Remove liblejososek.a dependency as it is obsolete.

[nxt-jsp/etrobo-atk.git] / nxtOSEK / c++ / src / AccelSensor.cc

diff --git a/nxtOSEK/c++/src/AccelSensor.cc b/nxtOSEK/c++/src/AccelSensor.cc
deleted file mode 100644 (file)
index dbb2dfc..0000000
--- a/nxtOSEK/c++/src/AccelSensor.cc
+++ /dev/null
@@ -1,262 +0,0 @@
-//
-// AccelSensor.cc
-//
-// Hi-Technic Acceleration / Tilt sensor class
-//
-// Written 12-jan-2008 by rwk
-//
-// Copyright 2007, 2008 by Robert W. Kramer and Takashi Chikamasa
-//
-
-#include "AccelSensor.h"
-
-//=============================================================================
-// AccelSensor::AccelSensor(unsigned char _port)
-//   constructor for sensor object
-//
-// Parm
-//   _port - port number sensor is connected to
-//
-
-AccelSensor::AccelSensor(unsigned char _port) {
-
-  //
-  // remember the port number for data transfers
-  //
-
-  port = _port;
-
-  //
-  // turn on the sensor port. This comes from Takashi's code
-  //
-
-  nxt_avr_set_input_power(port,POWER_ON);
-  i2c_enable(port);
-
-  //
-  // we are now activated (avoids redundant calls later)
-  //
-
-  activated = true;
-}
-
-
-
-//=============================================================================
-// AccelSensor::~AccelSensor(void)
-//   class destructor
-//
-
-AccelSensor::~AccelSensor(void) {
-
-  //
-  // turn off power. Not sure if this is needed here.
-  //
-
-  nxt_avr_set_input_power(port,POWER_OFF);
-
-  //
-  // disable the port. This is necessary.
-  //
-
-  i2c_disable(port);
-}
-
-
-
-//=============================================================================
-// void AccelSensor::activate(void)
-//   turn on the sensor port
-//
-
-void AccelSensor::activate(void) {
-
-  //
-  // nothing to do if the port's already on
-  //
-
-  if (activated)
-    return;
-
-  //
-  // turn on the port and power
-  //
-
-  nxt_avr_set_input_power(port,POWER_ON);
-  i2c_enable(port);
-
-  //
-  // remember that we've done this
-  //
-
-  activated = true;
-}
-
-
-
-//=============================================================================
-// void AccelSensor::passivate(void)
-//   turn off the port
-//
-
-void AccelSensor::passivate(void) {
-
-  //
-  // nothing to do if the port's off
-  //
-
-  if (!activated)
-    return;
-
-  //
-  // turn off the port. As with the destructor, I'm not sure if the first call
-  // is needed.
-  //
-
-  nxt_avr_set_input_power(port,POWER_OFF);
-  i2c_disable(port);
-
-  //
-  // remember what we did
-  //
-
-  activated = false;
-}
-
-
-
-//=============================================================================
-// void AccelSensor::fetchData(short int axes[3])
-//   fetch acceleration data from the sensor
-//
-// Parm
-//   axes - array to hold acceleration data along the axes
-//
-
-void AccelSensor::fetchData(short int axes[3]) {
-  int i;
-  unsigned char inBuf[6];
-
-  //
-  // Data representation from the sensor, per Hi-Technic's documentation:
-  //
-  // data[0]: X axis upper 8 bits
-  // data[1]: Y axis upper 8 bits
-  // data[2]: Z axis upper 8 bits
-  // data[3]: X axis lower 2 bits
-  // data[4]: Y axis lower 2 bits
-  // data[5]: Z axis lower 2 bits
-  //
-
-  //
-  // wait for port to become available
-  //
-
-  if (i2c_busy(port))
-    sensorSleep(port);
-
-  //
-  // initiate data transfer
-  //
-
-  i2c_start_transaction(port,1,0x42,1,inBuf,6,0);
-
-  //
-  // wait for port to complete the transfer
-  //
-
-  if (i2c_busy(port))
-    sensorSleep(port);
-
-  //
-  // convert raw data into final results
-  //
-
-  for (i=0; i<3; i++) {
-    axes[i] = (S16)inBuf[i];
-    if (axes[i] > 127) axes[i] -= 256;
-    /* convert to 10 bit value */
-    axes[i] = (axes[i] << 2) | ((S16)inBuf[i+3] & 0x0003);
-  }
-}
-
-
-
-//=============================================================================
-// short int AccelSensor::getXAccel(void)
-//   get acceleration on X axis
-//
-// NB: positive is forward. 200 ticks per g.
-//
-
-short int AccelSensor::getXAccel(void) {
-  short int axes[3];
-
-  fetchData(axes);
-
-  return axes[0];
-}
-
-
-
-//=============================================================================
-// short int AccelSensor::getYAccel(void)
-//   get acceleration on Y axis
-//
-// NB: positive is left. 200 ticks per g.
-//
-
-short int AccelSensor::getYAccel(void) {
-  short int axes[3];
-
-  fetchData(axes);
-
-  return axes[1];
-}
-
-
-
-//=============================================================================
-// short int AccelSensor::getZAccel(void)
-//   get acceleration on Z axis
-//
-// NB: positive is up. 200 ticks per g.
-//
-
-short int AccelSensor::getZAccel(void) {
-  short int axes[3];
-
-  fetchData(axes);
-
-  return axes[2];
-}
-
-
-
-//=============================================================================
-// void AccelSensor::getAccel(short int axes[3])
-//   get acceleration on all three axes
-//
-
-void AccelSensor::getAccel(short int axes[3]) {
-
-  fetchData(axes);
-
-}
-
-
-
-//=============================================================================
-// void AccelSensor::getAccel(short int &x,short int &y,short int &z) {
-//  get acceleration on all three axes
-//
-
-void AccelSensor::getAccel(short int &x,short int &y,short int &z) {
-  short int axes[3];
-
-  fetchData(axes);
-
-  x = axes[0];
-  y = axes[1];
-  z = axes[2];
-}