From 757a29d0137b974fff6ddcc945d76e69ae120ecb Mon Sep 17 00:00:00 2001
From: HampusM <hampus@hampusmat.com>
Date: Mon, 21 Mar 2022 13:00:36 +0100
Subject: refactor: use MPU6050_light & clean up bloat

---
 src/sensor/sensor.hpp | 194 --------------------------------------------------
 1 file changed, 194 deletions(-)
 delete mode 100644 src/sensor/sensor.hpp

(limited to 'src/sensor/sensor.hpp')

diff --git a/src/sensor/sensor.hpp b/src/sensor/sensor.hpp
deleted file mode 100644
index 1b99f6e..0000000
--- a/src/sensor/sensor.hpp
+++ /dev/null
@@ -1,194 +0,0 @@
-#pragma once
-
-#include "common/time.hpp"
-
-#include <Arduino.h>
-#include <Wire.h>
-
-constexpr uint8_t SENSOR_WAKEUP = 0x00U;
-
-constexpr float RAW_TO_DPS_FACTOR = 1.0 / 131.0;
-constexpr float RAW_TO_G_FACTOR = 1.0 / 16384.0;
-
-constexpr uint32_t ONE_EIGHTY = 180;
-
-enum class SensorStatus
-{
-	OK = 0,
-	THROTTLED = 1,
-	ERR_READ = -1,
-	ERR_WRITE = -2,
-	ERR_NOT_CONNECTED = -3
-};
-
-/**
- * A GY521 gyro and accelerometer sensor.
- */
-class Sensor
-{
-public:
-	/**
-	 * A GY521 gyro and accelerometer sensor.
-	 *
-	 * @param address The address of the sensor
-	 * @param wire A Wire instance
-	 * @param throttle_time A minumum time between sensor reads for the sensor to throttle
-	 */
-	Sensor(uint8_t address, TwoWire wire, unsigned int throttle_time) noexcept;
-
-	/**
-	 * Initializes communication with the sensor.
-	 *
-	 * @returns Whether or not the sensor can be communicated with.
-	 */
-	bool begin() noexcept;
-
-	/**
-	 * Returns whether or not the sensor is connected.
-	 */
-	bool isConnected() noexcept;
-
-	/**
-	 * Reads from the sensor.
-	 *
-	 * @returns Whether or not it succeeded.
-	 */
-	bool read() noexcept;
-
-	/**
-	 * Sets the accelerometer sensitivity.
-	 *
-	 * @param sensitivity Accelerometer sensitivity. 0, 1, 2, 3 => 2g 4g 8g 16g
-	 * @returns Whether or not it succeeded.
-	 */
-	bool setAccelSensitivity(uint8_t sensitivity) noexcept;
-
-	/**
-	 * Sets the gyro sensitivity.
-	 *
-	 * @param sensitivity Gyro sensitivity.
-	 * 	0, 1, 2, 3 => 250, 500, 1000, 2000 degrees/s
-	 * @returns Whether or not it succeeded.
-	 */
-	bool setGyroSensitivity(uint8_t sensitivity) noexcept;
-
-	/**
-	 * Returns the current X axis acceleration in g:s (g-force).
-	 */
-	double getAccelX() const noexcept;
-
-	/**
-	 * Returns the current Y axis acceleration in g:s (g-force).
-	 */
-	double getAccelY() const noexcept;
-
-	/**
-	 * Returns the current Z axis acceleration in g:s (g-force).
-	 */
-	double getAccelZ() const noexcept;
-
-	/**
-	 * Returns the current X angle.
-	 */
-	double getAngleX() const noexcept;
-
-	/**
-	 * Returns the current Y angle.
-	 */
-	double getAngleY() const noexcept;
-
-	/**
-	 * Returns the current X axis in degrees/s.
-	 */
-	double getGyroX() const noexcept;
-
-	/**
-	 * Returns the current Y axis in degrees/s.
-	 */
-	double getGyroY() const noexcept;
-
-	/**
-	 * Returns the current Z axis in degrees/s.
-	 */
-	double getGyroZ() const noexcept;
-
-	/**
-	 * Returns the current pitch angle.
-	 */
-	double getPitch() const noexcept;
-
-	/**
-	 * Returns the current roll angle.
-	 */
-	double getRoll() const noexcept;
-
-	/**
-	 * Sets the value of a key in the sensor's register.
-	 *
-	 * @param reg The address of a registry key
-	 * @param value A new value
-	 * @returns Whether or not it succeeded.
-	 */
-	bool setRegister(uint8_t reg, uint8_t value) noexcept;
-
-	/**
-	 * Returns the value of a key in the sensor's registry.
-	 *
-	 * @param reg The address of a registry key
-	 */
-	uint8_t getRegister(uint8_t reg) noexcept;
-
-	/**
-	 * Returns the last sensor status.
-	 */
-	SensorStatus getStatus() noexcept;
-
-	// Accelerometer calibration values
-	double accel_cal_x = 0;
-	double accel_cal_y = 0;
-	double accel_cal_z = 0;
-
-	// Gyroscope calibration values
-	double gyro_cal_x = 0;
-	double gyro_cal_y = 0;
-	double gyro_cal_z = 0;
-
-private:
-	TwoWire _wire;
-
-	uint8_t _address;
-
-	bool _throttle_enabled;
-	unsigned int _throttle_time;
-
-	common::Time _last_time;
-
-	SensorStatus _status;
-
-	uint8_t _accel_sensitivity = 0U;
-	float _accel_to_g_force;
-
-	double _accel_raw_x = 0;
-	double _accel_raw_y = 0;
-	double _accel_raw_z = 0;
-
-	double _accel_x = 0;
-	double _accel_y = 0;
-
-	uint8_t _gyro_sensitivity = 0U;
-	float _ang_rate_to_dps;
-
-	double _gyro_raw_x = 0;
-	double _gyro_raw_y = 0;
-	double _gyro_raw_z = 0;
-
-	double _gyro_x = 0;
-	double _gyro_y = 0;
-	double _gyro_z = 0;
-
-	double _pitch = 0;
-	double _roll = 0;
-	double _yaw = 0;
-
-	int16_t _readHighLow() noexcept;
-};
-- 
cgit v1.2.3-18-g5258