refactor: use the GY521 sensor instead

1 files changed, 0 insertions, 124 deletions

diff --git a/gyroscope.cpp b/gyroscope.cpp
deleted file mode 100644
index e831c53..0000000
--- a/gyroscope.cpp
+++ /dev/null
@@ -1,124 +0,0 @@
-#include <Arduino.h>
-#include <Wire.h>
-
-#include "gyroscope.hpp"
-
-void Gyroscope::setup(int id)
-{
-	_gyroscope_id = id;
-
-	writeRegistry(RegisterAddresses::LOW_ODR, 0x00);
-	writeRegistry(RegisterAddresses::CTRL4, 0x00);
-
-	// 0x6F = 0b01101111
-	//
-	// DR1 DR0 BW1 BW0 PD Zen Yen Xen
-	//  0   1   1   0   1  1   1   1
-	writeRegistry(RegisterAddresses::CTRL1, 0x6F);
-}
-
-/*
-	Reads coordinates from the gyroscope
-
-	@param x A pointer to a variable to store the x coordinate in
-	@param y A pointer to a variable to store the y coordinate in
-	@param z A pointer to a variable to store the z coordinate in
-*/
-void Gyroscope::readCoordinates(int16_t *x, int16_t *y, int16_t *z)
-{
-	Wire.beginTransmission(_gyroscope_id);
-	Wire.write(RegisterAddresses::OUT_X_L | (1 << 7));
-	Wire.endTransmission();
-
-	Wire.requestFrom(_gyroscope_id, (uint8_t)6);
-
-	while (Wire.available() < 6)
-		;
-
-	*x = _read_next_coordinate();
-	*y = _read_next_coordinate();
-	*z = _read_next_coordinate();
-}
-
-/*
-	Writes a value to a gyroscope registry.
-
-	@param registry The address of a registry
-	@param value A value that will be written
-*/
-void Gyroscope::writeRegistry(int8_t registry, int8_t value)
-{
-	Wire.beginTransmission(_gyroscope_id);
-
-	Wire.write(registry);
-	Wire.write(value);
-
-	Wire.endTransmission();
-}
-
-/*
-	Initializes the gyroscope.
-
-	@returns The gyroscope's who id or -1 if it's unidentifiable
-*/
-int Gyroscope::initialize()
-{
-	Wire.begin();
-
-	auto high_id = Gyroscope::testRegistry(Addresses::ID_HIGH, RegisterAddresses::WHO_AM_I);
-
-	if (high_id == Addresses::WHO_ID)
-	{
-		return Addresses::ID_HIGH;
-	}
-
-	auto low_id = Gyroscope::testRegistry(Addresses::ID_LOW, RegisterAddresses::WHO_AM_I);
-
-	if (low_id == Addresses::WHO_ID)
-	{
-		return Addresses::ID_LOW;
-	}
-
-	return -1;
-}
-
-/*
-	Reads from a gyroscope registry safely.
-
-	@param gyroscope_id The who ID of the gyroscope to read from
-	@param registry The address of a registry
-	@returns Registry data or -1 if there's no response.
-*/
-int Gyroscope::testRegistry(int gyroscope_id, int8_t registry)
-{
-	Wire.beginTransmission(gyroscope_id);
-
-	Wire.write(registry);
-
-	if (Wire.endTransmission() != 0)
-	{
-		return -1;
-	}
-
-	Wire.requestFrom(gyroscope_id, (int8_t)1);
-
-	if (!Wire.available())
-	{
-		return -1;
-	}
-
-	return Wire.read();
-}
-
-/*
-	Reads the next coordinate given by the gyroscope.
-
-	@returns A coordinate (x, y or z)
-*/
-int16_t Gyroscope::_read_next_coordinate()
-{
-	int8_t low = Wire.read();
-	int8_t high = Wire.read();
-
-	return (int16_t)(high << 8 | low);
-}