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dead code removal

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This commit is contained in:
Sam Hos
2024-05-28 15:16:04 +02:00
parent 80ef0ac99e
commit 83b233e275
2 changed files with 14 additions and 44 deletions
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42
code/arduino/Movement-sensor-code/Movement-sensor-code.ino
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@@ -5,56 +5,24 @@
void setup() { void setup() {
Serial.begin(9600); Serial.begin(9600);
Serial.println("startup"); Serial.println("startup");
//connect to internet and start sensor
connectivity.connectWiFi(ssid, pass); connectivity.connectWiFi(ssid, pass);
sensorManager.sensorSetup(); 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() { void loop() {
SensorManager::eulerAngles eulerRotation = sensorManager.getEulerAngles(); 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(eulerRotation.roll);
Serial.print(" "); Serial.print(" ");
Serial.print(eulerRotation.pitch); Serial.print(eulerRotation.pitch);
Serial.print(" "); Serial.print(" ");
Serial.print(eulerRotation.yaw); Serial.print(eulerRotation.yaw);
sendData(eulerRotation.roll, eulerRotation.pitch, eulerRotation.yaw);
Serial.println(); 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(eulerRotation.roll) + "\",\"pitch\":\"" + String(eulerRotation.pitch) + "\",\"yaw\":\"" + String(eulerRotation.yaw) + "\"}";
String message = "{\"Sensor\": 1, \"roll\":\"" + String(roll) + "\",\"pitch\":\"" + String(pitch) + "\",\"yaw\":\"" + String(yaw) + "\"}"; int messageLength = message.length();
webSocket.sendTXT(message); Serial.println(message);
Serial.println(connectivity.httpPost("192.168.137.146", "/", 3445, message.c_str(), message.length(), "json"));
} }

12
code/arduino/Movement-sensor-code/SensorManager.cpp
View File

@@ -15,20 +15,20 @@ void SensorManager::sensorSetup() {
//start sensorfunction and start autocalibration //start sensorfunction and start autocalibration
//once calibration is enabled it attempts to every 5 min //once calibration is enabled it attempts to every 5 min
Wire.setClock(400000); //Increase I2C data rate to 400kHz Wire.setClock(400000);
myIMU.calibrateAll(); //Turn on cal for Accel, Gyro, and Mag myIMU.calibrateAll();
myIMU.enableGyroIntegratedRotationVector(100); //send data every 100ms myIMU.enableGyroIntegratedRotationVector(100); //send data every 100ms
myIMU.enableMagnetometer(100); //Send data update every 100ms myIMU.enableMagnetometer(100); //Send data update every 100ms
myIMU.saveCalibration(); //Saves the current dynamic calibration data (DCD) to memory myIMU.saveCalibration(); //Saves the current dynamic calibration data (DCD) to memory
myIMU.requestCalibrationStatus(); //Sends command to get the latest calibration status myIMU.requestCalibrationStatus(); //Sends command to get the latest calibration status
//Never seen this work in serial console
if (myIMU.calibrationComplete() == true) { if (myIMU.calibrationComplete() == true) {
Serial.println("Calibration data successfully stored"); Serial.println("Calibration data successfully stored");
} }
Serial.println(F("magnetometer rotation enabled")); Serial.println(F("magnetometer rotation enabled"));
} }
//get sensordata
SensorManager::RotationQuintillions SensorManager::getQuintillions() { SensorManager::RotationQuintillions SensorManager::getQuintillions() {
if (myIMU.dataAvailable() == true) { if (myIMU.dataAvailable() == true) {
float i = myIMU.getQuatI(); float i = myIMU.getQuatI();
@@ -48,7 +48,7 @@ SensorManager::RotationQuintillions SensorManager::getQuintillions() {
return rotation; return rotation;
} }
} }
//calculate Quintillions to Euler angles from -1π to +1π
SensorManager::eulerAngles SensorManager::getEulerAngles() { SensorManager::eulerAngles SensorManager::getEulerAngles() {
SensorManager::RotationQuintillions rotation = getQuintillions(); 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)); 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));
@@ -57,3 +57,5 @@ SensorManager::eulerAngles SensorManager::getEulerAngles() {
eulerAngles EulerAngles = { roll, pitch, yaw }; eulerAngles EulerAngles = { roll, pitch, yaw };
return EulerAngles; return EulerAngles;
} }
SensorManager::bool