refactor: clean sewage

3 files changed, 259 insertions, 269 deletions

diff --git a/src/sensor/registers.hpp b/src/sensor/registers.hpp
index c1b19b4..fadb62b 100644
--- a/src/sensor/registers.hpp
+++ b/src/sensor/registers.hpp
@@ -1,137 +1,136 @@
-#ifndef SENSOR_REGISTERS_HPP
-#define SENSOR_REGISTERS_HPP
+#pragma once
+
+#include <stdint.h>
 
 namespace SensorRegisters
 {
-	const uint8_t XG_OFFS_TC = 0x00;
-	const uint8_t YG_OFFS_TC = 0x01;
-	const uint8_t ZG_OFFS_TC = 0x02;
-
-	const uint8_t X_FINE_GAIN = 0x03;
-	const uint8_t Y_FINE_GAIN = 0x04;
-	const uint8_t Z_FINE_GAIN = 0x05;
-
-	const uint8_t XA_OFFS_H = 0x06;
-	const uint8_t XA_OFFS_L_TC = 0x07;
-	const uint8_t YA_OFFS_H = 0x08;
-	const uint8_t YA_OFFS_L_TC = 0x09;
-	const uint8_t ZA_OFFS_H = 0x0A;
-	const uint8_t ZA_OFFS_L_TC = 0x0B;
-
-	const uint8_t SELF_TEST_X = 0x0D;
-	const uint8_t SELF_TEST_Y = 0x0E;
-	const uint8_t SELF_TEST_Z = 0x0F;
-	const uint8_t SELF_TEST_A = 0x10;
-
-	const uint8_t XG_OFFS_USRH = 0x13;
-	const uint8_t XG_OFFS_USRL = 0x14;
-	const uint8_t YG_OFFS_USRH = 0x15;
-	const uint8_t YG_OFFS_USRL = 0x16;
-	const uint8_t ZG_OFFS_USRH = 0x17;
-	const uint8_t ZG_OFFS_USRL = 0x18;
-
-	const uint8_t SMPLRT_DIV = 0x19;
-	const uint8_t CONFIG = 0x1A;
-	const uint8_t GYRO_CONFIG = 0x1B;
-	const uint8_t ACCEL_CONFIG = 0x1C;
-
-	const uint8_t FF_THR = 0x1D;
-	const uint8_t FF_DUR = 0x1E;
-	const uint8_t MOT_THR = 0x1F;
-	const uint8_t MOT_DUR = 0x20;
-	const uint8_t ZRMOT_THR = 0x21;
-	const uint8_t ZRMOT_DUR = 0x22;
-	const uint8_t FIFO_EN = 0x23;
-
-	const uint8_t I2C_MST_CTRL = 0x24;
-	const uint8_t I2C_SLV0_ADDR = 0x25;
-	const uint8_t I2C_SLV0_REG = 0x26;
-	const uint8_t I2C_SLV0_CTRL = 0x27;
-	const uint8_t I2C_SLV1_ADDR = 0x28;
-	const uint8_t I2C_SLV1_REG = 0x29;
-	const uint8_t I2C_SLV1_CTRL = 0x2A;
-	const uint8_t I2C_SLV2_ADDR = 0x2B;
-	const uint8_t I2C_SLV2_REG = 0x2C;
-	const uint8_t I2C_SLV2_CTRL = 0x2D;
-	const uint8_t I2C_SLV3_ADDR = 0x2E;
-	const uint8_t I2C_SLV3_REG = 0x2F;
-	const uint8_t I2C_SLV3_CTRL = 0x30;
-	const uint8_t I2C_SLV4_ADDR = 0x31;
-	const uint8_t I2C_SLV4_REG = 0x32;
-	const uint8_t I2C_SLV4_DO = 0x33;
-	const uint8_t I2C_SLV4_CTRL = 0x34;
-	const uint8_t I2C_SLV4_DI = 0x35;
-	const uint8_t I2C_MST_STATUS = 0x36;
-
-	const uint8_t INT_PIN_CFG = 0x37;
-	const uint8_t INT_ENABLE = 0x38;
-	const uint8_t DMP_INT_STATUS = 0x39;
-	const uint8_t INT_STATUS = 0x3A;
-
-	const uint8_t ACCEL_XOUT_H = 0x3B;
-	const uint8_t ACCEL_XOUT_L = 0x3C;
-	const uint8_t ACCEL_YOUT_H = 0x3D;
-	const uint8_t ACCEL_YOUT_L = 0x3E;
-	const uint8_t ACCEL_ZOUT_H = 0x3F;
-	const uint8_t ACCEL_ZOUT_L = 0x40;
-	const uint8_t TEMP_OUT_H = 0x41;
-	const uint8_t TEMP_OUT_L = 0x42;
-	const uint8_t GYRO_XOUT_H = 0x43;
-	const uint8_t GYRO_XOUT_L = 0x44;
-	const uint8_t GYRO_YOUT_H = 0x45;
-	const uint8_t GYRO_YOUT_L = 0x46;
-	const uint8_t GYRO_ZOUT_H = 0x47;
-	const uint8_t GYRO_ZOUT_L = 0x48;
-
-	const uint8_t EXT_SENS_DATA_00 = 0x49;
-	const uint8_t EXT_SENS_DATA_01 = 0x4A;
-	const uint8_t EXT_SENS_DATA_02 = 0x4B;
-	const uint8_t EXT_SENS_DATA_03 = 0x4C;
-	const uint8_t EXT_SENS_DATA_04 = 0x4D;
