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#include "common/memory/shared_ptr.hpp"
#include "sensor/calibration.hpp"
#include "sensor/sensor.hpp"
#include "serial.hpp"
#include "utils.hpp"
#include <Wire.h>
#include <XInput.h>
constexpr uint8_t SENSOR_ADDRESS = 0x68U;
constexpr unsigned int SENSOR_THROTTLE_TIME = 50U; // milliseconds
constexpr unsigned int SENSOR_RETRY_TIME = 2000U; // milliseconds
constexpr unsigned int BAUD_RATE = 9600U;
void setup()
{
auto sout = common::make_shared<SerialStream>(Serial, BAUD_RATE);
auto sensor = common::make_shared<Sensor>(SENSOR_ADDRESS, Wire, SENSOR_THROTTLE_TIME);
sout->waitReady();
while (!sensor->begin())
{
*sout << "Error: Could not connect to the _sensor-> Retrying after 2000 "
"milliseconds..."
<< endl;
delay(SENSOR_RETRY_TIME);
}
if (!sensor->setAccelSensitivity(2)) // 8g
{
*sout << "Error: Failed to set the sensor's accelerometer sensitivity. Status: "
<< static_cast<int>(sensor->getStatus()) << endl;
stop();
}
if (!sensor->setGyroSensitivity(1)) // 500 degrees/s
{
*sout << "Error: Failed to set the sensor's gyro sensitivity. Status: "
<< static_cast<int>(sensor->getStatus()) << endl;
stop();
}
*sout << "Calibrating _sensor->.." << endl;
SensorCalibrator sensor_calibrator(sensor, sout);
if (!sensor_calibrator.calibrate(SENSOR_THROTTLE_TIME))
{
*sout << "Error: Sensor calibration timed out after " << CALIBRATION_TIMEOUT
<< " milliseconds" << endl;
stop();
}
*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";
*sout << "Starting..." << endl;
XInput.begin();
while (true)
{
delay(SENSOR_THROTTLE_TIME);
if (!sensor->read())
{
SensorStatus status = sensor->getStatus();
if (status == SensorStatus::THROTTLED)
{
*sout << "Warning: The sensor was read too frequently and throttled"
<< endl;
continue;
}
*sout << "Error: Failed to read _sensor-> Status: "
<< static_cast<int>(status) << endl;
stop();
}
*sout << "Pitch: " << sensor->getPitch() << " Roll: " << sensor->getRoll()
<< endl;
XInput.setJoystick(JOY_LEFT, static_cast<int32_t>(sensor->getRoll()),
static_cast<int32_t>(sensor->getPitch()));
XInput.printDebug(Serial);
}
}
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