upm/examples/c++/curieimu.cxx

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/*
* Author: Brendan Le Foll <brendan.le.foll@intel.com>
* Author: Ron Evans (@deadprogram)
* Author: Justin Zemlyansky (@JustInDevelopment)
* Copyright (c) 2016 Intel Corporation.
*
* Permission is hereby granted, free of charge, to any person obtaining
* a copy of this software and associated documentation files (the
* "Software"), to deal in the Software without restriction, including
* without limitation the rights to use, copy, modify, merge, publish,
* distribute, sublicense, and/or sell copies of the Software, and to
* permit persons to whom the Software is furnished to do so, subject to
* the following conditions:
*
* The above copyright notice and this permission notice shall be
* included in all copies or substantial portions of the Software.
*
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
* NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE
* LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION
* OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION
* WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
*/
#include "curieimu.hpp"
#include "upm_utilities.h"
#include "mraa.h"
#include "mraa/firmata.h"
#include <iostream>
#include <math.h>
#include <unistd.h>
int
main(int argc, char** argv)
{
//! [Interesting]
mraa_init();
mraa_add_subplatform(MRAA_GENERIC_FIRMATA, "/dev/ttyACM0");
upm::CurieImu sensor;
std::cout << "temperature is: " << (sensor.getTemperature() * pow(0.5, 9) + 23) << std::endl;
sensor.updateAccel();
int x = sensor.getAccelX(), y = sensor.getAccelY(), z = sensor.getAccelZ();
printf("accelerometer is: %d, %d, %d\n", x, y, z);
sensor.updateGyro();
int a = sensor.getGyroX(), b = sensor.getGyroY(), c = sensor.getGyroZ();
printf("gyroscope is: %d, %d, %d\n", a, b, c);
int axis, direction;
sensor.enableShockDetection(true);
for (int i = 0; i < 300; i++) {
if (sensor.isShockDetected()) {
sensor.getNextShock();
axis = sensor.getAxis();
direction = sensor.getDirection();
printf("shock data is: %d, %d\n", axis, direction);
}
upm_delay_us(10000);
}
sensor.updateMotion();
int m = sensor.getAccelX(), n = sensor.getAccelY(), o = sensor.getAccelZ(),
p = sensor.getGyroX(), q = sensor.getGyroY(), r = sensor.getGyroZ();
printf("motion is: %d, %d, %d, %d, %d, %d\n", m, n, o, p, q, r);
//! [Interesting]
return 0;
}