diff options
Diffstat (limited to 'src/gyronardo.cpp')
| -rw-r--r-- | src/gyronardo.cpp | 31 |
1 files changed, 14 insertions, 17 deletions
diff --git a/src/gyronardo.cpp b/src/gyronardo.cpp index 148a21b..63b4bfc 100644 --- a/src/gyronardo.cpp +++ b/src/gyronardo.cpp @@ -16,17 +16,14 @@ constexpr unsigned int BAUD_RATE = 9600U; constexpr unsigned int SENSOR_RETRY_TIME = 2000U; SerialStream sout(Serial_(), BAUD_RATE); -// SerialStream sout(Serial, BAUD_RATE); -UniquePtr<Sensor> sensor; +auto sensor = Sensor(SENSOR_ADDRESS, Wire, sout, SENSOR_THROTTLE_TIME); void setup() { sout.waitReady(); - sensor = make_unique<Sensor>(SENSOR_ADDRESS, Wire, sout, SENSOR_THROTTLE_TIME); - - while (!sensor->begin()) + while (!sensor.begin()) { sout << "Error: Could not connect to the sensor. Retrying after 2000 " "milliseconds..." @@ -35,18 +32,18 @@ void setup() delay(SENSOR_RETRY_TIME); } - if (!sensor->setAccelSensitivity(2)) // 8g + if (!sensor.setAccelSensitivity(2)) // 8g { sout << "Error: Failed to set the sensor's accelerometer sensitivity. Status: " - << static_cast<int>(sensor->getStatus()) << endl; + << static_cast<int>(sensor.getStatus()) << endl; stop(); } - if (!sensor->setGyroSensitivity(1)) // 500 degrees/s + if (!sensor.setGyroSensitivity(1)) // 500 degrees/s { sout << "Error: Failed to set the sensor's gyro sensitivity. Status: " - << static_cast<int>(sensor->getStatus()) << endl; + << static_cast<int>(sensor.getStatus()) << endl; stop(); } @@ -66,17 +63,17 @@ void setup() sout << "Finished calibrating sensor\n"; sout << "Calibration values:\n" - << "Accelerometer X: " << sensor->accel_cal_x << "\n" - << "Accelerometer Y: " << sensor->accel_cal_y << "\n" - << "Accelerometer Z: " << sensor->accel_cal_z << "\n" - << "Gyro X: " << sensor->gyro_cal_x << "\n" - << "Gyro Y: " << sensor->gyro_cal_y << "\n" - << "Gyro Z: " << sensor->gyro_cal_z << "\n"; + << "Accelerometer X: " << sensor.accel_cal_x << "\n" + << "Accelerometer Y: " << sensor.accel_cal_y << "\n" + << "Accelerometer Z: " << sensor.accel_cal_z << "\n" + << "Gyro X: " << sensor.gyro_cal_x << "\n" + << "Gyro Y: " << sensor.gyro_cal_y << "\n" + << "Gyro Z: " << sensor.gyro_cal_z << "\n"; sout << "Starting..." << endl; - sout << "Pitch: " << sensor->getPitch() << " " - << "Roll: " << sensor->getRoll() << endl; + sout << "Pitch: " << sensor.getPitch() << " " + << "Roll: " << sensor.getRoll() << endl; } void loop() |