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Removed unused variables, added motion driver library for OS X.

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This commit is contained in:
Andrzej Kapolka 2013-07-10 14:28:06 -07:00
parent 53eb5ed0bb
commit 6a5fb4f535
2 changed files with 2 additions and 4 deletions
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interface/external/MotionDriver/lib/MacOS/libMotionDriver.a vendored Normal file
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6
interface/src/SerialInterface.cpp
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@ -200,7 +200,7 @@ void SerialInterface::readData(float deltaTime) {
// ask the invensense for raw gyro data // ask the invensense for raw gyro data
short accelData[3]; short accelData[3];
int r1 = mpu_get_accel_reg(accelData, 0); mpu_get_accel_reg(accelData, 0);
const float LSB_TO_METERS_PER_SECOND2 = 1.f / 16384.f * GRAVITY_EARTH; const float LSB_TO_METERS_PER_SECOND2 = 1.f / 16384.f * GRAVITY_EARTH;
// From MPU-9150 register map, with setting on // From MPU-9150 register map, with setting on
@ -208,10 +208,8 @@ void SerialInterface::readData(float deltaTime) {
_lastAcceleration = glm::vec3(-accelData[2], -accelData[1], -accelData[0]) * LSB_TO_METERS_PER_SECOND2; _lastAcceleration = glm::vec3(-accelData[2], -accelData[1], -accelData[0]) * LSB_TO_METERS_PER_SECOND2;
int rollRate, yawRate, pitchRate;
short gyroData[3]; short gyroData[3];
int r2 = mpu_get_gyro_reg(gyroData, 0); mpu_get_gyro_reg(gyroData, 0);
// Convert the integer rates to floats // Convert the integer rates to floats
const float LSB_TO_DEGREES_PER_SECOND = 1.f / 16.4f; // From MPU-9150 register map, 2000 deg/sec. const float LSB_TO_DEGREES_PER_SECOND = 1.f / 16.4f; // From MPU-9150 register map, 2000 deg/sec.