refactor: replace GY521 library

1 files changed, 10 insertions, 12 deletions

diff --git a/src/gyro.cpp b/src/gyro.cpp
index 668cef1..1a81850 100644
--- a/src/gyro.cpp
+++ b/src/gyro.cpp
@@ -1,7 +1,8 @@
 #include "Arduino.h"
-#include "GY521.h"
+#include "Wire.h"
+#include "sensor.hpp"
 
-GY521 sensor(0x68);
+Sensor sensor(0x68, &Wire);
 
 void setup()
 {
@@ -10,26 +11,23 @@ void setup()
 	// Wait for Serial because the Arduino Leonardo is weird
 	while (!Serial) {}
 
-	Wire.begin();
-
-	delay(100);
-	while (!sensor.wakeup())
+	while (!sensor.begin())
 	{
 		Serial.print(millis());
-		Serial.println("Error: Could not connect to the GY521 sensor. Retrying after 2000 milliseconds...");
+		Serial.println("Error: Could not connect to the sensor. Retrying after 2000 milliseconds...");
 		delay(2000);
 	}
 	sensor.setAccelSensitivity(2); // 8g
 	sensor.setGyroSensitivity(1);  // 500 degrees/s
 
-	sensor.setThrottle();
+	sensor.setThrottleEnabled(true);
 	Serial.println("start...");
 
 	// Calibration values
-	sensor.axe = 0.198;
-	sensor.aye = -0.018;
-	sensor.gxe = 0.780;
-	sensor.gye = -1.495;
+	sensor.accel_cal_x = 0.198;
+	sensor.accel_cal_y = -0.018;
+	sensor.gyro_cal_x = 0.780;
+	sensor.gyro_cal_y = -1.495;
 }
 
 void loop()