refactor: reorganize & add debugging

1 files changed, 13 insertions, 16 deletions

diff --git a/src/calibration.cpp b/src/calibration.cpp
index f76d8f8..a772ae9 100644
--- a/src/calibration.cpp
+++ b/src/calibration.cpp
@@ -1,9 +1,11 @@
 #include "calibration.hpp"
-#include "time_utils.hpp"
 
-SensorCalibrator::SensorCalibrator(Sensor *sensor)
+#include "utils/general.hpp"
+#include "utils/time.hpp"
+
+SensorCalibrator::SensorCalibrator(unique_ptr<Sensor> &sensor, SerialStream sout)
+	: _sensor(sensor), _sout(sout)
 {
-	_sensor = sensor;
 	_resetValues();
 }
 
@@ -15,7 +17,9 @@ bool SensorCalibrator::calibrate(unsigned int throttle_time)
 	while (!done)
 	{
 		if (time_now().diff(start_time).millisecs() >= CALIBRATION_TIMEOUT)
+		{
 			return false;
+		}
 
 		delay(throttle_time);
 
@@ -28,19 +32,12 @@ bool SensorCalibrator::calibrate(unsigned int throttle_time)
 
 		_adjustValues();
 
-		Serial.print("Accel X: ");
-		Serial.print(_accel_x);
-		Serial.print("	Accel Y: ");
-		Serial.print(_accel_y);
-		Serial.print("	Accel Z: ");
-		Serial.print(_accel_z);
-
-		Serial.print("	Gyro X: ");
-		Serial.print(_gyro_x);
-		Serial.print("	Gyro Y: ");
-		Serial.print(_gyro_y);
-		Serial.print("	Gyro Z: ");
-		Serial.println(_gyro_z);
+		_sout << "Accel X: " << _accel_x << "	"
+			  << "Accel Y: " << _accel_y << "	"
+			  << "Accel Z: " << _accel_z << "	"
+			  << "Gyro X: " << _gyro_x << "	"
+			  << "Gyro Y: " << _gyro_y << "	"
+			  << "Gyro Z: " << _gyro_z << endl;
 
 		if (_isValuesInRange())
 		{