From: Keith Packard Date: Sat, 11 Feb 2023 01:58:08 +0000 (-0800) Subject: altoslib: Hide internals of AltosIMU X-Git-Tag: 1.9.15~1^2~9^2~1 X-Git-Url: https://git.gag.com/?p=fw%2Faltos;a=commitdiff_plain;h=b08930aa0f67a445bf2300f3cea07cecf513a2f0 altoslib: Hide internals of AltosIMU Make most of the variables private to prevent access to un-corrected data. Signed-off-by: Keith Packard --- diff --git a/altoslib/AltosIMU.java b/altoslib/AltosIMU.java index 87570a79..b4ba5a56 100644 --- a/altoslib/AltosIMU.java +++ b/altoslib/AltosIMU.java @@ -22,37 +22,37 @@ import java.util.concurrent.*; import java.io.*; public class AltosIMU implements Cloneable { - public int accel_x = AltosLib.MISSING; - public int accel_y = AltosLib.MISSING; - public int accel_z = AltosLib.MISSING; + private int accel_x = AltosLib.MISSING; + private int accel_y = AltosLib.MISSING; + private int accel_z = AltosLib.MISSING; - public int accel_along = AltosLib.MISSING; - public int accel_across = AltosLib.MISSING; - public int accel_through = AltosLib.MISSING; + private int accel_along = AltosLib.MISSING; + private int accel_across = AltosLib.MISSING; + private int accel_through = AltosLib.MISSING; - public int gyro_x = AltosLib.MISSING; - public int gyro_y = AltosLib.MISSING; - public int gyro_z = AltosLib.MISSING; + private int gyro_x = AltosLib.MISSING; + private int gyro_y = AltosLib.MISSING; + private int gyro_z = AltosLib.MISSING; - public int gyro_roll = AltosLib.MISSING; - public int gyro_pitch = AltosLib.MISSING; - public int gyro_yaw = AltosLib.MISSING; + private int gyro_roll = AltosLib.MISSING; + private int gyro_pitch = AltosLib.MISSING; + private int gyro_yaw = AltosLib.MISSING; - public int mag_x = AltosLib.MISSING; - public int mag_y = AltosLib.MISSING; - public int mag_z = AltosLib.MISSING; + private int mag_x = AltosLib.MISSING; + private int mag_y = AltosLib.MISSING; + private int mag_z = AltosLib.MISSING; - public int mag_along = AltosLib.MISSING; - public int mag_across = AltosLib.MISSING; - public int mag_through = AltosLib.MISSING; + private int mag_along = AltosLib.MISSING; + private int mag_across = AltosLib.MISSING; + private int mag_through = AltosLib.MISSING; - public int imu_model = AltosLib.MISSING; - public int mag_model = AltosLib.MISSING; + private int imu_model = AltosLib.MISSING; + private int mag_model = AltosLib.MISSING; - public static final double counts_per_g_mpu = 2048.0; - public static final double counts_per_g_bmx = 2048.0; - public static final double counts_per_g_adxl = 20.5; - public static final double counts_per_g_bmi088 = 1365.0; + private static final double counts_per_g_mpu = 2048.0; + private static final double counts_per_g_bmx = 2048.0; + private static final double counts_per_g_adxl = 20.5; + private static final double counts_per_g_bmi088 = 1365.0; private static double counts_per_g(int imu_type, int imu_model) { switch (imu_model) { @@ -90,13 +90,13 @@ public class AltosIMU implements Cloneable { return counts / cpg * AltosConvert.gravity; } - public static final double GYRO_FULLSCALE_DEGREES_MPU = 2000.0; - public static final double GYRO_COUNTS_MPU = 32767.0; - public static final double counts_per_degree_mpu = GYRO_COUNTS_MPU / GYRO_FULLSCALE_DEGREES_MPU; - public static final double GYRO_FULLSCALE_DEGREES_BMX = 2000.0; - public static final double GYRO_COUNTS_BMX = 32767.0; - public static final double counts_per_degree_bmx = GYRO_COUNTS_BMX / GYRO_FULLSCALE_DEGREES_BMX; - public static final double counts_per_degree_bmi088 = 16.384; + private static final double GYRO_FULLSCALE_DEGREES_MPU = 2000.0; + private static final double GYRO_COUNTS_MPU = 32767.0; + private static final double counts_per_degree_mpu = GYRO_COUNTS_MPU / GYRO_FULLSCALE_DEGREES_MPU; + private static final double GYRO_FULLSCALE_DEGREES_BMX = 2000.0; + private static final double GYRO_COUNTS_BMX = 32767.0; + private static final double counts_per_degree_bmx = GYRO_COUNTS_BMX / GYRO_FULLSCALE_DEGREES_BMX; + private static final double counts_per_degree_bmi088 = 16.384; private static double counts_per_degree(int imu_type, int imu_model) { switch (imu_model) { @@ -131,11 +131,11 @@ public class AltosIMU implements Cloneable { return counts / cpd; } - public static final double MAG_FULLSCALE_GAUSS_MPU = 48.00; /* 4800µT */ - public static final double MAG_COUNTS_MPU = 32767.0; - public static final double counts_per_gauss_mpu = MAG_COUNTS_MPU / MAG_FULLSCALE_GAUSS_MPU; + private static final double MAG_FULLSCALE_GAUSS_MPU = 48.00; /* 4800µT */ + private static final double MAG_COUNTS_MPU = 32767.0; + private static final double counts_per_gauss_mpu = MAG_COUNTS_MPU / MAG_FULLSCALE_GAUSS_MPU; - public static final double counts_per_gauss_bmx = 100.0; /* BMX driver converts to µT */ + private static final double counts_per_gauss_bmx = 100.0; /* BMX driver converts to µT */ public static double counts_per_gauss(int imu_type, int imu_model) { switch (imu_model) { @@ -156,7 +156,7 @@ public class AltosIMU implements Cloneable { return AltosLib.MISSING; } - public boolean parse_string(String line) { + private boolean parse_string(String line) { if (line.startsWith("Accel:")) { String[] items = line.split("\\s+");