Revision 1:6126bf6cdfae, committed 2016-07-25

Comitter:

aolgu003

Date:

Mon Jul 25 00:19:24 2016 +0000

Parent:

0:13ac527b4c4b

Commit message:

Added a sensor class.

Changed in this revision

--- a/sensor.h	Sat Jul 23 04:15:42 2016 +0000
+++ b/sensor.h	Mon Jul 25 00:19:24 2016 +0000
@@ -5,21 +5,12 @@
 #include "HMC5883L.h"
 
 MPU6050 mpu6050;
-HMC5883L compass(PB_4, PA_8);
-MS5837 pressure_sensor_1 = MS5837(I2C_SDA, I2C_SCL, ms5837_addr_no_CS);
-MS5837 pressure_sensor_2 = MS5837(PB_4, PA_8, ms5837_addr_no_CS);
-float depth, depth1, depth2, heading;
-float pressure1, pressure2;
-int error_cnt = 0;
+HMC5883L compass(I2C_SDA, I2C_SCL);
+float depth, heading;
 int16_t mag[3] = {0};
 
 
 void sensor_init() {
-    wait_ms(100);
-    pressure_sensor_1.MS5837Init();
-    wait_ms(100);
-    pressure_sensor_2.MS5837Init();
-    wait_ms(100);
     IMUinit(mpu6050);
     wait_ms(100);
     
@@ -31,35 +22,6 @@
 void sensor_update() {
     //IMU Update gets pitch and roll
     IMUUpdate(mpu6050);
-    
-    //Finds depth
-    //pressure_sensor_1.Barometer_MS5837();
-    pressure_sensor_2.Barometer_MS5837();
-    //pressure1 = pressure_sensor_1.MS5837_Pressure();
-    pressure2 = pressure_sensor_2.MS5837_Pressure();
-    depth = pressure_sensor_2.depth();
-
-        /*//Do some error checking
-        if ((pressure1 > 900 && pressure1 < 3000) && (pressure2 > 900 && pressure2 < 3000)) {
-            //depth1 = pressure_sensor_1.depth();
-            depth2 = pressure_sensor_2.depth();
-            
-            depth = (depth1 + depth2) / 2;
-            error_cnt = 0;
-        } else if (pressure2 > 900 && pressure2 < 3000) {
-            depth = pressure_sensor_2.depth();
-            
-            error_cnt = 0;
-        } else if (pressure1 > 900 && pressure1 < 3000) {
-            //depth = pressure_sensor_1.depth();
-            error_cnt = 0;
-        } else {
-            error_cnt++;
-            if (error_cnt > 50) {
-                //do something
-                pc.printf("Pressure sensor error");   
-            }
-        }*/
         
     //gets heading
     compass.getXYZ(mag);
@@ -78,8 +40,6 @@
 void print_data() {
     pc.printf("================================\n");
     pc.printf("Yaw, pitch, roll: %f, %f, %f\n", yaw, pitch, roll);
-    pc.printf("Depth 1: %f\n", depth1);
-    pc.printf("Depth 2: %f\n", depth2);
     pc.printf("Depth: %f\n", depth);
     pc.printf("Heading w.o. tilt correction: %f\n", compass.getHeadingXYDeg());
     pc.printf("Heading with tilt correction: %f\n", heading);