Fixed whack gradle bullshit

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

@@ -1,6 +1,6 @@
 #include "headerFile.h"
 
-SensorManager::Rotation offset;
+// SensorManager::Rotation offset;
 
 void setup() {
   Serial.begin(9600);
@@ -10,51 +10,49 @@ void setup() {
   sensorManager.sensorSetup();
 
 	//ws server address, port and URL
-	webSocket.begin("145.3.245.22", 8001, "");
+	webSocket.begin("145.28.160.108", 8001, "");
 	// try every 500 again if connection has failed
 	webSocket.setReconnectInterval(500);
 }
 
 void loop() {
-  SensorManager::Rotation rotation = sensorManager.readLoop();
+  SensorManager::eulerAngles eulerRotation = sensorManager.getEulerAngles();
 
   // Subtract offset
-  rotation.i -= offset.i;
-  rotation.j -= offset.j;
-  rotation.k -= offset.k;
-  rotation.w -= offset.w;
+  // 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));
-  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));
+
 
   // Convert to degrees
-  float rollDegrees = roll * 180.0f / PI;
-  float pitchDegrees = pitch * 180.0f / PI;
-  float yawDegrees = yaw * 180.0f / PI;
+  // float rollDegrees = roll * 180.0f / PI;
+  // float pitchDegrees = pitch * 180.0f / PI;
+  // float yawDegrees = yaw * 180.0f / PI;
 
-  Serial.print(roll);
+  Serial.print(eulerRotation.roll);
   Serial.print(" ");
-  Serial.print(pitch);
+  Serial.print(eulerRotation.pitch);
   Serial.print(" ");
-  Serial.print(yaw);
-  sendData(roll, pitch, yaw);
+  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();
 }
+//   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) + "\"}";

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

@@ -15,12 +15,12 @@ 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
-  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
+  Wire.setClock(400000);                          //Increase I2C data rate to 400kHz
+  myIMU.calibrateAll();                           //Turn on cal for Accel, Gyro, and Mag
+  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
 
   if (myIMU.calibrationComplete() == true) {
     Serial.println("Calibration data successfully stored");
@@ -29,23 +29,31 @@ void SensorManager::sensorSetup() {
   Serial.println(F("magnetometer rotation enabled"));
 }
 
-SensorManager::Rotation SensorManager::readLoop() {
+SensorManager::RotationQuintillions SensorManager::getQuintillions() {
   if (myIMU.dataAvailable() == true) {
     float i = myIMU.getQuatI();
     float j = myIMU.getQuatJ();
     float k = myIMU.getQuatK();
     float w = myIMU.getQuatReal();
 
-    Rotation rotation = { i, j, k, w };
+    RotationQuintillions rotation = { i, j, k, w };
     return rotation;
-  }
-  else {
+  } else {
     float i = myIMU.getQuatI();
     float j = myIMU.getQuatJ();
     float k = myIMU.getQuatK();
     float w = myIMU.getQuatReal();
 
-    Rotation rotation = { i, j, k, w };
+    RotationQuintillions rotation = { i, j, k, w };
     return rotation;
   }
 }
+
+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));
+  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));
+  eulerAngles EulerAngles = { roll, pitch, yaw };
+  return EulerAngles;
+}

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

@@ -5,18 +5,26 @@
 #include "SparkFun_BNO080_Arduino_Library.h"
 
 class SensorManager {
-  public:
-    SensorManager();
-    void sensorSetup();
-    struct Rotation {
-      float i;
-      float j;
-      float k;
-      float w;
-    };
-    Rotation readLoop();
-  private:
-    BNO080 myIMU;
+public:
+  SensorManager();
+  void sensorSetup();
+  struct eulerAngles {
+    float roll;
+    float pitch;
+    float yaw;
+  };
+  eulerAngles getEulerAngles();
+
+
+private:
+  struct RotationQuintillions {
+    float i;
+    float j;
+    float k;
+    float w;
+  };
+  RotationQuintillions getQuintillions();
+  BNO080 myIMU;
 };
 
