1 #include "inputcontroller.h"

     2 #include "rotationcontroller.h"

     3 #include <QTime>

     4 #include <QDebug>

     5 #include <math.h>

     6 

     7 

     8 RotationController::RotationController( ): TimedController(), m_factor(0.5){}

     9 

    10 void RotationController::startSensor()

    11 {

    12     m_rotationSensor.connectToBackend();

    13     m_rotationSensor.start();

    14     connect(&m_rotationSensor, SIGNAL(readingChanged()), this, SLOT(update()));

    15 

    16     int dataRate = m_rotationSensor.dataRate();

    17     m_interval = dataRate>0?1000/m_rotationSensor.dataRate():20;

    18 }

    19 

    20 void RotationController::stopSensor(){ m_rotationSensor.stop();}

    21 

    22 

    23 void RotationController::update()

    24 {

    25     qreal pitch = m_rotationSensor.reading()->x();

    26     qreal roll= m_rotationSensor.reading()->y();

    27 

    28     m_dx = - m_factor* roll;

    29     m_dy =  - m_factor * pitch;

    30 

    31     updateCoordinates();

    32 }

    33 

    34 

    35 void RotationController::updateCoordinates(){

    36     m_x +=m_dx * m_delay / m_interval;

    37     m_y +=m_dy * m_delay / m_interval;

    38 }

    39 

    40