1 files changed, 0 insertions, 107 deletions
diff --git a/src/calibration.cpp b/src/calibration.cpp
deleted file mode 100644
index 66a52bf..0000000
--- a/src/calibration.cpp
+++ /dev/null
@@ -1,107 +0,0 @@
-#include "calibration.hpp"
-
-#include "utils/general.hpp"
-#include "utils/time.hpp"
-
-SensorCalibrator::SensorCalibrator(UniquePtr<Sensor> &sensor, SerialStream sout)
-	: _sensor(sensor), _sout(sout)
-{
-	_resetValues();
-}
-
-bool SensorCalibrator::calibrate(unsigned int throttle_time)
-{
-	bool done = false;
-	Time start_time = time_now();
-
-	while (!done)
-	{
-		if (time_now().diff(start_time).millisecs() >= CALIBRATION_TIMEOUT)
-		{
-			return false;
-		}
-
-		delay(throttle_time);
-
-		_resetValues();
-
-		for (unsigned int i = 0U; i < SENSOR_READ_CNT; i++)
-		{
-			_updateValues();
-		}
-
-		_adjustValues();
-
-		_sout << "Accel X: " << _accel_x << "	"
-			  << "Accel Y: " << _accel_y << "	"
-			  << "Accel Z: " << _accel_z << "	"
-			  << "Gyro X: " << _gyro_x << "	"
-			  << "Gyro Y: " << _gyro_y << "	"
-			  << "Gyro Z: " << _gyro_z << endl;
-
-		if (_isValuesInRange())
-		{
-			done = true;
-		}
-
-		_adjustCalibration();
-	}
-
-	return true;
-}
-
-void SensorCalibrator::_resetValues()
-{
-	_accel_x = 0;
-	_accel_y = 0;
-	_accel_z = 0;
-
-	_gyro_x = 0;
-	_gyro_y = 0;
-	_gyro_z = 0;
-}
-
-void SensorCalibrator::_updateValues()
-{
-	_sensor->read();
-
-	_accel_x -= _sensor->getAccelX();
-	_accel_y -= _sensor->getAccelY();
-	_accel_z -= _sensor->getAccelZ();
-
-	_gyro_x -= _sensor->getGyroX();
-	_gyro_y -= _sensor->getGyroY();
-	_gyro_z -= _sensor->getGyroZ();
-}
-
-void SensorCalibrator::_adjustValues()
-{
-	_accel_x *= SENSOR_VAL_ADJUST;
-	_accel_y *= SENSOR_VAL_ADJUST;
-	_accel_z *= SENSOR_VAL_ADJUST;
-
-	_gyro_x *= SENSOR_VAL_ADJUST;
-	_gyro_y *= SENSOR_VAL_ADJUST;
-	_gyro_z *= SENSOR_VAL_ADJUST;
-}
-
-bool SensorCalibrator::_isValuesInRange()
-{
-	return (_accel_x < ACCEL_CAL_X_MAX && _accel_x > ACCEL_CAL_X_MIN &&
-			_accel_y < ACCEL_CAL_Y_MAX && _accel_y > ACCEL_CAL_Y_MIN &&
-			_accel_z < ACCEL_CAL_Z_MAX && _accel_z > ACCEL_CAL_Z_MIN &&
-			_gyro_x < GYRO_CAL_X_MAX && _gyro_x > GYRO_CAL_X_MIN &&
-			_gyro_y < GYRO_CAL_Y_MAX && _gyro_y > GYRO_CAL_Y_MIN &&
-			_gyro_z < GYRO_CAL_Z_MAX && _gyro_z > GYRO_CAL_Z_MIN);
-}
-
-void SensorCalibrator::_adjustCalibration()
-{
-	_sensor->accel_cal_x += _accel_x;
-	_sensor->accel_cal_y += _accel_y;
-	_sensor->accel_cal_z += _accel_z;
-
-	_sensor->gyro_cal_x += _gyro_x;
-	_sensor->gyro_cal_y += _gyro_y;
-	_sensor->gyro_cal_z += _gyro_z;
-}