-	const uint8_t EXT_SENS_DATA_05 = 0x4E;
-	const uint8_t EXT_SENS_DATA_06 = 0x4F;
-	const uint8_t EXT_SENS_DATA_07 = 0x50;
-	const uint8_t EXT_SENS_DATA_08 = 0x51;
-	const uint8_t EXT_SENS_DATA_09 = 0x52;
-	const uint8_t EXT_SENS_DATA_10 = 0x53;
-	const uint8_t EXT_SENS_DATA_11 = 0x54;
-	const uint8_t EXT_SENS_DATA_12 = 0x55;
-	const uint8_t EXT_SENS_DATA_13 = 0x56;
-	const uint8_t EXT_SENS_DATA_14 = 0x57;
-	const uint8_t EXT_SENS_DATA_15 = 0x58;
-	const uint8_t EXT_SENS_DATA_16 = 0x59;
-	const uint8_t EXT_SENS_DATA_17 = 0x5A;
-	const uint8_t EXT_SENS_DATA_18 = 0x5B;
-	const uint8_t EXT_SENS_DATA_19 = 0x5C;
-	const uint8_t EXT_SENS_DATA_20 = 0x5D;
-	const uint8_t EXT_SENS_DATA_21 = 0x5E;
-	const uint8_t EXT_SENS_DATA_22 = 0x5F;
-	const uint8_t EXT_SENS_DATA_23 = 0x60;
-
-	const uint8_t MOT_DETECT_STATUS = 0x61;
-
-	const uint8_t I2C_SLV0_DO = 0x63;
-	const uint8_t I2C_SLV1_DO = 0x64;
-	const uint8_t I2C_SLV2_DO = 0x65;
-	const uint8_t I2C_SLV3_DO = 0x66;
-	const uint8_t I2C_MST_DELAY_CTRL = 0x67;
-
-	const uint8_t SIGNAL_PATH_RESET = 0x68;
-	const uint8_t MOT_DETECT_CTRL = 0x69;
-	const uint8_t USER_CTRL = 0x6A;
-
-	const uint8_t PWR_MGMT_1 = 0x6B;
-	const uint8_t PWR_MGMT_2 = 0x6C;
-	const uint8_t BANK_SEL = 0x6D;
-	const uint8_t MEM_START_ADDR = 0x6E;
-	const uint8_t MEM_R_W = 0x6F;
-
-	const uint8_t DMP_CFG_1 = 0x70;
-	const uint8_t DMP_CFG_2 = 0x71;
-	const uint8_t FIFO_COUNTH = 0x72;
-	const uint8_t FIFO_COUNTL = 0x73;
-	const uint8_t FIFO_R_W = 0x74;
-	const uint8_t WHO_AM_I = 0x75;
-}
-
-#endif
+	const uint8_t XG_OFFS_TC = 0x00U;
+	const uint8_t YG_OFFS_TC = 0x01U;
+	const uint8_t ZG_OFFS_TC = 0x02U;
+
+	const uint8_t X_FINE_GAIN = 0x03U;
+	const uint8_t Y_FINE_GAIN = 0x04U;
+	const uint8_t Z_FINE_GAIN = 0x05U;
+
+	const uint8_t XA_OFFS_H = 0x06U;
+	const uint8_t XA_OFFS_L_TC = 0x07U;
+	const uint8_t YA_OFFS_H = 0x08U;
+	const uint8_t YA_OFFS_L_TC = 0x09U;
+	const uint8_t ZA_OFFS_H = 0x0AU;
+	const uint8_t ZA_OFFS_L_TC = 0x0BU;
+
+	const uint8_t SELF_TEST_X = 0x0DU;
+	const uint8_t SELF_TEST_Y = 0x0EU;
+	const uint8_t SELF_TEST_Z = 0x0FU;
+	const uint8_t SELF_TEST_A = 0x10U;
+
+	const uint8_t XG_OFFS_USRH = 0x13U;
+	const uint8_t XG_OFFS_USRL = 0x14U;
+	const uint8_t YG_OFFS_USRH = 0x15U;
+	const uint8_t YG_OFFS_USRL = 0x16U;
+	const uint8_t ZG_OFFS_USRH = 0x17U;
+	const uint8_t ZG_OFFS_USRL = 0x18U;
+
+	const uint8_t SMPLRT_DIV = 0x19U;
+	const uint8_t CONFIG = 0x1AU;
+	const uint8_t GYRO_CONFIG = 0x1BU;
+	const uint8_t ACCEL_CONFIG = 0x1CU;
+
+	const uint8_t FF_THR = 0x1DU;
+	const uint8_t FF_DUR = 0x1EU;
+	const uint8_t MOT_THR = 0x1FU;
+	const uint8_t MOT_DUR = 0x20U;
+	const uint8_t ZRMOT_THR = 0x21U;
+	const uint8_t ZRMOT_DUR = 0x22U;
+	const uint8_t FIFO_EN = 0x23U;
+
+	const uint8_t I2C_MST_CTRL = 0x24U;
+	const uint8_t I2C_SLV0_ADDR = 0x25U;
+	const uint8_t I2C_SLV0_REG = 0x26U;
+	const uint8_t I2C_SLV0_CTRL = 0x27U;
+	const uint8_t I2C_SLV1_ADDR = 0x28U;
+	const uint8_t I2C_SLV1_REG = 0x29U;
+	const uint8_t I2C_SLV1_CTRL = 0x2AU;
+	const uint8_t I2C_SLV2_ADDR = 0x2BU;
+	const uint8_t I2C_SLV2_REG = 0x2CU;
+	const uint8_t I2C_SLV2_CTRL = 0x2DU;
+	const uint8_t I2C_SLV3_ADDR = 0x2EU;
