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Refactoring

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This commit is contained in:
Sam Hos
2024-06-03 16:17:27 +02:00
parent 7264811444
commit ffb90c001d
4 changed files with 10 additions and 9 deletions
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3
code/arduino/Movement-sensor-code/Connectivity.cpp
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@@ -24,6 +24,7 @@ const char* getServerURL = "http://145.92.8.132:443/get-ip";
String ipAddress = ""; // string that will hold the server's IP address String ipAddress = ""; // string that will hold the server's IP address
const char* Connectivity::fetchIPAddress() { const char* Connectivity::fetchIPAddress() {
char* ipAddress = NULL; // Declare ipAddress as a char*
if (WiFi.status() == WL_CONNECTED) { if (WiFi.status() == WL_CONNECTED) {
HTTPClient http; HTTPClient http;
WiFiClient client; WiFiClient client;
@@ -33,7 +34,7 @@ const char* Connectivity::fetchIPAddress() {
if (httpCode > 0) { if (httpCode > 0) {
if (httpCode == HTTP_CODE_OK) { if (httpCode == HTTP_CODE_OK) {
// If successful (code 200), read the response body and store the IP address // If successful (code 200), read the response body and store the IP address
ipAddress = http.getString(); ipAddress = strdup(http.getString().c_str());
} }
} else { } else {
Serial.printf("GET request failed, error: %s\n", http.errorToString(httpCode).c_str()); Serial.printf("GET request failed, error: %s\n", http.errorToString(httpCode).c_str());

2
code/arduino/Movement-sensor-code/Movement-sensor-code.ino
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@@ -37,7 +37,7 @@ struct acceleration {
accelData.z, accelData.z,
"data"); "data");
// %d = int, %f = floatation, %s = string // %d = int, %f = floatation, %s = string
connectivity.httpPost(serverIp, "/", 3445, buffer, strlen(buffer), "application/json"); connectivity.httpPost("192.168.137.30", "/", 3445, buffer, strlen(buffer), "application/json");
lastTime = currentTime; lastTime = currentTime;
} }
} }

10
code/arduino/Movement-sensor-code/SensorManager.cpp
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@@ -17,14 +17,14 @@ void SensorManager::sensorSetup() {
// myIMU.enableStepCounter(500); //Send data update every 500ms // myIMU.enableStepCounter(500); //Send data update every 500ms
} }
//get sensordata //get sensordata
SensorManager::RotationQuintillions SensorManager::getQuintillions() { SensorManager::RotationQuaternions SensorManager::getQuaternions() {
if (myIMU.dataAvailable() == true) { if (myIMU.dataAvailable() == true) {
float i = myIMU.getQuatI(); float i = myIMU.getQuatI();
float j = myIMU.getQuatJ(); float j = myIMU.getQuatJ();
float k = myIMU.getQuatK(); float k = myIMU.getQuatK();
float w = myIMU.getQuatReal(); float w = myIMU.getQuatReal();
RotationQuintillions rotation = { i, j, k, w }; RotationQuaternions rotation = { i, j, k, w };
return rotation; return rotation;
} else { } else {
float i = myIMU.getQuatI(); float i = myIMU.getQuatI();
@@ -32,13 +32,13 @@ SensorManager::RotationQuintillions SensorManager::getQuintillions() {
float k = myIMU.getQuatK(); float k = myIMU.getQuatK();
float w = myIMU.getQuatReal(); float w = myIMU.getQuatReal();
RotationQuintillions rotation = { i, j, k, w }; RotationQuaternions rotation = { i, j, k, w };
return rotation; return rotation;
} }
} }
//calculate Quintillions to Euler angles from -1π to +1π //calculate Quaternions to Euler angles from -1π to +1π
SensorManager::eulerAngles SensorManager::getEulerAngles() { SensorManager::eulerAngles SensorManager::getEulerAngles() {
SensorManager::RotationQuintillions rotation = getQuintillions(); SensorManager::RotationQuaternions rotation = getQuaternions();
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));
float pitch = asin(2.0f * (rotation.w * rotation.j - rotation.k * rotation.i)); float pitch = asin(2.0f * (rotation.w * rotation.j - rotation.k * rotation.i));
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)); 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));

4
code/arduino/Movement-sensor-code/SensorManager.h
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@@ -23,13 +23,13 @@ public:
acceleration getAcelleration(); acceleration getAcelleration();
bool sensorTap(); bool sensorTap();
private: private:
struct RotationQuintillions { struct RotationQuaternions {
float i; float i;
float j; float j;
float k; float k;
float w; float w;
}; };
RotationQuintillions getQuintillions(); RotationQuaternions getQuaternions();
BNO080 myIMU; BNO080 myIMU;
}; };