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#ifndef CALIBRATION_HPP
#define CALIBRATION_HPP
#include "sensor/sensor.hpp"
#include "utils/memory.hpp"
#include "utils/serial.hpp"
// Calibration precision
#define ACCEL_CAL_X_MAX 0.006
#define ACCEL_CAL_X_MIN -0.006
#define ACCEL_CAL_Y_MAX 0.006
#define ACCEL_CAL_Y_MIN -0.006
#define ACCEL_CAL_Z_MAX 0.006
#define ACCEL_CAL_Z_MIN -0.006
#define GYRO_CAL_X_MAX 0.06
#define GYRO_CAL_X_MIN -0.06
#define GYRO_CAL_Y_MAX 0.06
#define GYRO_CAL_Y_MIN -0.06
#define GYRO_CAL_Z_MAX 0.06
#define GYRO_CAL_Z_MIN -0.06
#define CALIBRATION_TIMEOUT 120000 // Milliseconds
#define SENSOR_READ_CNT 20
#define SENSOR_VAL_ADJUST 0.05
/**
* Sensor calibrator.
*/
class SensorCalibrator
{
public:
/**
* Sensor calibrator.
*
* @param sensor A sensor to calibrate
* @param sout A Serial output stream
*/
SensorCalibrator(unique_ptr<Sensor> &sensor, SerialStream sout);
/**
* Calibrates the sensor.
*
* @param throttle_time The sensor's throttle time
* @returns Whether or not the calibration succeeded. Will return false on
* timeout.
*/
bool calibrate(unsigned int throttle_time);
private:
void _resetValues();
void _updateValues();
void _adjustValues();
bool _isValuesInRange();
void _adjustCalibration();
unique_ptr<Sensor> &_sensor;
SerialStream _sout;
float _accel_x;
float _accel_y;
float _accel_z;
float _gyro_x;
float _gyro_y;
float _gyro_z;
};
#endif
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