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- public class sensor extends center {
- double sensor_x;
- double sensor_y;
- double sensor_z;
- public sensor(double sensor_x, double sensor_y, double sensor_z) {
- this.sensor_x = sensor_x;
- this.sensor_y = sensor_y;
- this.sensor_z = sensor_z;
- }
- public double getSensor_x() {
- return sensor_x;
- }
- public void setSensor_x(double sensor_x) {
- this.sensor_x = sensor_x;
- }
- public double getSensor_y() {
- return sensor_y;
- }
- public void setSensor_y(double sensor_y) {
- this.sensor_y = sensor_y;
- }
- public double getSensor_z() {
- return sensor_z;
- }
- public void setSensor_z(double sensor_z) {
- this.sensor_z = sensor_z;
- }
- }
- //sensor ^^^
- public class hardiron {
- double offset_x;
- double offset_y;
- double offset_z;
- double corrected_x;
- double corrected_y;
- double corrected_z;
- public hardiron(double offset_x, double offset_y, double offset_z) {
- this.offset_x = offset_x;
- this.offset_y = offset_y;
- this.offset_z = offset_z;
- }
- public double getOffset_x(double max_x, double min_x) {
- double offset_x = (max_x + min_x) / 2;
- return offset_x;
- }
- public double getOffset_y(double max_y, double min_y) {
- double offset_y = (max_y + min_y) / 2;
- return offset_y;
- }
- public double getCorrected_x(double sensor_x, double offset_x) {
- corrected_x = sensor_x - offset_x;
- return corrected_x;
- }
- public double getCorrected_y(double sensor_y, double offset_y) {
- corrected_y = sensor_y - offset_y;
- return corrected_y;
- }
- public double getCorrected_z(double sensor_z, double offset_z) {
- corrected_z = sensor_z - offset_z;
- return corrected_z;
- }
- public double getOffset_z(double max_z, double min_z) {
- double offset_z = (max_z + min_z) / 2;
- return offset_z;
- }
- }
- //hardiron ^^^
- private static void printCorrectedxyz(double corrected_x, double corrected_y, double corrected_z) {
- System.out.println("[" + corrected_x + ", " + corrected_y + ", " + corrected_z + "]");
- }
- //print some info ^^^
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