SensorBox.cpp

// SensorBox.cpp

#include "Hardware.h"
#include "DriverInput.h"
#include "SensorBox.h"

// ADXL345_I2C * SensorBox::m_accel = NULL;
// ADXL345_I2C::AllAxes SensorBox::m_last_accel = {0.0};
Gyro * SensorBox::m_gyro = NULL;
float SensorBox::m_last_heading = 0;

Accelerometer * SensorBox::x_axis = NULL;
Accelerometer * SensorBox::y_axis = NULL;
Accelerometer * SensorBox::z_axis = NULL;
float SensorBox::last_x_accel = 0;
float SensorBox::last_y_accel = 0;
float SensorBox::last_z_accel = 0;

void SensorBox::Init()
{
	//m_accel = Hardware::GetAccelerometer();
	printf("Initializing gyro, please wait...");
	m_gyro = Hardware::GetGyro();
	printf("Done.\n");
	//m_last_accel.XAxis = 0;
//	m_last_accel.YAxis = 0;
//	m_last_accel.ZAxis = 0;
	m_last_heading = 0;
	x_axis = Hardware::GetAccelX();
	y_axis = Hardware::GetAccelY();
	z_axis = Hardware::GetAccelZ();
}

void SensorBox::Process()
{
	if (false) {
		m_gyro->Reset();
	}
	
	last_x_accel = x_axis->GetAcceleration();
	last_y_accel = y_axis->GetAcceleration();
	last_z_accel = z_axis->GetAcceleration();
	m_last_heading = m_gyro->GetAngle();
}

float SensorBox::Heading()
{
	return m_last_heading;
}

float SensorBox::GyroTemperature()
{
	return 0;
}

float SensorBox::XAcceleration()
{
	//return m_last_accel.XAxis;
	return x_axis->GetAcceleration();
}

float SensorBox::YAcceleration()
{
	//return m_last_accel.YAxis;
	return y_axis->GetAcceleration();
}

float SensorBox::ZAcceleration()
{
	//return m_last_accel.ZAxis;
	return z_axis->GetAcceleration();
}