void GY80Task::printAccelerator()
{
/* Get a new sensor event */
sensors_event_t event;
accel.getEvent(&event);
/* Display the results (acceleration is measured in m/s^2) */
Serial1.print("X: "); Serial1.print(event.acceleration.x); Serial1.print(" ");
Serial1.print("Y: "); Serial1.print(event.acceleration.y); Serial1.print(" ");
Serial1.print("Z: "); Serial1.print(event.acceleration.z); Serial1.print(" "); Serial1.println("m/s^2 ");
}
void readAccel(){
/* Get a new sensor event */
sensors_event_t event;
accel.getEvent(&event);
/* Display the results (acceleration is measured in m/s^2) */
#ifdef PRINT_ACCEL
Serial.print(F("X: ")); Serial.print(event.acceleration.x);
Serial.print(F(" Y: ")); Serial.print(event.acceleration.y);
Serial.print(F(" Z: ")); Serial.print(event.acceleration.z); Serial.print(" m/s^2 ");
Serial.print(F(" Angle: "));
Serial.println(atan2(event.acceleration.z, event.acceleration.x));
#endif
nsamples++;
// avgTilt += atan2(event.acceleration.z, event.acceleration.x);
avgTilt += asin(event.acceleration.z / 10.8);
float delta = event.acceleration.x - meanZ;
meanZ = meanZ + delta / (float) nsamples;
m2 = m2 + delta*(event.acceleration.x - meanZ);
return;
}