+	const uint8_t I2C_SLV3_REG = 0x2FU;
+	const uint8_t I2C_SLV3_CTRL = 0x30U;
+	const uint8_t I2C_SLV4_ADDR = 0x31U;
+	const uint8_t I2C_SLV4_REG = 0x32U;
+	const uint8_t I2C_SLV4_DO = 0x33U;
+	const uint8_t I2C_SLV4_CTRL = 0x34U;
+	const uint8_t I2C_SLV4_DI = 0x35U;
+	const uint8_t I2C_MST_STATUS = 0x36U;
+
+	const uint8_t INT_PIN_CFG = 0x37U;
+	const uint8_t INT_ENABLE = 0x38U;
+	const uint8_t DMP_INT_STATUS = 0x39U;
+	const uint8_t INT_STATUS = 0x3AU;
+
+	const uint8_t ACCEL_XOUT_H = 0x3BU;
+	const uint8_t ACCEL_XOUT_L = 0x3CU;
+	const uint8_t ACCEL_YOUT_H = 0x3DU;
+	const uint8_t ACCEL_YOUT_L = 0x3EU;
+	const uint8_t ACCEL_ZOUT_H = 0x3FU;
+	const uint8_t ACCEL_ZOUT_L = 0x40U;
+	const uint8_t TEMP_OUT_H = 0x41U;
+	const uint8_t TEMP_OUT_L = 0x42U;
+	const uint8_t GYRO_XOUT_H = 0x43U;
+	const uint8_t GYRO_XOUT_L = 0x44U;
+	const uint8_t GYRO_YOUT_H = 0x45U;
+	const uint8_t GYRO_YOUT_L = 0x46U;
+	const uint8_t GYRO_ZOUT_H = 0x47U;
+	const uint8_t GYRO_ZOUT_L = 0x48U;
+
+	const uint8_t EXT_SENS_DATA_00 = 0x49U;
+	const uint8_t EXT_SENS_DATA_01 = 0x4AU;
+	const uint8_t EXT_SENS_DATA_02 = 0x4BU;
+	const uint8_t EXT_SENS_DATA_03 = 0x4CU;
+	const uint8_t EXT_SENS_DATA_04 = 0x4DU;
+	const uint8_t EXT_SENS_DATA_05 = 0x4EU;
+	const uint8_t EXT_SENS_DATA_06 = 0x4FU;
+	const uint8_t EXT_SENS_DATA_07 = 0x50U;
+	const uint8_t EXT_SENS_DATA_08 = 0x51U;
+	const uint8_t EXT_SENS_DATA_09 = 0x52U;
+	const uint8_t EXT_SENS_DATA_10 = 0x53U;
+	const uint8_t EXT_SENS_DATA_11 = 0x54U;
+	const uint8_t EXT_SENS_DATA_12 = 0x55U;
+	const uint8_t EXT_SENS_DATA_13 = 0x56U;
+	const uint8_t EXT_SENS_DATA_14 = 0x57U;
+	const uint8_t EXT_SENS_DATA_15 = 0x58U;
+	const uint8_t EXT_SENS_DATA_16 = 0x59U;
+	const uint8_t EXT_SENS_DATA_17 = 0x5AU;
+	const uint8_t EXT_SENS_DATA_18 = 0x5BU;
+	const uint8_t EXT_SENS_DATA_19 = 0x5CU;
+	const uint8_t EXT_SENS_DATA_20 = 0x5DU;
+	const uint8_t EXT_SENS_DATA_21 = 0x5EU;
+	const uint8_t EXT_SENS_DATA_22 = 0x5FU;
+	const uint8_t EXT_SENS_DATA_23 = 0x60U;
+
+	const uint8_t MOT_DETECT_STATUS = 0x61U;
+
+	const uint8_t I2C_SLV0_DO = 0x63U;
+	const uint8_t I2C_SLV1_DO = 0x64U;
+	const uint8_t I2C_SLV2_DO = 0x65U;
+	const uint8_t I2C_SLV3_DO = 0x66U;
+	const uint8_t I2C_MST_DELAY_CTRL = 0x67U;
+
+	const uint8_t SIGNAL_PATH_RESET = 0x68U;
+	const uint8_t MOT_DETECT_CTRL = 0x69U;
+	const uint8_t USER_CTRL = 0x6AU;
+
+	const uint8_t PWR_MGMT_1 = 0x6BU;
+	const uint8_t PWR_MGMT_2 = 0x6CU;
+	const uint8_t BANK_SEL = 0x6DU;
+	const uint8_t MEM_START_ADDR = 0x6EU;
+	const uint8_t MEM_R_W = 0x6FU;
+
+	const uint8_t DMP_CFG_1 = 0x70U;
+	const uint8_t DMP_CFG_2 = 0x71U;
+	const uint8_t FIFO_COUNTH = 0x72U;
+	const uint8_t FIFO_COUNTL = 0x73U;
+	const uint8_t FIFO_R_W = 0x74U;
+	const uint8_t WHO_AM_I = 0x75U;
+} // namespace SensorRegisters
diff --git a/src/sensor/sensor.cpp b/src/sensor/sensor.cpp
index e11a74b..a3b9a5c 100644
--- a/src/sensor/sensor.cpp
+++ b/src/sensor/sensor.cpp
@@ -1,50 +1,34 @@
 #include "sensor.hpp"
-#include "../utils/serial.hpp"
-#include "../utils/time.hpp"
+
 #include "registers.hpp"
+#include "utils/serial.hpp"
+#include "utils/time.hpp"
 
