File content as of revision 1:469ea8167b80:

#include "Sensors.h"


using namespace std;

void enable_sensors()
{
  /* Init all sensors with default params */
  press_s.init(NULL);
  acc_gyro.init(NULL);
  range.init_sensor(VL53L0X_DEFAULT_ADDRESS);

  /* Enable all sensors */
  press_s.enable();
  acc_gyro.enable_x();
  acc_gyro.enable_g();
}

void get_values()
{
  press_status = 0;

  //Temperature sensor
  temp = hum_temp_s.getCelsius();

  //Humidity sensor
  hum = hum_temp_s.getHumidity();



  //Light sensor
  light = light_s.read();

  //Pressure sensor
  if(press_s.get_pressure(&press) != 0)
    {
      printf("Error getting pressure\r\n");
      press_status = VALUE_ERROR;
    }

}

void get_motion_data(int dt, int* speed, int* prev_speed, int* prev_pos, int* prev_angle)
{

  //Accelerometer
  if(acc_gyro.get_x_axes(acc_axes) != 0)
    {
      printf("Error getting acceleration\n");
    }

  //Gyroscope
  if(acc_gyro.get_g_axes(gyro_axes) != 0)
    {
      printf("Error getting data from gyroscope\r\n");
    }

  prev_speed[0] += acc_axes[0]*dt;
  prev_speed[1] += acc_axes[1]*dt;
  //prev_speed[2] += acc_axes[2]*dt;

  *speed = (int)sqrt(pow(prev_speed[0],2.0)+pow(prev_speed[1],2.0)); //+pow(prev_speed[2],2.0)); //restrain to 2D

  prev_pos[0] += prev_speed[0]*dt; //x
  prev_pos[1] += prev_speed[1]*dt; //y

  *prev_angle += gyro_axes[2]*dt; //rotation around z axis

}