fix: prevent invalid UniquePtr usage

1 files changed, 14 insertions, 17 deletions

diff --git a/src/gyronardo.cpp b/src/gyronardo.cpp
index 148a21b..63b4bfc 100644
--- a/src/gyronardo.cpp
+++ b/src/gyronardo.cpp
@@ -16,17 +16,14 @@ constexpr unsigned int BAUD_RATE = 9600U;
 constexpr unsigned int SENSOR_RETRY_TIME = 2000U;
 
 SerialStream sout(Serial_(), BAUD_RATE);
-// SerialStream sout(Serial, BAUD_RATE);
 
-UniquePtr<Sensor> sensor;
+auto sensor = Sensor(SENSOR_ADDRESS, Wire, sout, SENSOR_THROTTLE_TIME);
 
 void setup()
 {
 	sout.waitReady();
 
-	sensor = make_unique<Sensor>(SENSOR_ADDRESS, Wire, sout, SENSOR_THROTTLE_TIME);
-
-	while (!sensor->begin())
+	while (!sensor.begin())
 	{
 		sout << "Error: Could not connect to the sensor. Retrying after 2000 "
 				"milliseconds..."
@@ -35,18 +32,18 @@ void setup()
 		delay(SENSOR_RETRY_TIME);
 	}
 
-	if (!sensor->setAccelSensitivity(2)) // 8g
+	if (!sensor.setAccelSensitivity(2)) // 8g
 	{
 		sout << "Error: Failed to set the sensor's accelerometer sensitivity. Status: "
-			 << static_cast<int>(sensor->getStatus()) << endl;
+			 << static_cast<int>(sensor.getStatus()) << endl;
 
 		stop();
 	}
 
-	if (!sensor->setGyroSensitivity(1)) // 500 degrees/s
+	if (!sensor.setGyroSensitivity(1)) // 500 degrees/s
 	{
 		sout << "Error: Failed to set the sensor's gyro sensitivity. Status: "
-			 << static_cast<int>(sensor->getStatus()) << endl;
+			 << static_cast<int>(sensor.getStatus()) << endl;
 
 		stop();
 	}
@@ -66,17 +63,17 @@ void setup()
 	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";
+		 << "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;
 
-	sout << "Pitch: " << sensor->getPitch() << "  "
-		 << "Roll: " << sensor->getRoll() << endl;
+	sout << "Pitch: " << sensor.getPitch() << "  "
+		 << "Roll: " << sensor.getRoll() << endl;
 }
 
 void loop()