-Sensor::Sensor(uint8_t address, TwoWire *wire, SerialStream sout,
+Sensor::Sensor(uint8_t address, TwoWire wire, SerialStream sout,
 			   unsigned int throttle_time)
-	: _last_time(0), _sout(sout)
+	: _wire(wire),
+	  _address(address),
+	  _throttle_enabled(true),
+	  _throttle_time(throttle_time),
+	  _last_time(0),
+	  _status(SensorStatus::OK),
+	  _accel_to_g_force(RAW_TO_G_FACTOR),
+	  _ang_rate_to_dps(RAW_TO_DPS_FACTOR),
+	  _sout(sout)
 {
-	_address = address;
-	_wire = wire;
-
-	// Set default values
-	accel_cal_x = 0;
-	accel_cal_y = 0;
-	accel_cal_z = 0;
-
-	gyro_cal_x = 0;
-	gyro_cal_y = 0;
-	gyro_cal_z = 0;
-
-	_throttle_enabled = true;
-	_throttle_time = throttle_time;
-
-	_status = SensorStatus::OK;
-
-	_accel_sensitivity = 0;
-	_accel_to_g_force = 1.0 / 16384.0;
-
-	_gyro_sensitivity = 0;
-	_ang_rate_to_dps = 1.0 / 131.0;
-
-	// Reset the sensor
-	reset();
 }
 
