refactor: reorganize & add debugging

1 files changed, 0 insertions, 189 deletions

diff --git a/src/sensor.hpp b/src/sensor.hpp
deleted file mode 100644
index 72ff396..0000000
--- a/src/sensor.hpp
+++ /dev/null
@@ -1,189 +0,0 @@
-#ifndef SENSOR_HPP
-#define SENSOR_HPP
-
-#include "Arduino.h"
-#include "Wire.h"
-#include "time_utils.hpp"
-
-#define SENSOR_WAKEUP 0x00
-
-#define RAD_TO_DEGREES (180.0 / PI)
-#define RAW_TO_DPS_FACTOR (1.0 / 131.0)
-#define RAW_TO_G_FACTOR (1.0 / 16384.0)
-
-enum class SensorStatus
-{
-	OK = 0,
-	THROTTLED = 1,
-	ERR_READ = -1,
-	ERR_WRITE = -2,
-	ERR_NOT_CONNECTED = -3
-};
-
-/**
- * A GY521 gyro and accelerometer sensor.
- */
-class Sensor
-{
-public:
-	/**
-	 * A GY521 gyro and accelerometer sensor.
-	 *
-	 * @param address The address of the sensor
-	 * @param wire A Wire instance
-	 * @param throttle_time A minumum time between sensor reads for the sensor to throttle
-	 */
-	Sensor(uint8_t address, TwoWire *wire, unsigned int throttle_time);
-
-	/**
-	 * Initializes communication with the sensor.
-	 *
-	 * @returns Whether or not the sensor can be communicated with.
-	 */
-	bool begin();
-
-	/**
-	 * Returns whether or not the sensor is connected.
-	 */
-	bool isConnected();
-
-	/**
-	 * Resets the sensor.
-	 */
-	void reset();
-
-	/**
-	 * Reads from the sensor.
-	 *
-	 * @returns Whether or not it succeeded.
-	 */
-	bool read();
-
-	/**
-	 * Sets the accelerometer sensitivity.
-	 *
-	 * @param sensitivity Accelerometer sensitivity. 0, 1, 2, 3 => 2g 4g 8g 16g
-	 * @returns Whether or not it succeeded.
-	 */
-	bool setAccelSensitivity(uint8_t sensitivity);
-
-	/**
-	 * Sets the gyro sensitivity.
-	 *
-	 * @param sensitivity Gyro sensitivity.
-	 * 	0, 1, 2, 3 => 250, 500, 1000, 2000 degrees/s
-	 * @returns Whether or not it succeeded.
-	 */
-	bool setGyroSensitivity(uint8_t sensitivity);
-
-	/**
-	 * Returns the current X axis acceleration in g:s (g-force).
-	 */
-	float getAccelX();
-
-	/**
-	 * Returns the current Y axis acceleration in g:s (g-force).
-	 */
-	float getAccelY();
-
-	/**
-	 * Returns the current Z axis acceleration in g:s (g-force).
-	 */
-	float getAccelZ();
-
-	/**
-	 * Returns the current X angle.
-	 */
-	float getAngleX();
-
-	/**
-	 * Returns the current Y angle.
-	 */
-	float getAngleY();
-
-	/**
-	 * Returns the current X axis in degrees/s.
-	 */
-	float getGyroX();
-
-	/**
-	 * Returns the current Y axis in degrees/s.
-	 */
-	float getGyroY();
-
-	/**
-	 * Returns the current Z axis in degrees/s.
-	 */
-	float getGyroZ();
-
-	/**
-	 * Returns the current pitch angle.
-	 */
-	float getPitch();
-
-	/**
-	 * Returns the current roll angle.
-	 */
-	float getRoll();
-
-	/**
-	 * Sets the value of a key in the sensor's register.
-	 *
-	 * @param reg The address of a registry key
-	 * @param value A new value
-	 * @returns Whether or not it succeeded.
-	 */
-	bool setRegister(uint8_t reg, uint8_t value);
-
-	/**
-	 * Returns the value of a key in the sensor's registry.
-	 *
-	 * @param reg The address of a registry key
-	 */
-	uint8_t getRegister(uint8_t reg);
-
-	/**
-	 * Returns the last sensor status.
-	 */
-	SensorStatus getStatus();
-
-	// Accelerometer calibration values
-	float accel_cal_x;
-	float accel_cal_y;
-	float accel_cal_z;
-
-	// Gyroscope calibration values
-	float gyro_cal_x;
-	float gyro_cal_y;
-	float gyro_cal_z;
-
-private:
-	uint8_t _address;
-
-	bool _throttle_enabled;
-	unsigned int _throttle_time;
-
-	Time _last_time;
-
-	SensorStatus _status;
-
-	uint8_t _accel_sensitivity;
-	float _accel_to_g_force;
-
-	float _accel_raw_x, _accel_raw_y, _accel_raw_z;
-	float _accel_x, _accel_y;
-
-	uint8_t _gyro_sensitivity;
-	float _ang_rate_to_dps;
-
-	float _gyro_raw_x, _gyro_raw_y, _gyro_raw_z;
-	float _gyro_x, _gyro_y, _gyro_z;
-
-	float _pitch, _roll, _yaw;
-
-	int16_t _readTwoBytes();
-
-	TwoWire *_wire;
-};
-
-#endif