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#pragma once
#include "sensor/sensor.hpp"
#include "serial.hpp"
#include "std/memory.hpp"
// Calibration precision
constexpr float ACCEL_CAL_X_MAX = 0.006;
constexpr float ACCEL_CAL_X_MIN = -0.006;
constexpr float ACCEL_CAL_Y_MAX = 0.006;
constexpr float ACCEL_CAL_Y_MIN = -0.006;
constexpr float ACCEL_CAL_Z_MAX = 0.006;
constexpr float ACCEL_CAL_Z_MIN = -0.006;
constexpr float GYRO_CAL_X_MAX = 0.06;
constexpr float GYRO_CAL_X_MIN = -0.06;
constexpr float GYRO_CAL_Y_MAX = 0.06;
constexpr float GYRO_CAL_Y_MIN = -0.06;
constexpr float GYRO_CAL_Z_MAX = 0.06;
constexpr float GYRO_CAL_Z_MIN = -0.06;
constexpr uint32_t CALIBRATION_TIMEOUT = 120000; // Milliseconds
constexpr unsigned int SENSOR_READ_CNT = 20;
constexpr float 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(UniquePtr<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() const;
void _adjustCalibration();
UniquePtr<Sensor> &_sensor;
SerialStream _sout;
double _accel_x = 0;
double _accel_y = 0;
double _accel_z = 0;
double _gyro_x = 0;
double _gyro_y = 0;
double _gyro_z = 0;
};
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