diff options
Diffstat (limited to 'src/sensor/calibration.cpp')
| -rw-r--r-- | src/sensor/calibration.cpp | 41 |
1 files changed, 21 insertions, 20 deletions
diff --git a/src/sensor/calibration.cpp b/src/sensor/calibration.cpp index 1a2b91e..5626388 100644 --- a/src/sensor/calibration.cpp +++ b/src/sensor/calibration.cpp @@ -3,7 +3,8 @@ #include "common/time.hpp" #include "utils.hpp" -SensorCalibrator::SensorCalibrator(Sensor &sensor, SerialStream sout) +SensorCalibrator::SensorCalibrator(common::SharedPtr<Sensor> sensor, + common::SharedPtr<SerialStream> sout) : _sensor(sensor), _sout(sout) { } @@ -31,12 +32,12 @@ bool SensorCalibrator::calibrate(unsigned int throttle_time) _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; + *_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)) { @@ -51,26 +52,26 @@ bool SensorCalibrator::calibrate(unsigned int throttle_time) void SensorCalibrator::_updateValues(SensorCalibratorValues &values) { - _sensor.read(); + _sensor->read(); - values.accel_x -= _sensor.getAccelX(); - values.accel_y -= _sensor.getAccelY(); - values.accel_z -= _sensor.getAccelZ(); + 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(); + 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->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; + _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) |