David Kester / commands

working commands. singleton deleted

Dependents:   GonioTrainer

TrainingCommand.cpp@0:e188325211af, 2015-06-04 (annotated)

Committer:
dkester
Date:
Thu Jun 04 10:56:18 2015 +0000
Revision:
0:e188325211af
Child:
1:fd4c0e2decb8
working version with block erase.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
dkester 0:e188325211af 1 #include "TrainingCommand.h"
dkester 0:e188325211af 2
dkester 0:e188325211af 3 TrainingCommand::TrainingCommand(){
dkester 0:e188325211af 4 this->sensors = Sensors::getInstance();
dkester 0:e188325211af 5 }
dkester 0:e188325211af 6
dkester 0:e188325211af 7 void TrainingCommand::initialize(){
dkester 0:e188325211af 8 printf("TrainingCommand\n");
dkester 0:e188325211af 9 }
dkester 0:e188325211af 10
dkester 0:e188325211af 11
dkester 0:e188325211af 12 void TrainingCommand::execute(){
dkester 0:e188325211af 13 this->sensors->updateIMU();
dkester 0:e188325211af 14 this->sensors->updateAngle();
dkester 0:e188325211af 15
dkester 0:e188325211af 16 printSensors();
dkester 0:e188325211af 17 }
dkester 0:e188325211af 18
dkester 0:e188325211af 19 void TrainingCommand::button(){
dkester 0:e188325211af 20 this->sensors->wakeIMU();
dkester 0:e188325211af 21 printf("**** BUTTON: TrainingCommand ****\n");
dkester 0:e188325211af 22 }
dkester 0:e188325211af 23
dkester 0:e188325211af 24 void TrainingCommand::finish(){
dkester 0:e188325211af 25 setLed(0);
dkester 0:e188325211af 26 this->sensors->disableIMU();
dkester 0:e188325211af 27 }
dkester 0:e188325211af 28
dkester 0:e188325211af 29 void TrainingCommand::printSensors(){
dkester 0:e188325211af 30 float xangle = 57.295*atan((float)sensors->getAccelY()/ sqrt(pow((float)sensors->getAccelZ(),2)+pow((float)sensors->getAccelX(),2)));
dkester 0:e188325211af 31 float yangle = 57.295*atan((float)-sensors->getAccelX()/ sqrt(pow((float)sensors->getAccelZ(),2)+pow((float)sensors->getAccelY(),2)));
dkester 0:e188325211af 32 float xgyro = ((float)sensors->getGyroX())/200;
dkester 0:e188325211af 33
dkester 0:e188325211af 34 printf("angle: %.2f\n", sensors->getAngle());
dkester 0:e188325211af 35 printf("Aceleration Angles: %f, %f \n", xangle, yangle);
dkester 0:e188325211af 36
dkester 0:e188325211af 37 printf("gyroscope x: %f\n",xgyro);
dkester 0:e188325211af 38 printf("temperature: %f\n\n",sensors->getTemp());
dkester 0:e188325211af 39 }