MicroBitCompassCalibrator.h

00001 /*
00002 The MIT License (MIT)
00003 
00004 Copyright (c) 2016 British Broadcasting Corporation.
00005 This software is provided by Lancaster University by arrangement with the BBC.
00006 
00007 Permission is hereby granted, free of charge, to any person obtaining a
00008 copy of this software and associated documentation files (the "Software"),
00009 to deal in the Software without restriction, including without limitation
00010 the rights to use, copy, modify, merge, publish, distribute, sublicense,
00011 and/or sell copies of the Software, and to permit persons to whom the
00012 Software is furnished to do so, subject to the following conditions:
00013 
00014 The above copyright notice and this permission notice shall be included in
00015 all copies or substantial portions of the Software.
00016 
00017 THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
00018 IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
00019 FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL
00020 THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
00021 LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
00022 FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER
00023 DEALINGS IN THE SOFTWARE.
00024 */
00025 
00026 #ifndef MICROBIT_COMPASS_CALIBRATOR_H
00027 #define MICROBIT_COMPASS_CALIBRATOR_H
00028 
00029 #include "MicroBitConfig.h"
00030 #include "MicroBitCompass.h"
00031 #include "MicroBitAccelerometer.h"
00032 #include "MicroBitDisplay.h"
00033 
00034 
00035 /**
00036   * Class definition for an interactive compass calibration algorithm.
00037   *
00038   * The algorithm uses an accelerometer to ensure that a broad range of sample data has been gathered
00039   * from the compass module, then performs a least mean squares optimisation of the
00040   * results to determine the calibration data for the compass.
00041   *
00042   * The LED matrix display is used to provide feedback to the user on the gestures required.
00043   *
00044   * This class listens for calibration requests from the compass (on the default event model),
00045   * and automatically initiates a calibration sequence as necessary.
00046   */
00047 class MicroBitCompassCalibrator
00048 {
00049     MicroBitCompass&        compass;
00050     MicroBitAccelerometer&  accelerometer;
00051     MicroBitDisplay&        display;
00052 
00053     public:
00054 
00055     /**
00056       * Constructor.
00057       *
00058       * Create an object capable of calibrating the compass.
00059       *
00060       * The algorithm uses an accelerometer to ensure that a broad range of sample data has been gathered
00061       * from the compass module, then performs a least mean squares optimisation of the
00062       * results to determine the calibration data for the compass.
00063       *
00064       * The LED matrix display is used to provide feedback to the user on the gestures required.
00065       *
00066       * @param compass The compass instance to calibrate.
00067       *
00068       * @param accelerometer The accelerometer to gather contextual data from.
00069       *
00070       * @param display The LED matrix to display user feedback on.
00071       */
00072     MicroBitCompassCalibrator(MicroBitCompass& _compass, MicroBitAccelerometer& _accelerometer, MicroBitDisplay& _display);
00073 
00074     /**
00075       * Performs a simple game that in parallel, calibrates the compass.
00076       *
00077       * This function is executed automatically when the user requests a compass bearing, and compass calibration is required.
00078       *
00079       * This function is, by design, synchronous and only returns once calibration is complete.
00080       */
00081     void calibrate(MicroBitEvent);
00082 };
00083 
00084 #endif