working commands. singleton deleted
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?
User | Revision | Line number | New 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 | } |