 bool Sensor::begin()
 {
-	_wire->begin();
+	_wire.begin();
 
 	if (isConnected())
 	{
-		_wire->beginTransmission(_address);
-		_wire->write(SensorRegisters::PWR_MGMT_1);
-		_wire->write(SENSOR_WAKEUP);
+		_wire.beginTransmission(_address);
+		_wire.write(SensorRegisters::PWR_MGMT_1);
+		_wire.write(SENSOR_WAKEUP);
 
-		return (_wire->endTransmission() == 0);
+		return (_wire.endTransmission() == 0);
 	}
 
 	return false;
@@ -52,31 +36,13 @@ bool Sensor::begin()
 
 bool Sensor::isConnected()
 {
-	_wire->beginTransmission(_address);
-	return (_wire->endTransmission() == 0);
-}
-
-void Sensor::reset()
-{
-	_accel_raw_x = 0;
-	_accel_raw_y = 0;
-	_accel_raw_z = 0;
-
-	_gyro_raw_x = 0;
-	_gyro_raw_y = 0;
-	_gyro_raw_z = 0;
-
-	_accel_x = 0;
-	_accel_y = 0;
-
-	_pitch = 0;
-	_roll = 0;
-	_yaw = 0;
+	_wire.beginTransmission(_address);
+	return (_wire.endTransmission() == 0);
 }
 
 bool Sensor::read()
 {
-	Time now = time_now();
+	auto now = time_now();
 
 	if (_throttle_enabled && now.diff(_last_time).millisecs() < _throttle_time)
 	{
@@ -84,18 +50,20 @@ bool Sensor::read()
 		return false;
 	}
 
