cleanup + serial communication for setting zeropoint and put wifi in its own class

code/arduino/Movement-sensor-code/Movement-sensor-code.ino

@@ -1,22 +1,26 @@
 #include "headerFile.h"
 
-SensorManager sensorManager;
-ESP8266WiFiMulti wifi;
-WebSocketsClient webSocket;
-#define USE_SERIAL Serial
+SensorManager::Rotation offset;
 
 void setup() {
   Serial.begin(9600);
   Serial.println("startup");
   delay(5000);
-  connectWiFi();
+  
+  connectivity.connectWiFi(ssid, pass);
   sensorManager.sensorSetup();
-  websocketSetup();
+  connectivity.websocketSetup();
 }
 
 void loop() {
   SensorManager::Rotation rotation = sensorManager.readLoop();
 
+  // Subtract offset
+  rotation.i -= offset.i;
+  rotation.j -= offset.j;
+  rotation.k -= offset.k;
+  rotation.w -= offset.w;
+
   // Convert quaternion to Euler angles in radians
   float roll = atan2(2.0f * (rotation.w * rotation.i + rotation.j * rotation.k), 1.0f - 2.0f * (rotation.i * rotation.i + rotation.j * rotation.j));
   float pitch = asin(2.0f * (rotation.w * rotation.j - rotation.k * rotation.i));
@@ -32,34 +36,19 @@ void loop() {
   Serial.print(pitch);
   Serial.print(" ");
   Serial.print(yaw);
-  sendData(roll, pitch, yaw);
+  connectivity.sendData(roll, pitch, yaw);
 
   Serial.println();
   webSocket.loop();
-}
 
-
-void connectWiFi(){
-
-  WiFi.mode(WIFI_STA);
-  wifi.addAP(ssid, pass);
-  WiFi.begin();
-  while (WiFi.status() != WL_CONNECTED) {
-    Serial.println("connecting to wifi");
-    delay(1000);
+  if (Serial.available()) {
+    String command = Serial.readStringUntil('\n');
+    command.trim(); // remove any trailing whitespace
+    if (command == "setZeroPoint") {
+      setZeroPoint();
+    }
   }
-  Serial.println(WiFi.localIP());
-
 }
-
-void websocketSetup(){
-	//ws server address, port and URL
-	webSocket.begin("192.168.178.118", 8001, "");
-	// try every 500 again if connection has failed
-	webSocket.setReconnectInterval(500);
+void setZeroPoint() {
+  offset = sensorManager.readLoop();
 }
-
-void sendData(float roll, float pitch, float yaw){
-  String message = "{\"Sensor\": 1, \"roll\":\"" + String(roll) + "\",\"pitch\":\"" + String(pitch) + "\",\"yaw\":\"" + String(yaw) + "\"}";
-  webSocket.sendTXT(message);
-}