 #endif

code/src/.idea/.gitignore

@@ -0,0 +1,3 @@
+# Default ignored files
+/shelf/
+/workspace.xml

code/src/Fitbot/.idea/gradle.xml

@@ -7,6 +7,7 @@
         <option name="testRunner" value="GRADLE" />
         <option name="distributionType" value="DEFAULT_WRAPPED" />
         <option name="externalProjectPath" value="$PROJECT_DIR$" />
+        <option name="gradleJvm" value="jbr-17" />
         <option name="modules">
           <set>
             <option value="$PROJECT_DIR$" />

code/src/Fitbot/app/build.gradle

@@ -7,7 +7,7 @@ android {
 
     defaultConfig {
         applicationId "com.example.fitbot"
-        minSdk 29
+        minSdk 23
         targetSdk 29
         versionCode 1
         versionName "1.0"

code/src/Fitbot/app/src/main/java/com/example/fitbot/sports/Animations.java

@@ -1,4 +1,4 @@
-package com.example.fitbot;
+package com.example.fitbot.sports;
 
 import android.support.v7.app.AppCompatActivity;
 
@@ -7,6 +7,7 @@ import com.aldebaran.qi.sdk.builder.AnimateBuilder;
 import com.aldebaran.qi.sdk.builder.AnimationBuilder;
 import com.aldebaran.qi.sdk.object.actuation.Animate;
 import com.aldebaran.qi.sdk.object.actuation.Animation;
+import com.example.fitbot.ui.activities.MainActivity;
 
 public class Animations extends AppCompatActivity {
 

code/src/Fitbot/app/src/main/java/com/example/fitbot/ui/activities/FitnessActivity.java

@@ -1,20 +1,28 @@
 package com.example.fitbot.ui.activities;
 
+import static com.example.fitbot.sports.Animations.Animate;
+
 import android.os.Bundle;
 import com.aldebaran.qi.sdk.QiContext;
+import com.aldebaran.qi.sdk.QiSDK;
 import com.aldebaran.qi.sdk.RobotLifecycleCallbacks;
 import com.aldebaran.qi.sdk.design.activity.RobotActivity;
+import com.example.fitbot.sports.Animations;
 
 public class FitnessActivity extends RobotActivity implements RobotLifecycleCallbacks {
 
     @Override
     protected void onCreate(Bundle savedInstanceState) {
         super.onCreate(savedInstanceState);
+        QiSDK.register(this, this);
+
     }
 
     @Override
     public void onRobotFocusGained(QiContext qiContext) {
         // Implement your logic when the robot focus is gained
+        Animate("bicepcurl", qiContext);
+
     }
 
     @Override
@@ -26,4 +34,11 @@ public class FitnessActivity extends RobotActivity implements RobotLifecycleCall
     public void onRobotFocusRefused(String reason) {
         // Implement your logic when the robot focus is refused
     }
+
+    @Override
+    protected void onDestroy() {
+        QiSDK.unregister(this, this);
+
+        super.onDestroy();
+    }
 }

code/src/Fitbot/app/src/main/java/com/example/fitbot/ui/activities/MainActivity.java

@@ -1,5 +1,7 @@
 package com.example.fitbot.ui.activities;
 
+import static com.example.fitbot.sports.Animations.Animate;
+
 import android.annotation.SuppressLint;
 import android.os.Bundle;
 import android.support.design.widget.NavigationView;
@@ -9,6 +11,9 @@ import android.support.v7.app.ActionBarDrawerToggle;
 import android.support.v7.app.AppCompatActivity;
 import android.support.v7.widget.Toolbar;
 
+import com.aldebaran.qi.sdk.QiContext;
+import com.aldebaran.qi.sdk.QiSDK;
+import com.aldebaran.qi.sdk.RobotLifecycleCallbacks;
 import com.example.fitbot.R;
 
 public class MainActivity extends AppCompatActivity {
@@ -23,6 +28,7 @@ public class MainActivity extends AppCompatActivity {
     protected void onCreate (Bundle savedInstanceState) {
         super.onCreate(savedInstanceState);
         setContentView(R.layout.activity_main);
+        QiSDK.register(this, (RobotLifecycleCallbacks) this);
 
         /*---Hooks---*/
         drawerLayout = findViewById(R.id.drawer_layout);

docs/documentation/hardware/sensors.md

@@ -3,11 +3,11 @@
 Which sensor are we gonna use for this project and why?
 
 
-### What do we wanna measure?
+### What do we want to measure?
 
 We wanna measure the movement of the people doing our exercises. We want to know how many times they have done the exercise and how many times they have done it correctly.
 
-### What sensor are we gonna use?
+### What sensor are we going to use?
 To measure these movements we are gonna use gyroscopes. With gyroscopes we can measure the rotation of the body. With some math we can also measure the speed of the rotation. So we know how fast the person is doing the exercise.
 
 ### Which gyroscopes are there?