-	_wire->beginTransmission(_address);
-	_wire->write(SensorRegisters::ACCEL_XOUT_H);
+	_wire.beginTransmission(_address);
+	_wire.write(SensorRegisters::ACCEL_XOUT_H);
 
-	if (_wire->endTransmission() != 0)
+	if (_wire.endTransmission() != 0U)
 	{
 		_status = SensorStatus::ERR_WRITE;
 		return false;
 	}
 
-	int8_t response_length = _wire->requestFrom(_address, (uint8_t)14);
+	uint8_t response_length = _wire.requestFrom(_address, SensorRegisters::SELF_TEST_Y);
+
+	const uint8_t self_test_success = 14U;
 
-	if (response_length != 14)
+	if (response_length != self_test_success)
 	{
 		_status = SensorStatus::ERR_READ;
 		return false;
@@ -123,7 +91,7 @@ bool Sensor::read()
 
 	// Duration interval
 	now.update();
-	float duration = now.diff(_last_time).secs();
+	auto duration = now.diff(_last_time).secs();
 	_last_time = now;
 
 	// Convert raw acceleration to g:s (g-force)
@@ -147,12 +115,13 @@ bool Sensor::read()
 		  << endl;
 
 	// Prepare for Pitch Roll Yaw
-	float accel_y_pow_two = pow(_accel_raw_y, 2);
-	float accel_z_pow_two = pow(_accel_raw_z, 2);
+	auto accel_y_pow_two = pow(_accel_raw_y, 2);
+	auto accel_z_pow_two = pow(_accel_raw_z, 2);
 
-	_accel_x = atan2(_accel_raw_y, _accel_raw_z) * 180 / PI;
+	_accel_x = atan2(_accel_raw_y, _accel_raw_z) * ONE_EIGHTY / PI;
 
-	_accel_y = atan2(-_accel_raw_x, sqrt(accel_y_pow_two + accel_z_pow_two)) * 180 / PI;
+	_accel_y =
+		atan2(-_accel_raw_x, sqrt(accel_y_pow_two + accel_z_pow_two)) * ONE_EIGHTY / PI;
 
 	/*
 	_accel_x =
@@ -191,8 +160,11 @@ bool Sensor::read()
 		  << "Gyro raw z w/o time: " << _gyro_raw_z << "\n"
 		  << endl;
 
-	_pitch = 0.96 * _gyro_y + 0.04 * _accel_y;
-	_roll = 0.96 * _gyro_x + 0.04 * _accel_x;
+	const float gyro_balance = 0.96F;
+	const float accel_balance = 0.04F;
+
+	_pitch = gyro_balance * _gyro_y + accel_balance * _accel_y;
+	_roll = gyro_balance * _gyro_x + accel_balance * _accel_x;
 	_yaw = _gyro_z;
 
 	return true;
@@ -201,23 +173,31 @@ bool Sensor::read()
 bool Sensor::setAccelSensitivity(uint8_t sensitivity)
 {
 	if (sensitivity > 3)
+	{
 		sensitivity = 3;
+	}
 
 	_accel_sensitivity = sensitivity;
 
 	uint8_t accel_config = getRegister(SensorRegisters::ACCEL_CONFIG);
 
 	if (_status != SensorStatus::OK)
+	{
 		return false;
+	}
 
 	// No need to write same value
 	if (((accel_config >> 3) & 3) != _accel_sensitivity)
 	{
-		accel_config &= 0xE7;
+		const uint8_t magic = 0xE7U;
+
+		accel_config &= magic;
 		accel_config |= (_accel_sensitivity << 3);
 
 		if (!setRegister(SensorRegisters::ACCEL_CONFIG, accel_config))
+		{
 			return false;
+		}
 	}
 
 	// Calculate conversion factor.
@@ -229,7 +209,9 @@ bool Sensor::setAccelSensitivity(uint8_t sensitivity)
 bool Sensor::setGyroSensitivity(uint8_t sensitivity)
 {
 	if (sensitivity > 3)
+	{
 		sensitivity = 3;
+	}
 
