Diff: Controller.cpp

Revision:

6:75263c93daf7

Parent:

5:46947b447701

Child:

8:c6345e8d607c

--- a/Controller.cpp	Sun Jun 07 14:11:26 2015 +0000
+++ b/Controller.cpp	Sun Jun 07 21:58:02 2015 +0000
@@ -6,25 +6,26 @@
 
 Controller::Controller()
 {
-    this->modeList.push_back(new TrainingCommand());
-    this->modeList.push_back(new OfflineCommand());
-    this->modeList.push_back(new ReadCommand());
-    this->modeList.push_back(new IdleCommand());
-    this->modeList.push_back(new SleepCommand());
+    this->sensors = new Sensors();
+    this->storage = new Storage();
+    
+    this->modeList.push_back(new TrainingCommand(sensors));
+    this->modeList.push_back(new OfflineCommand(sensors, storage));
+    this->modeList.push_back(new ReadCommand(storage));
+    this->modeList.push_back(new IdleCommand(sensors));
+    this->modeList.push_back(new SleepCommand(sensors));
 
     button.fall(this, &Controller::buttonInt);
     imu.fall(this, &Controller::imuInt);
 
     //Set idle command at startup
     this->currentMode = 3;
-
-    while(Sensors::getInstance()->getFs() != 100) {
-        Sensors::getInstance()->setupIMU();
-        wait(0.01);
-        Sensors::getInstance()->disableIMU();
-    }
-
+    
+    sensors->setupIMU();
+    sensors->disableIMU();
+    wait(0.1);
     this->modeList[currentMode]->initialize();
+    
 }
 
 void Controller::setCommand(int n)
@@ -47,9 +48,6 @@
 
 void Controller::run()
 {
-    Sensors::getInstance()->setupIMU();
-    Sensors::getInstance()->disableIMU();
-
     pc.baud(19200);
 
     while(1) {
@@ -60,24 +58,18 @@
 
             switch(command) {
                 case '1':
-                    pc.printf("een\n");
                     setCommand(0);
-
                     break;
                 case '2':
-                    pc.printf("twee\n");
                     setCommand(1);
                     break;
                 case '3':
-                    pc.printf("drie\n");
                     setCommand(2);
                     break;
                 case '4':
-                    pc.printf("vier\n");
                     setCommand(3);
                     break;
                 case '5':
-                    pc.printf("vijf\n");
                     setCommand(4);
                     break;
             }