* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
*/
-package org.altusmetrum.altoslib_7;
+package org.altusmetrum.altoslib_11;
import java.util.concurrent.*;
import java.io.*;
-public class AltosIMU implements Cloneable, Serializable {
+public class AltosIMU implements Cloneable, AltosHashable, AltosJsonable {
public int accel_along;
public int accel_across;
public int accel_through;
public int gyro_pitch;
public int gyro_yaw;
- public static double counts_per_g = 2048.0;
+ public static final double counts_per_g = 2048.0;
public static double convert_accel(double counts) {
return counts / counts_per_g * (-AltosConvert.GRAVITATIONAL_ACCELERATION);
}
- public static double counts_per_degsec = 16.4;
+ public static final double counts_per_degsec = 16.4;
public static double convert_gyro(double counts) {
return counts / counts_per_degsec;
break;
}
}
+
+ public AltosIMU (AltosHashSet h) {
+ this();
+
+ accel_along = h.getInt("accel_along", accel_along);
+ accel_across = h.getInt("accel_across", accel_across);
+ accel_through = h.getInt("accel_through", accel_through);
+
+ gyro_roll = h.getInt("gyro_roll", gyro_roll);
+ gyro_pitch = h.getInt("gyro_pitch", gyro_pitch);
+ gyro_yaw = h.getInt("gyro_yaw", gyro_yaw);
+ }
+
+ public AltosIMU (AltosJson j) {
+ this();
+
+ accel_along = j.get_int("accel_along", accel_along);
+ accel_across = j.get_int("accel_across", accel_across);
+ accel_through = j.get_int("accel_through", accel_through);
+
+ gyro_roll = j.get_int("gyro_roll", gyro_roll);
+ gyro_pitch = j.get_int("gyro_pitch", gyro_pitch);
+ gyro_yaw = j.get_int("gyro_yaw", gyro_yaw);
+ }
+
+ static public AltosIMU fromHashSet(AltosHashSet h, AltosIMU def) {
+ if (h == null)
+ return def;
+ return new AltosIMU(h);
+ }
+
+ static public AltosIMU fromJson(AltosJson j, AltosIMU def) {
+ if (j == null)
+ return def;
+ return new AltosIMU(j);
+ }
+
+ public AltosHashSet hashSet() {
+ AltosHashSet h = new AltosHashSet();
+
+ h.putInt("accel_along", accel_along);
+ h.putInt("accel_across", accel_across);
+ h.putInt("accel_through", accel_through);
+
+ h.putInt("gyro_roll", gyro_roll);
+ h.putInt("gyro_pitch", gyro_pitch);
+ h.putInt("gyro_yaw", gyro_yaw);
+ return h;
+ }
+
+ public AltosJson json() {
+ AltosJson j = new AltosJson();
+
+ j.put("accel_along", accel_along);
+ j.put("accel_across", accel_across);
+ j.put("accel_through", accel_through);
+
+ j.put("gyro_roll", gyro_roll);
+ j.put("gyro_pitch", gyro_pitch);
+ j.put("gyro_yaw", gyro_yaw);
+ return j;
+ }
}