 	_gyro_sensitivity = sensitivity;
 
@@ -243,7 +225,9 @@ bool Sensor::setGyroSensitivity(uint8_t sensitivity)
 	// No need to write same value
 	if (((gyro_config >> 3) & 3) != _gyro_sensitivity)
 	{
-		gyro_config &= 0xE7;
+		const uint8_t magic = 0xE7U;
+
+		gyro_config &= magic;
 		gyro_config |= (_gyro_sensitivity << 3);
 
 		if (!setRegister(SensorRegisters::GYRO_CONFIG, gyro_config))
@@ -257,63 +241,63 @@ bool Sensor::setGyroSensitivity(uint8_t sensitivity)
 	return true;
 }
 
-float Sensor::getAccelX()
+double Sensor::getAccelX()
 {
 	return _accel_raw_x;
 }
 
-float Sensor::getAccelY()
+double Sensor::getAccelY()
 {
 	return _accel_raw_y;
 }
 
-float Sensor::getAccelZ()
+double Sensor::getAccelZ()
 {
 	return _accel_raw_z;
 }
 
-float Sensor::getAngleX()
+double Sensor::getAngleX()
 {
 	return _accel_x;
 }
 
-float Sensor::getAngleY()
+double Sensor::getAngleY()
 {
 	return _accel_y;
 }
 
-float Sensor::getGyroX()
+double Sensor::getGyroX()
 {
 	return _gyro_raw_x;
 }
 
-float Sensor::getGyroY()
+double Sensor::getGyroY()
 {
 	return _gyro_raw_y;
 }
 
-float Sensor::getGyroZ()
+double Sensor::getGyroZ()
 {
 	return _gyro_raw_z;
 }
 
-float Sensor::getPitch()
+double Sensor::getPitch()
 {
 	return _pitch;
 }
 
-float Sensor::getRoll()
+double Sensor::getRoll()
 {
 	return _roll;
 }
 
 bool Sensor::setRegister(uint8_t reg, uint8_t value)
 {
-	_wire->beginTransmission(_address);
-	_wire->write(reg);
-	_wire->write(value);
+	_wire.beginTransmission(_address);
+	_wire.write(reg);
+	_wire.write(value);
 
-	if (_wire->endTransmission() != 0)
+	if (_wire.endTransmission() != 0)
 	{
 		_status = SensorStatus::ERR_WRITE;
 		return false;
@@ -324,23 +308,23 @@ bool Sensor::setRegister(uint8_t reg, uint8_t value)
 
 uint8_t Sensor::getRegister(uint8_t reg)
 {
-	_wire->beginTransmission(_address);
-	_wire->write(reg);
+	_wire.beginTransmission(_address);
+	_wire.write(reg);
 
-	if (_wire->endTransmission() != 0)
+	if (_wire.endTransmission() != 0U)
 	{
 		_status = SensorStatus::ERR_WRITE;
-		return 0;
+		return 0U;
 	}
 
-	uint8_t response_length = _wire->requestFrom(_address, (uint8_t)1);
-	if (response_length != 1)
+	uint8_t response_length = _wire.requestFrom(_address, 1U);
+	if (response_length != 1U)
 	{
 		_status = SensorStatus::ERR_READ;
-		return 0;
+		return 0U;
 	}
 
-	return _wire->read();
+	return _wire.read();
 }
 
 SensorStatus Sensor::getStatus()
@@ -353,8 +337,10 @@ SensorStatus Sensor::getStatus()
 
 int16_t Sensor::_readHighLow()
 {
-	int16_t high = _wire->read();
-	int16_t low = _wire->read();
+	const int16_t high = _wire.read();
+	const int16_t low = _wire.read();
+
+	const int8_t bits_in_byte = 8;
 
-	return high << 8 | low;
+	return high << bits_in_byte | low;
 }
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