
@@ -3,12 +3,18 @@
 class SmartString
 {
 public:
-	SmartString(char *c_str);
-	SmartString(unsigned int size);
+	explicit SmartString(char *c_str);
+	explicit SmartString(unsigned int size);
+	SmartString(const SmartString &smart_str);
+	SmartString(SmartString &&smart_str) noexcept;
+
+	SmartString &operator=(const SmartString &smart_str);
+
+	SmartString &operator=(SmartString &&smart_str) noexcept;
 
 	~SmartString();
 
-	operator char *() const;
+	explicit operator char *() const;
 
 	char *c_str = nullptr;
 };
diff --git a/src/utils/time.cpp b/src/utils/time.cpp
index adc33db..c6d981c 100644
--- a/src/utils/time.cpp
+++ b/src/utils/time.cpp
@@ -1,9 +1,9 @@
 #include "time.hpp"
-#include "Arduino.h"
 
-Time::Time(unsigned long time_micros)
+#include <Arduino.h>
+
+Time::Time(uint64_t time_micros) : _time_micros(time_micros)
 {
-	_time_micros = time_micros;
 }
 
 void Time::update()
@@ -16,19 +16,23 @@ Time Time::diff(Time prev_time)
 	return Time(_time_micros - prev_time.microsecs());
 }
 
-unsigned long Time::microsecs()
+double Time::secs()
 {
-	return _time_micros;
+	const double micros_to_secs = 0.000001;
+
+	return static_cast<double>(_time_micros) * micros_to_secs;
 }
 
-unsigned long Time::millisecs()
+double Time::millisecs()
 {
-	return _time_micros * 0.001;
+	const double micros_to_millis = 0.001;
+
+	return static_cast<double>(_time_micros) * micros_to_millis;
 }
 
-float Time::secs()
+uint64_t Time::microsecs()
 {
-	return _time_micros * 0.000001;
+	return _time_micros;
 }
 
 Time time_now()
diff --git a/src/utils/time.hpp b/src/utils/time.hpp
index e0385ef..1577bb7 100644
--- a/src/utils/time.hpp
+++ b/src/utils/time.hpp
@@ -1,5 +1,6 @@
-#ifndef TIME_HPP
-#define TIME_HPP
+#pragma once
+
+#include <stdint.h>
 
 /**
  * A representation of time.
@@ -12,7 +13,7 @@ public:
 	 *
 	 * @param time_micros Time in microseconds
 	 */
-	Time(unsigned long time_micros);
+	explicit Time(uint64_t time_micros);
 
 	/**
 	 * Updates the time to the current time.
@@ -29,25 +30,23 @@ public:
 	/**
 	 * Returns the time in seconds.
 	 */
-	float secs();
+	double secs();
 
 	/**
 	 * Returns the time in milliseconds.
 	 */
-	unsigned long millisecs();
+	double millisecs();
 
 	/**
 	 * Returns the time in microseconds.
 	 */
-	unsigned long microsecs();
+	uint64_t microsecs();
 
 private:
-	unsigned long _time_micros;
+	uint64_t _time_micros;
 };
 
 /**
  * Returns a time object for the time since the program started.
  */
 Time time_now();
-
-#endif