refactor: clean sewage

1 files changed, 46 insertions, 41 deletions

diff --git a/src/sensor/sensor.hpp b/src/sensor/sensor.hpp
index c982fac..3e56627 100644
--- a/src/sensor/sensor.hpp
+++ b/src/sensor/sensor.hpp
@@ -1,16 +1,17 @@
-#ifndef SENSOR_HPP
-#define SENSOR_HPP
+#pragma once
 
-#include "../utils/serial.hpp"
-#include "../utils/time.hpp"
+#include "utils/serial.hpp"
+#include "utils/time.hpp"
 
-#include "Wire.h"
 #include <Arduino.h>
+#include <Wire.h>
 
-#define SENSOR_WAKEUP 0x00
+constexpr uint8_t SENSOR_WAKEUP = 0x00U;
 
-#define RAW_TO_DPS_FACTOR (1.0 / 131.0)
-#define RAW_TO_G_FACTOR (1.0 / 16384.0)
+constexpr float RAW_TO_DPS_FACTOR = 1.0 / 131.0;
+constexpr float RAW_TO_G_FACTOR = 1.0 / 16384.0;
+
+constexpr unsigned int ONE_EIGHTY = 180;
 
 enum class SensorStatus
 {
@@ -35,7 +36,7 @@ public:
 	 * @param sout A serial output stream
 	 * @param throttle_time A minumum time between sensor reads for the sensor to throttle
 	 */
-	Sensor(uint8_t address, TwoWire *wire, SerialStream sout, unsigned int throttle_time);
+	Sensor(uint8_t address, TwoWire wire, SerialStream sout, unsigned int throttle_time);
 
 	/**
 	 * Initializes communication with the sensor.
@@ -50,11 +51,6 @@ public:
 	bool isConnected();
 
 	/**
-	 * Resets the sensor.
-	 */
-	void reset();
-
-	/**
 	 * Reads from the sensor.
 	 *
 	 * @returns Whether or not it succeeded.
@@ -81,52 +77,52 @@ public:
 	/**
 	 * Returns the current X axis acceleration in g:s (g-force).
 	 */
-	float getAccelX();
+	double getAccelX();
 
 	/**
 	 * Returns the current Y axis acceleration in g:s (g-force).
 	 */
-	float getAccelY();
+	double getAccelY();
 
 	/**
 	 * Returns the current Z axis acceleration in g:s (g-force).
 	 */
-	float getAccelZ();
+	double getAccelZ();
 
 	/**
 	 * Returns the current X angle.
 	 */
-	float getAngleX();
+	double getAngleX();
 
 	/**
 	 * Returns the current Y angle.
 	 */
-	float getAngleY();
+	double getAngleY();
 
 	/**
 	 * Returns the current X axis in degrees/s.
 	 */
-	float getGyroX();
+	double getGyroX();
 
 	/**
 	 * Returns the current Y axis in degrees/s.
 	 */
-	float getGyroY();
+	double getGyroY();
 
 	/**
 	 * Returns the current Z axis in degrees/s.
 	 */
-	float getGyroZ();
+	double getGyroZ();
 
 	/**
 	 * Returns the current pitch angle.
 	 */
-	float getPitch();
+	double getPitch();
 
 	/**
 	 * Returns the current roll angle.
 	 */
-	float getRoll();
+	double getRoll();
 
 	/**
 	 * Sets the value of a key in the sensor's register.
@@ -150,16 +146,18 @@ public:
 	SensorStatus getStatus();
 
 	// Accelerometer calibration values
-	float accel_cal_x;
-	float accel_cal_y;
-	float accel_cal_z;
+	double accel_cal_x = 0.0F;
+	double accel_cal_y = 0.0F;
+	double accel_cal_z = 0.0F;
 
 	// Gyroscope calibration values
-	float gyro_cal_x;
-	float gyro_cal_y;
-	float gyro_cal_z;
+	double gyro_cal_x = 0.0F;
+	double gyro_cal_y = 0.0F;
+	double gyro_cal_z = 0.0F;
 
 private:
+	TwoWire _wire;
+
 	uint8_t _address;
 
 	bool _throttle_enabled;
@@ -169,25 +167,32 @@ private:
 
 	SensorStatus _status;
 
-	uint8_t _accel_sensitivity;
+	uint8_t _accel_sensitivity = 0U;
 	float _accel_to_g_force;
 
-	float _accel_raw_x, _accel_raw_y, _accel_raw_z;
-	float _accel_x, _accel_y;
+	double _accel_raw_x = 0;
+	double _accel_raw_y = 0;
+	double _accel_raw_z = 0;
 
-	uint8_t _gyro_sensitivity;
+	double _accel_x = 0;
+	double _accel_y = 0;
+
+	uint8_t _gyro_sensitivity = 0U;
 	float _ang_rate_to_dps;
 
-	float _gyro_raw_x, _gyro_raw_y, _gyro_raw_z;
-	float _gyro_x, _gyro_y, _gyro_z;
+	double _gyro_raw_x = 0;
+	double _gyro_raw_y = 0;
+	double _gyro_raw_z = 0;
 
-	float _pitch, _roll, _yaw;
+	double _gyro_x = 0;
+	double _gyro_y = 0;
+	double _gyro_z = 0;
 
-	int16_t _readHighLow();
+	double _pitch = 0;
+	double _roll = 0;
+	double _yaw = 0;
 
-	TwoWire *_wire;
+	int16_t _readHighLow();
 
 	SerialStream _sout;
 };
-
-#endif