Merge branch 'Mitchlol-adjustable_delay_times'

markhw42 · Mar 18, 2019 · 6d7922f · 6d7922f
2 parents 32cfc21 + bbba6ba
commit 6d7922f
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Showing 2 changed files with 8 additions and 9 deletions.
diff --git a/src/MPU6050_tockn.cpp b/src/MPU6050_tockn.cpp
@@ -49,12 +49,12 @@ void MPU6050::setGyroOffsets(float x, float y, float z){
   gyroZoffset = z;
 }
 
-void MPU6050::calcGyroOffsets(bool console){
-  float x = 0, y = 0, z = 0;
-  int16_t rx, ry, rz;
+void MPU6050::calcGyroOffsets(bool console, uint16_t delayBefore, uint16_t delayAfter){
+	float x = 0, y = 0, z = 0;
+	int16_t rx, ry, rz;
 
-  delay(1000);
-  if(console){
+  delay(delayBefore);
+	if(console){
     Serial.println();
     Serial.println("========================================");
     Serial.println("Calculating gyro offsets");
@@ -89,8 +89,8 @@ void MPU6050::calcGyroOffsets(bool console){
     Serial.print("Z : ");Serial.println(gyroZoffset);
     Serial.println("Program will start after 3 seconds");
     Serial.print("========================================");
-    delay(3000);
-  }
+		delay(delayAfter);
+	}
 }
 
 void MPU6050::update(){
@@ -137,4 +137,3 @@ void MPU6050::update(){
   preInterval = millis();
 
 }
-
diff --git a/src/MPU6050_tockn.h b/src/MPU6050_tockn.h
@@ -47,7 +47,7 @@ class MPU6050{
   float getGyroY(){ return gyroY; };
   float getGyroZ(){ return gyroZ; };
 
-  void calcGyroOffsets(bool console = false);
+	void calcGyroOffsets(bool console = false, uint16_t delayBefore = 1000, uint16_t delayAfter = 3000);
 
   float getGyroXoffset(){ return gyroXoffset; };
   float getGyroYoffset(){ return gyroYoffset; };