/*******************************************************************************
 * Copyright (c) 2016 Julien Louette & Gaël Wittorski
 * 
 * This file is part of Raspoid.
 * 
 * Raspoid is free software: you can redistribute it and/or modify
 * it under the terms of the GNU Lesser General Public License as published by
 * the Free Software Foundation, either version 3 of the License, or
 * (at your option) any later version.
 * 
 * Raspoid is distributed in the hope that it will be useful,
 * but WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 * GNU Lesser General Public License for more details.
 * 
 * You should have received a copy of the GNU Lesser General Public License
 * along with Raspoid.  If not, see <http://www.gnu.org/licenses/>.
 ******************************************************************************/
package com.raspoid.examples.additionalcomponents;

import com.raspoid.Tools;
import com.raspoid.additionalcomponents.MPU6050;

/**
 * Example of use of an MPU6050.
 * 
 * @see MPU6050
 * 
 * @author Julien Louette &amp; Ga&euml;l Wittorski
 * @version 1.0
 */
public class MPU6050Example {
    
    /**
     * Private constructor to hide the implicit public one.
     */
    private MPU6050Example() {
    }
    
    /**
     * Command-line interface.
     * @param args unused here.
     */
    public static void main(String[] args) {
        MPU6050 mpu6050 = new MPU6050();
        mpu6050.startUpdatingThread();
        
        while(true) {
            Tools.log("-----------------------------------------------------");
            
            // Accelerometer
            Tools.log("Accelerometer:");
            double[] accelAngles = mpu6050.getAccelAngles();
            Tools.log("\t" + MPU6050.xyzValuesToString(MPU6050.angleToString(accelAngles[0]), 
                    MPU6050.angleToString(accelAngles[1]), MPU6050.angleToString(accelAngles[2])));
            
            double[] accelAccelerations = mpu6050.getAccelAccelerations();
            Tools.log("\tAccelerations: " + MPU6050.xyzValuesToString(MPU6050.accelToString(accelAccelerations[0]), 
                    MPU6050.accelToString(accelAccelerations[1]), MPU6050.accelToString(accelAccelerations[2])));
            
            // Gyroscope
            Tools.log("Gyroscope:");
            double[] gyroAngles = mpu6050.getGyroAngles();
            Tools.log("\t" + MPU6050.xyzValuesToString(MPU6050.angleToString(gyroAngles[0]), 
                    MPU6050.angleToString(gyroAngles[1]), MPU6050.angleToString(gyroAngles[2])));
            
            double[] gyroAngularSpeeds = mpu6050.getGyroAngularSpeeds();
            Tools.log("\t" + MPU6050.xyzValuesToString(MPU6050.angularSpeedToString(gyroAngularSpeeds[0]),
                    MPU6050.angularSpeedToString(gyroAngularSpeeds[1]), MPU6050.angularSpeedToString(gyroAngularSpeeds[2])));
            
            // Filtered angles
            Tools.log("Filtered angles:");
            double[] filteredAngles = mpu6050.getFilteredAngles();
            Tools.log("\t" + MPU6050.xyzValuesToString(MPU6050.angleToString(filteredAngles[0]), 
                    MPU6050.angleToString(filteredAngles[1]), MPU6050.angleToString(filteredAngles[2])));
            
            Tools.sleepMilliseconds(3000);
        }
    }
}