void SensorManager::triggerMeasures()
{
m_sensorPosition->measure();
m_sensorPressure->measure();
if ( m_sensorPosition->isNewDataAvailable() ||
m_sensorPressure->isNewDataAvailable() )
{
m_position = roundData(processPosition(m_sensorPosition->getData()), 0.005);
m_pressure = roundData(processPressure(m_sensorPressure->getData()), 0.1);
if (m_direction == INCREASING)
{
if (m_position > m_maxPosition)
{
m_diffPosition = m_position - m_maxPosition;
m_maxPosition += m_diffPosition;
m_sensorData.position += m_diffPosition;
}
if (m_position == 0.5)
{
m_direction = DECREASING;
}
}
else
{
if (m_position == 0.0)
{
m_maxPosition = 0.0;
m_direction = INCREASING;
}
}
m_sensorData.pressure = m_pressure;
notify();
}
}
int main() {
pc.printf("Starting \r\n");
setup(); //initializes all hardware sensors
t.start();
while(button){
timeLastPoll = t.read_ms();
altitude = ps.pressureToAltitudeMeters(ps.readPressureMillibars());
acc.readFIFO();
gyr.readFIFO();
// pc.printf("%d Att: %2.2f \tGyr: %2.2f %2.2f %2.2f \tAcc: %2.2f %2.2f %2.2f \tT: %d\r\n",
// iter,
// altitude,
// gyr.g.x,gyr.g.y,gyr.g.z,
// acc.a.x,acc.a.y,acc.a.z,
// t.read_ms()-timeLastPoll);
if (iter != 0){
calcMotionData(a);
}
else{
calcMotionData(1.0);
}
r_altitude = roundData(altitude);
r_incline = roundData(incline);
r_dist = roundData(tot_dist/50.0);
r_speed = roundData(speed);
// pc.printf("%d \t%d \t%d \t%d\r\n",r_altitude,r_incline,r_dist,r_speed);
fprintf(fp, "%d, %f, %f, %f, %f, %f, %f, %f, %f, %f, %f, %d, %d, %d \r\n",
(t.read_ms() - timeLastPoll),
altitude,
gyr.g.x,gyr.g.y,gyr.g.z,
acc.a.x,acc.a.y,acc.a.z,
incline,tot_dist,speed,
r_incline,
r_dist,
r_speed);
static unsigned long lastSendTime = millis();
if (lastSendTime + 250 < millis()) {
BTModu.sendData(String("x")+packageData2String(r_altitude)+
packageData2String(r_incline)+
packageData2String(r_dist)+
packageData2String(r_speed) );
lastSendTime += 250;
}
saveLastData();
while( (t.read_ms() - timeLastPoll) < MBED_POLLING_PERIOD_MS){
gled = 0;
}
// pc.printf("LT: %d\r\n",t.read_ms()-timeLastPoll);
gled = 1; iter++;
}
fclose(fp);
pc.printf("File successfully written! \r\n");
printf("End of Program. \r\n");
}
