void ExtendoHand::setupOther() {
if (nineAxis) {
// adjust the power settings after you call this method if you want the accelerometer
// to enter standby mode, or another less demanding mode of operation
accel.setRange(1); // 4g
accel.setFullResolution(1); // maintain 4mg/LSB scale factor (irrespective of range)
accel.initialize();
if (!accel.testConnection()) {
osc.sendError("ADXL345 connection failed");
} else {
randomSeed(accel.getAccelerationX() - accel.getAccelerationY() + accel.getAccelerationZ());
}
#ifdef ENABLE_GYRO
gyro.initialize();
if (!gyro.testConnection()) {
osc.sendError("ITG3200 connection failed");
}
#endif // ENABLE_GYRO
#ifdef ENABLE_MAGNETOMETER
magnet.initialize();
if (!magnet.testConnection()) {
osc.sendError("HMC5883L connection failed");
}
#endif // ENABLE_MAGNETOMETER
} else {
#ifdef THREE_AXIS
randomSeed(motionSensor.rawX() + motionSensor.rawY() + motionSensor.rawZ());
// 1.5g constants, sampled 2014-06-21
motionSensor.calibrateX(272, 794);
motionSensor.calibrateY(332, 841);
motionSensor.calibrateZ(175, 700);
#endif // THREE_AXIS
}
vibrateStart = 0;
alertStart = 0;
}
int setupMotionSensors() {
int error = 0;
// Initialization
Wire.begin();
acc.initialize();
mag.initialize();
gyr.initialize();
// Verification
if (!acc.testConnection() ||
!mag.testConnection() ||
!gyr.testConnection())
error = 1;
// Configuration
acc.setRange(ADXL345_RANGE_16G);
mag.setMode(HMC5883L_MODE_CONTINUOUS);
return error;
}