refactor: use MPU6050_light & clean up bloatHEADmaster

1 files changed, 0 insertions, 96 deletions

diff --git a/src/sensor/calibration.cpp b/src/sensor/calibration.cpp
deleted file mode 100644
index 5626388..0000000
--- a/src/sensor/calibration.cpp
+++ /dev/null
@@ -1,96 +0,0 @@
-#include "calibration.hpp"
-
-#include "common/time.hpp"
-#include "utils.hpp"
-
-SensorCalibrator::SensorCalibrator(common::SharedPtr<Sensor> sensor,
-								   common::SharedPtr<SerialStream> sout)
-	: _sensor(sensor), _sout(sout)
-{
-}
-
-bool SensorCalibrator::calibrate(unsigned int throttle_time)
-{
-	bool done = false;
-	auto start_time = common::time_now();
-
-	while (!done)
-	{
-		if (common::time_now().diff(start_time).millisecs() >= CALIBRATION_TIMEOUT)
-		{
-			return false;
-		}
-
-		delay(throttle_time);
-
-		auto values = SensorCalibratorValues();
-
-		for (unsigned int i = 0U; i < SENSOR_READ_CNT; i++)
-		{
-			_updateValues(values);
-		}
-
-		_adjustValues(values);
-
-		*_sout << "Accel X: " << values.accel_x << "	"
-			   << "Accel Y: " << values.accel_y << "	"
-			   << "Accel Z: " << values.accel_z << "	"
-			   << "Gyro X: " << values.gyro_x << "	"
-			   << "Gyro Y: " << values.gyro_y << "	"
-			   << "Gyro Z: " << values.gyro_z << endl;
-
-		if (_isValuesInRange(values))
-		{
-			done = true;
-		}
-
-		_adjustCalibrationWithValues(values);
-	}
-
-	return true;
-}
-
-void SensorCalibrator::_updateValues(SensorCalibratorValues &values)
-{
-	_sensor->read();
-
-	values.accel_x -= _sensor->getAccelX();
-	values.accel_y -= _sensor->getAccelY();
-	values.accel_z -= _sensor->getAccelZ();
-
-	values.gyro_x -= _sensor->getGyroX();
-	values.gyro_y -= _sensor->getGyroY();
-	values.gyro_z -= _sensor->getGyroZ();
-}
-
-void SensorCalibrator::_adjustCalibrationWithValues(const SensorCalibratorValues &values)
-{
-	_sensor->accel_cal_x += values.accel_x;
-	_sensor->accel_cal_y += values.accel_y;
-	_sensor->accel_cal_z += values.accel_z;
-
-	_sensor->gyro_cal_x += values.gyro_x;
-	_sensor->gyro_cal_y += values.gyro_y;
-	_sensor->gyro_cal_z += values.gyro_z;
-}
-
-void SensorCalibrator::_adjustValues(SensorCalibratorValues &values)
-{
-	values.accel_x *= SENSOR_VAL_ADJUST;
-	values.accel_y *= SENSOR_VAL_ADJUST;
-	values.accel_z *= SENSOR_VAL_ADJUST;
-
-	values.gyro_x *= SENSOR_VAL_ADJUST;
-	values.gyro_y *= SENSOR_VAL_ADJUST;
-	values.gyro_z *= SENSOR_VAL_ADJUST;
-}
-
-bool SensorCalibrator::_isValuesInRange(const SensorCalibratorValues &values)
-{
-	return (values.accel_x < ACCEL_CAL_X_MAX && values.accel_x > ACCEL_CAL_X_MIN &&
-			values.accel_y < ACCEL_CAL_Y_MAX && values.accel_y > ACCEL_CAL_Y_MIN &&
-			values.accel_z < ACCEL_CAL_Z_MAX && values.accel_z > ACCEL_CAL_Z_MIN &&
-			values.gyro_x < GYRO_CAL_X_MAX && values.gyro_x > GYRO_CAL_X_MIN &&
-			values.gyro_y < GYRO_CAL_Y_MAX && values.gyro_y > GYRO_CAL_Y_MIN &&
-			values.gyro_z < GYRO_CAL_Z_MAX && values.gyro_z > GYRO_CAL_Z_MIN);
-}