package awa.imu;

public class IMUState 
{
    private static IMUState inst;
    
    private IMUState() { /* empty block */ }
    
    public static IMUState getInstance() {
        if (inst == null)
            inst = new IMUState();
        return inst;
    }
    
    public int xAccNeutral = 2064;      //1963;
    public int yAccNeutral = 2248;      //2156;
    public int zAccNeutral = 851;       //1601;
    public int pitchNeutral = 1790;     //1744;
    public int rollNeutral = 1684;      //1719;
    public int yawNeutral = 2312;       //2340;
    
    public int xAccTrim;
    public int yAccTrim;
    public int zAccTrim;
    public int pitchTrim;
    public int rollTrim;
    public int yawTrim;
    
    public double xAccGain = 872;          // 1 / g
    public double yAccGain = 816;
    public double zAccGain = 768;
    public double pitchGain = 0.0044;     // rad / s
    public double rollGain = 0.0044;
    public double yawGain = 0.0044;

    public String toString()
    {
        StringBuffer sb = new StringBuffer();
        sb.append("xAccN:").append(xAccNeutral);
        sb.append("\nyAccN:").append(yAccNeutral);
        sb.append("\nzAccN:").append(zAccNeutral);
        sb.append("\npitchN:").append(pitchNeutral);
        sb.append("\nrollN:").append(rollNeutral);
        sb.append("\nyawN:").append(yawNeutral);
        
        return sb.toString();
    }

}