dead code removal

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

@@ -5,56 +5,24 @@
 void setup() {
   Serial.begin(9600);
   Serial.println("startup");
-  
+  //connect to internet and start sensor
   connectivity.connectWiFi(ssid, pass);
   sensorManager.sensorSetup();
 
-	//ws server address, port and URL
-	// webSocket.begin("145.28.160.108", 8001, "");
-	// try every 500 again if connection has failed
-	// webSocket.setReconnectInterval(500);
 }
 
 void loop() {
   SensorManager::eulerAngles eulerRotation = sensorManager.getEulerAngles();
 
-  // 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
-
-
-  // Convert to degrees
-  // float rollDegrees = roll * 180.0f / PI;
-  // float pitchDegrees = pitch * 180.0f / PI;
-  // float yawDegrees = yaw * 180.0f / PI;
-
   Serial.print(eulerRotation.roll);
   Serial.print(" ");
   Serial.print(eulerRotation.pitch);
   Serial.print(" ");
   Serial.print(eulerRotation.yaw);
-  sendData(eulerRotation.roll, eulerRotation.pitch, eulerRotation.yaw);
-
   Serial.println();
-  // webSocket.loop();
-}
-//   if (Serial.available()) {
-//     String command = Serial.readStringUntil('\n');
-//     command.trim(); // remove any trailing whitespace
-//     if (command == "setZeroPoint") {
-//       setZeroPoint();
-//     }
-//   }
-// }
-// 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);
-}
+  String message = "{\"Sensor\": 1, \"roll\":\"" + String(eulerRotation.roll) + "\",\"pitch\":\"" + String(eulerRotation.pitch) + "\",\"yaw\":\"" + String(eulerRotation.yaw) + "\"}";
+  int messageLength = message.length();
+  Serial.println(message);
+  Serial.println(connectivity.httpPost("192.168.137.146", "/", 3445, message.c_str(), message.length(), "json"));
+}

code/arduino/Movement-sensor-code/SensorManager.cpp

@@ -15,20 +15,20 @@ void SensorManager::sensorSetup() {
   //start sensorfunction and start autocalibration
   //once calibration is enabled it attempts to every 5 min
 
-  Wire.setClock(400000);                          //Increase I2C data rate to 400kHz
-  myIMU.calibrateAll();                           //Turn on cal for Accel, Gyro, and Mag
+  Wire.setClock(400000);                          
+  myIMU.calibrateAll();                           
   myIMU.enableGyroIntegratedRotationVector(100);  //send data every 100ms
   myIMU.enableMagnetometer(100);                  //Send data update every 100ms
   myIMU.saveCalibration();                        //Saves the current dynamic calibration data (DCD) to memory
   myIMU.requestCalibrationStatus();               //Sends command to get the latest calibration status
-
+  //Never seen this work in serial console
   if (myIMU.calibrationComplete() == true) {
     Serial.println("Calibration data successfully stored");
   }
 
   Serial.println(F("magnetometer rotation enabled"));
 }
-
+//get sensordata
 SensorManager::RotationQuintillions SensorManager::getQuintillions() {
   if (myIMU.dataAvailable() == true) {
     float i = myIMU.getQuatI();
@@ -48,7 +48,7 @@ SensorManager::RotationQuintillions SensorManager::getQuintillions() {
     return rotation;
   }
 }
-
+//calculate Quintillions to Euler angles from -1π to +1π 
 SensorManager::eulerAngles SensorManager::getEulerAngles() {
   SensorManager::RotationQuintillions rotation = getQuintillions();
   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));
@@ -56,4 +56,6 @@ SensorManager::eulerAngles SensorManager::getEulerAngles() {
   float yaw = atan2(2.0f * (rotation.w * rotation.k + rotation.i * rotation.j), 1.0f - 2.0f * (rotation.j * rotation.j + rotation.k * rotation.k));
   eulerAngles EulerAngles = { roll, pitch, yaw };
   return EulerAngles;
-}
+}
+
+SensorManager::bool